A Dynamic Framework for Internet-Based Network Time Protocol

Time synchronization is vital for accurate data collection and processing in sensor networks. Sensors in these networks often operate under fluctuating conditions. However, an accurate timekeeping mechanism is critical even in varying network conditions. Consequently, a synchronization method is required in sensor networks to ensure reliable timekeeping for correlating data accurately across the network. In this research, we present a novel dynamic NTP (Network Time Protocol) algorithm that significantly enhances the precision and reliability of the generalized NTP protocol. It incorporates a dynamic mechanism to determine the Round-Trip Time (RTT), which allows accurate timekeeping even in varying network conditions. The proposed approach has been implemented on an FPGA and a comprehensive performance analysis has been made, comparing three distinct NTP methods: dynamic NTP (DNTP), static NTP (SNTP), and GPS-based NTP (GNTP). As a result, key performance metrics such as variance, standard deviation, mean, and median accuracy have been evaluated. Our findings demonstrate that DNTP is markedly superior in dynamic network scenarios, a common characteristic in sensor networks. This adaptability is important for sensors installed in time-critical networks, such as real-time industrial IoTs, where precise and reliable time synchronization is necessary.

Exploring LoRaWAN Traffic: In-Depth Analysis of IoT Network Communications

In the past decade, Long-Range Wire-Area Network (LoRaWAN) has emerged as one of the most widely adopted Low Power Wide Area Network (LPWAN) standards. Significant efforts have been devoted to optimizing the operation of this network. However, research in this domain heavily relies on simulations and demands high-quality real-world traffic data. To address this need, we monitored and analyzed LoRaWAN traffic in four European cities, making the obtained data and post-processing scripts publicly available. For monitoring purposes, we developed an open-source sniffer capable of capturing all LoRaWAN communication within the EU868 band. Our analysis discovered significant issues in current LoRaWAN deployments, including violations of fundamental security principles, such as the use of default and exposed encryption keys, potential breaches of spectrum regulations including duty cycle violations, SyncWord issues, and misaligned Class-B beacons. This misalignment can render Class-B unusable, as the beacons cannot be validated. Furthermore, we enhanced Wireshark's LoRaWAN protocol dissector to accurately decode recorded traffic. Additionally, we proposed the passive reception of Class-B beacons as an alternative timebase source for devices operating within LoRaWAN coverage under the assumption that the issue of misaligned beacons can be addressed or mitigated in the future. The identified issues and the published dataset can serve as valuable resources for researchers simulating real-world traffic and for the LoRaWAN Alliance to enhance the standard to facilitate more reliable Class-B communication.

Application-Layer Time Synchronization and Data Alignment Method for Multichannel Biosignal Sensors Using BLE Protocol

Wearable wireless biomedical sensors have emerged as a rapidly growing research field. For many biomedical signals, multiple sensors distributed about the body without local wired connections are required. However, designing multisite systems at low cost with low latency and high precision time synchronization of acquired data is an unsolved problem. Current solutions use custom wireless protocols or extra hardware for synchronization, forming custom systems with high power consumption that prohibit migration between commercial microcontrollers. We aimed to develop a better solution. We successfully developed a low-latency, Bluetooth low energy (BLE)-based data alignment method, implemented in the BLE application layer, making it transferable between manufacturer devices. The time synchronization method was tested on two commercial BLE platforms by inputting common sinusoidal input signals (over a range of frequencies) to evaluate time alignment performance between two independent peripheral nodes. Our best time synchronization and data alignment method achieved absolute time differences of 69 ± 71 μs for a Texas Instruments (TI) platform and 477 ± 490 μs for a Nordic platform. Their 95th percentile absolute errors were more comparable-under 1.8 ms for each. Our method is transferable between commercial microcontrollers and is sufficient for many biomedical applications.

Fast and Low-Overhead Time Synchronization for Industrial Wireless Sensor Networks with Mesh-Star Architecture

Low-overhead, robust, and fast-convergent time synchronization is important for resource-constrained large-scale industrial wireless sensor networks (IWSNs). The consensus-based time synchronization method with strong robustness has been paid more attention in wireless sensor networks. However, high communication overhead and slow convergence speed are inherent drawbacks for consensus time synchronization due to inefficient frequent iterations. In this paper, a novel time synchronization algorithm for IWSNs with a mesh-star architecture is proposed, namely, fast and low-overhead time synchronization (FLTS). The proposed FLTS divides the synchronization phase into two layers: mesh layer and star layer. A few resourceful routing nodes in the upper mesh layer undertake the low-efficiency average iteration, and the massive low-power sensing nodes in the star layer synchronize with the mesh layer in a passive monitoring manner. Therefore, a faster convergence and lower communication overhead time synchronization is achieved. The theoretical analysis and simulation results demonstrate the efficiency of the proposed algorithm in comparison with the state-of-the-art algorithms, i.e., ATS, GTSP, and CCTS.

Joint Method of Moments (JMoM) and Successive Moment Cancellation (SMC) Multiuser Time Synchronization for ZP-OFDM-Based Waveforms Applicable to Joint Communication and Sensing

It has been recently shown that zero padding (ZP)-orthogonal frequency-division multiplexing (OFDM) is a promising candidate for 6G wireless systems requiring joint communication and sensing. In this paper, we consider a multiuser uplink scenario where users are separated in power domain, i.e., non-orthogonal multiple access (NOMA), and use ZP-OFDM signals. The uplink transmission is grant-free and users are allowed to transmit asynchronously. In this setup, we address the problem of time synchronization by estimating the timing offset (TO) of all the users. We propose two non-data-aided (NDA) estimators, i.e., the joint method of moment (JMoM) and the successive moment cancellation (SMC), that employ the periodicity of the second order moment (SoM) of the received samples for TO estimation. Moreover, the coding assisted (CA) version of the proposed estimators, i.e., CA-JMoM and CA-SMC, are developed for the case of short observation samples. We also extend the proposed estimators to multiuser multiple-input multiple-output (MIMO) systems. The effectiveness of the proposed estimators is evaluated in terms of lock-in probability under various practical scenarios. Simulation results show that the JMoM estimator can reach the lock-in probability of one for the moderate range of Eb/N0 values. While existing NDA TO estimators in the literature either offer low lock-in probability, high computational complexity that prevents them from being employed in MIMO systems, or are designed for single-user scenarios, the proposed estimators in this paper address all of these issues.

Comparison between Two Time Synchronization and Data Alignment Methods for Multi-Channel Wearable Biosensor Systems Using BLE Protocol

Wireless wearable sensor systems for biomedical signal acquisition have developed rapidly in recent years. Multiple sensors are often deployed for monitoring common bioelectric signals, such as EEG (electroencephalogram), ECG (electrocardiogram), and EMG (electromyogram). Compared with ZigBee and low-power Wi-Fi, Bluetooth Low Energy (BLE) can be a more suitable wireless protocol for such systems. However, current time synchronization methods for BLE multi-channel systems, via either BLE beacon transmissions or additional hardware, cannot satisfy the requirements of high throughput with low latency, transferability between commercial devices, and low energy consumption. We developed a time synchronization and simple data alignment (SDA) algorithm, which was implemented in the BLE application layer without the need for additional hardware. We further developed a linear interpolation data alignment (LIDA) algorithm to improve upon SDA. We tested our algorithms using sinusoidal input signals at different frequencies (10 to 210 Hz in increments of 20 Hz-frequencies spanning much of the relevant range of EEG, ECG, and EMG signals) on Texas Instruments (TI) CC26XX family devices, with two peripheral nodes communicating with one central node. The analysis was performed offline. The lowest average (±standard deviation) absolute time alignment error between the two peripheral nodes achieved by the SDA algorithm was 384.3 ± 386.5 μs, while that of the LIDA algorithm was 189.9 ± 204.7 μs. For all sinusoidal frequencies tested, the performance of LIDA was always statistically better than that of SDA. These average alignment errors were quite low-well below one sample period for commonly acquired bioelectric signals.

A Time Synchronization Protocol for Barrage Relay Networks

Time-division multiple access (TDMA)-based medium access control (MAC) protocol has been widely used for avoiding access conflicts in wireless multi-hop ad hoc networks, where the time synchronization among wireless nodes is essential. In this paper, we propose a novel time synchronization protocol for TDMA-based cooperative multi-hop wireless ad hoc networks, which are also called barrage relay networks (BRNs). The proposed time synchronization protocol is based on cooperative relay transmissions to send time synchronization messages. We also propose a network time reference (NTR) selection technique for improving the convergence time and average time error. In the proposed NTR selection technique, each node overhears the user identifier (UID) of other nodes, hop count (HC) from them to itself, and network degree, which denotes the number of 1-hop neighbor nodes. Then, the node with the minimum HC from all other nodes is selected as the NTR node. If there are multiple nodes with the minimum HC, the node with the larger degree is selected as the NTR node. To the best of our knowledge, the proposed time synchronization protocol with the NTR selection is introduced for the first time for cooperative (barrage) relay networks in this paper. Through computer simulations, we validate the proposed time synchronization protocol in terms of the average time error under various practical network scenarios. Furthermore, we also compare the performance of the proposed protocol with the conventional time synchronization methods. It is shown that the proposed protocol significantly outperforms the conventional methods in terms of the average time error and convergence time. The proposed protocol is shown to be more robust against packet loss as well.

Research on an LEO Constellation Multi-Aircraft Collaborative Navigation Algorithm Based on a Dual-Way Asynchronous Precision Communication-Time Service Measurement System (DWAPC-TSM)

In order to solve the collaborative navigation problems in challenging environments such as insufficient visible satellites, obstacle reflections and multipath errors, and in order to improve the accuracy, usability, and stability of collaborative navigation and positioning, we propose a dual-way asynchronous precision communication–timing–measurement system (DWAPC-TSM) LEO constellation multi-aircraft cooperative navigation and positioning algorithm which gives the principle, algorithm structure, and error analysis of the DWAPC-TSM system. In addition, we also analyze the effect of vehicle separation range on satellite observability. The DWAPC-TSM system can achieve high-precision ranging and time synchronization accuracy. With the help of this system, by adding relative ranging and speed measurement observations in an unscented Kalman filter (UKF), the multi-aircraft coordinated navigation and positioning of aircraft is finally realized. The simulation results show that, even without the aid of an altimeter, the multi-aircraft cooperative navigation and positioning algorithm based on the DWAPC-TSM system can achieve good navigation and positioning results, and with the aid of the altimeter, the cooperative navigation and positioning accuracy can be effectively improved. For the formation flight configurations of horizontal collinear and vertical collinear, the algorithm is universal, and in the case of vertical collinear, the navigation performance of the formation members tends to be consistent. Under different relative measurement accuracy, the algorithm can maintain good robustness; compared with some existing classical algorithms, it can significantly improve the navigation and positioning accuracy. A reference scheme for exploring the feasibility of a new cooperative navigation and positioning mode for LEO communication satellites is presented.

Energy-Efficient Time Synchronization Based on Nonlinear Clock Skew Tracking for Underwater Acoustic Networks

Time synchronization plays an important role in the scheduling and position technologies of sensor nodes in underwater acoustic networks (UANs). The time synchronization (TS) algorithms face challenges such as high requirements of energy efficiency, the estimation accuracy of the time-varying clock skew and the suppression of the impulsive noise. To achieve accurate time synchronization for UANs, an energy-efficient TS method based on nonlinear clock skew tracking (NCST) is proposed. First, based on the sea trial temperature data and the crystal oscillators' temperature-frequency characteristics, a nonlinear model is established to characterize the dynamic of clock skews. Second, a single-way communication scheme based on a receiver-only (RO) paradigm is used in the NCST-TS to save limited energy. Meanwhile, impulsive noises are considered during the communication process and the Gaussian mixture model (GMM) is employed to fit receiving timestamp errors caused by non-Gaussian noise. To combat the nonlinear and non-Gaussian problem, the particle filter (PF)-based algorithm is used to track the time-varying clock state and an accurate posterior probability density function under the GMM error model is also given in PF. The simulation results show that under the GMM error model, the accumulative Root Mean Square Errors (RMSE) of NCST-TS can be reduced from 10^-4 s to 10^-5 s compared with existing protocols. It also outperforms the other TS algorithms in the aspect of energy efficiency.

Fast and Robust Time Synchronization with Median Kalman Filtering for Mobile Ad-Hoc Networks

Time synchronization is an important issue in ad-hoc networks for reliable information exchange. The algorithms for time synchronization in ad-hoc networks are largely categorized into two types. One is based on a selection of a reference node, and the other is based on a consensus among neighbor nodes. These two types of methods are targeting static environments. However, synchronization errors among nodes increase sharply when nodes move or when incorrect synchronization information is exchanged due to the failure of some nodes. In this paper, we propose a synchronization technique for mobile ad-hoc networks, which considers both the mobility of nodes and the abnormal behaviors of malicious or failed nodes. Specifically, synchronization information extracted from a median of the time information of the neighbor nodes is quickly disseminated. This information effectively excludes the outliers, which adversely affect the synchronization of the networks. In addition, Kalman filtering is applied to reduce the synchronization error occurring in the transmission and reception of time information. The simulation results confirm that the proposed scheme has a fast synchronization convergence speed and low synchronization error compared to conventional algorithms.

Twist-n-Sync: Software Clock Synchronization with Microseconds Accuracy Using MEMS-Gyroscopes

Sensor networks require a high degree of synchronization in order to produce a stream of data useful for further purposes. Examples of time misalignment manifest as undesired artifacts when doing multi-camera bundle-adjustment or global positioning system (GPS) geo-localization for mapping. Network Time Protocol (NTP) variants of clock synchronization can provide accurate results, though present high variance conditioned by the environment and the channel load. We propose a new precise technique for software clock synchronization over a network of rigidly attached devices using gyroscope data. Gyroscope sensors, or IMU, provide a high-rate measurements that can be processed efficiently. We use optimization tools over the correlation signal of IMU data from a network of gyroscope sensors. Our method provides stable microseconds accuracy, regardless of the number of sensors and the conditions of the network. In this paper, we show the performance of the gyroscope software synchronization in a controlled environment, and we evaluate the performance in a sensor network of smartphones by our open-source Android App, Twist-n-Sync, that is publicly available.

E2JSL: Energy Efficient Joint Time Synchronization and Localization Algorithm Using Ray Tracing Model

In underwater wireless sensor networks (UWSNs), localization and time synchronization are vital services that have been tackled independently. By combining localization and time synchronization, could save nodes energy and improve accuracy jointly. Therefore, it is of great significance to study joint synchronization and localization of underwater sensors with low energy consumption. In this paper, we propose the energy-efficient joint framework of localization and time synchronization, in which the stratification effect is considered by using a ray-tracing approach. Based on Snell’s law, ray tracing is applied to compensate for the variation of sound speed, this is one of the contributions of this article. Another contribution of this article is the iteration process which is used to improve the accuracy of localization and time synchronization. Simulation results show that the proposed joint approach outperforms the existing approaches in both energy efficiency and accuracy. This study also calculates Cramer-Rao lower bound to prove the convergence of the proposed technique along with the calculation of complexity of the proposed algorithm to show that the provided study takes less running time compared to the existing techniques.

Optimization of Time Synchronization and Algorithms with TDOA Based Indoor Positioning Technique for Internet of Things

To provide high-precision positioning for Internet of Things (IoT) scenarios, we optimize the indoor positioning technique based on Ultra-Wideband (UWB) Time Difference of Arrival (TDOA) equipment. This paper analyzes sources of positioning error and improves the time synchronization algorithm based on the synchronization packet. Then we use the labels of the known position to further optimize the time synchronization performance, and hence improve TDOA measurements. After time synchronization optimization, a Weighted Least Square (WLS) and Taylor coordination algorithm is derived. Experiments show that our optimization reduces the average positioning error from 54.8 cm to 12.6 cm.

UAV-Assisted Low-Consumption Time Synchronization Utilizing Cross-Technology Communication

Wireless sensor networks (WSNs) have been used in many fields due to its wide applicability. In this kind of network, each node is independent of each other and has its own local clock and communicates wirelessly. Time synchronization plays a vital role in WSNs and it can ensure accuracy requirements for coordination and data reliability. However, two key challenges exist in large-scale WSNs that are severe resource constraints overhead and multihop time synchronization errors. To address these issues, this paper proposes a novel unmanned aerial vehicle (UAV)-assisted low-consumption time synchronization algorithm based on cross-technology communication (CTC) for a large-scale WSN. This algorithm uses a UAV to send time synchronization data packets for calibration. Moreover, to ensure coverage and a high success rate for UAV data transmission, we use CTC for time synchronization. Without any relays, a high-power time synchronization packet can be sent by a UAV to achieve the time synchronization of low-power sensors. This algorithm can achieve accurate time synchronization with almost zero energy consumption for the sensor nodes. Finally, we implemented our algorithm with 30 low-power RF-CC2430 ZigBee nodes and a Da Jiang Innovations (DJI) M100 UAV on a 1 km highway and an indoor site. The results show that time synchronization can be achieved accurately with almost zero energy consumption for the sensor nodes, and the time synchronization error is less than 30 μs in 99% of cases.

Fast Time Synchronization on Tens of Picoseconds Level Using Uncombined GNSS Carrier Phase of Zero/Short Baseline

Since the observation precision of the Global Navigation Satellite System (GNSS) carrier phase is on the order of millimeters, if the phase ambiguity is correctly solved, while calibrating the receiver inter-frequency bias, time synchronization on the order of tens of picoseconds is expected. In this contribution, a method that considers the prior constraints of the between-receiver inter-frequency bias (IFB) and its random variation characteristics is proposed for the estimation of the between-receiver clock difference, based on the uncombined GNSS carrier phase and pseudorange observations of the zero and short baselines. The proposed method can rapidly achieve the single-difference ambiguity resolution of the zero and short baselines, and then obtain the high-precision relative clock offset, by using only the carrier phase observations, along with the between-receiver IFBs being simultaneously determined. Our numerical tests, carried out using GNSS observations sampled every 30 s by a dedicatedly selected set of zero and short baselines, show that the method can fix the between-receiver single-difference ambiguity successfully within an average of fewer than 2 epochs (interval 30 s). Then, a clock difference between two receivers with millimeter precision is obtained, achieving time synchronization on tens of picoseconds level, and deriving a frequency stability of 5 × 10⁻¹⁴ for averaging times of 30,000 s. Furthermore, the proposed approach is compared with the precise point positioning (PPP) time transfer method. The results show that, for different types of receivers, the agreement between the two methods is between −6.7 ns and 0.2 ns.

Design and Validation of Android Smartphone Based Wireless Structural Vibration Monitoring System

Vibration monitoring is one of crucial functions of structural health monitoring (SHM) systems. Traditional structural vibration monitoring usually relies on specialized sensors, data transmission and acquisition equipment, which are expensive and may not be easily available in urgently needed situations like post-disaster structural evaluation. Therefore, developing an affordable and efficient structural vibration monitoring technique becomes an important topic in SHM research. In this paper, the authors developed an android system APP that can easily convert multiple android smartphones into a wireless structural vibration monitoring system. To make the designed system reliable and easy to use, the server/client architecture is adopted. One smartphone is designated as the serve of the system to remotely control all other smartphones, which function as sensors to measure structural vibration. An efficient method is proposed herein to establish the smartphone-based structural vibration monitoring network, allowing the server smartphone to quickly and easily connect multiple sensor smartphones to form the wireless network for structural vibration monitoring. Additionally, a synchronization method is also proposed to synchronize different smartphones for simultaneously measuring structural vibration. To verify the time synchronization accuracy of the developed system, an experiment is designed and conducted. Moreover, a new analysis method of the time synchronization accuracy is also proposed, which verifies that the designed smartphone-based monitoring can achieve the millisecond-level time synchronization accuracy. Finally, a shaking table experiment is conducted on a three-story bench-scale structural model, the results of which demonstrate that the designed smartphone-based wireless structural vibration monitoring system can quite accurately identify the modal parameters of the tested structure.

Development of Synchronized High-Sensitivity Wireless Accelerometer for Structural Health Monitoring

The use of digital accelerometers featuring high sensitivity and low noise levels in wireless smart sensors (WSSs) is becoming increasingly common for structural health monitoring (SHM) applications. Improvements in the design of Micro Electro-Mechanical System (MEMS) based digital accelerometers allow for high resolution sensing required for SHM with low power consumption suitable for WSSs. However, new approaches are needed to synchronize data from these sensors. Data synchronization is essential in wireless smart sensor networks (WSSNs) for accurate condition assessment of structures and reduced false-positive indications of damage. Efforts to achieve synchronized data sampling from multiple WSS nodes with digital accelerometers have been lacking, primarily because these sensors feature an internal Analog to Digital Converter (ADC) to which the host platform has no direct access. The result is increased uncertainty in the ADC startup time and thus worse synchronization among sensors. In this study, a high-sensitivity digital accelerometer is integrated with a next-generation WSS platform, the Xnode. An adaptive iterative algorithm is used to characterize these delays without the need for a dedicated evaluation setup and hardware-level access to the ADC. Extensive tests are conducted to evaluate the performance of the accelerometer experimentally. Overall time-synchronization achieved is under 15 µs, demonstrating the efficacy of this approach for synchronization of critical SHM applications.

EERS: Energy-Efficient Reference Node Selection Algorithm for Synchronization in Industrial Wireless Sensor Networks

Time synchronization is an essential issue in industrial wireless sensor networks (IWSNs). It assists perfect coordinated communications among the sensor nodes to preserve battery power. Generally, time synchronization in IWSNs has two major aspects of energy consumption and accuracy. In the literature, the energy consumption has not received much attention in contrast to the accuracy. In this paper, focusing on the energy consumption aspect, we introduce an energy-efficient reference node selection (EERS) algorithm for time synchronization in IWSNs. It selects and schedules a minimal sequence of connected reference nodes that are responsible for spreading timing messages. EERS achieves energy consumption synchronization by reducing the number of transmitted messages among the sensor nodes. To evaluate the performance of EERS, we conducted extensive experiments with Arduino Nano RF sensors and revealed that EERS achieves considerably fewer messages than previous techniques, robust time synchronization (R-Sync), fast scheduling and accurate drift compensation for time synchronization (FADS), and low power scheduling for time synchronization protocols (LPSS). In addition, simulation results for a large sensor network of 450 nodes demonstrate that EERS reduces the whole number of transmitted messages by 52%, 30%, and 13% compared to R-Sync, FADS, and LPSS, respectively.

VersaVIS-An Open Versatile Multi-Camera Visual-Inertial Sensor Suite

Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and accuracy. However, for a tight sensor fusion, accurate time synchronization of the sensors is often crucial. Changing exposure times, internal sensor filtering, multiple clock sources and unpredictable delays from operation system scheduling and data transfer can make sensor synchronization challenging. In this paper, we present VersaVIS, an Open Versatile Multi-Camera Visual-Inertial Sensor Suite aimed to be an efficient research platform for easy deployment, integration and extension for many mobile robotic applications. VersaVIS provides a complete, open-source hardware, firmware and software bundle to perform time synchronization of multiple cameras with an IMU featuring exposure compensation, host clock translation and independent and stereo camera triggering. The sensor suite supports a wide range of cameras and IMUs to match the requirements of the application. The synchronization accuracy of the framework is evaluated on multiple experiments achieving timing accuracy of less than 1 ms. Furthermore, the applicability and versatility of the sensor suite is demonstrated in multiple applications including visual-inertial SLAM, multi-camera applications, multi-modal mapping, reconstruction and object based mapping.

Experimental Research on Data Synchronous Acquisition Method of Subsidence Monitoring in Submarine Gas Hydrate Mining Area

The data synchronous acquisition is crucial to the seafloor subsidence monitoring system for gas hydrate mining areas based on microelectromechanical sensors (MEMS). Because the independent and high-precision time reference sources on land cannot be used on the seafloor, especially in the deep sea, a relative time synchronization method based on input/output (I/O) and controller area network (CAN) bus was proposed to realize the internal time synchronization of the system. To demonstrate the feasibility of the proposed method, tests including the deformation test of the MEMS sensor array under high pressure, synchronous accuracy test, and landslide and collapse simulation tests were carried out. The synchronization method was performed once every 24 h, and the time drift was reduced to 0.38 ms from more than 30 ms, demonstrating that method can achieve consistent internal time of the system. The method does not require additional hardware devices and has adjustable accuracy.

A Methodology for Choosing Time Synchronization Strategies for Wireless IoT Networks

The wireless Internet of Things (IoT) family grows without interruption. Every day more applications and wireless devices are available to interconnect and help solve multiple problems in areas such as health, critical infrastructure, industry, etc. Many of the tasks to be performed by the IoT network require time synchronization for their correct operation, either to use the spectrum more efficiently, to add data from different sensors, or to carry out coordinated communications. Each of these applications has different requirements regarding time synchronization. This means that the decision of which strategy to follow to synchronize an IoT end device becomes a task that requires important prior analysis and usually, if developers are experts in the topic, ends with the implementation of an ad hoc solution. In this article, we present a methodology to choose an adequate time-synchronization strategy for any wireless IoT application. We also present a tool that executes the methodology, guiding the IoT application developer through some input forms. This combination of methodology and tool abstracts developers from the complexities of time-synchronization strategies, allowing them to choose the correct strategy regardless of their level of knowledge in wireless IoT time synchronization. As a result, the methodology offers a set of time-synchronization strategies that are adjusted to the needs of developers and applications.

Performance Analysis of Time Synchronization Protocols in Wireless Sensor Networks

The time synchronization protocol is indispensable in various applications of wireless sensor networks, such as scheduling, monitoring, and tracking. Numerous protocols and algorithms have been proposed in recent decades, and many of them provide micro-scale resolutions. However, designing and implementing a time synchronization protocol in a practical wireless network is very challenging compared to implementation in a wired network; this is because its performance can be deteriorated significantly by many factors, including hardware quality, message delay jitter, ambient environment, and network topology. In this study, we measure the performance of the Flooding Time Synchronization Protocol (FTSP) and Gradient Time Synchronization Protocol (GTSP) in terms of practical network conditions, such as message delay jitter, synchronization period, network topology, and packet loss. This study provides insights into the operation and optimization of time synchronization protocols. In addition, the performance evaluation identifies that FTSP is highly affected by message delay jitter due to error accumulation over multi-hops. We demonstrate that the proposed extended version of the FTSP (E-FTSP) alleviates the effect of message delay jitter and enhances the overall performance of FTSP in terms of error, time, and other factors.

Implementation and Evaluation of a Wide-Range Human-Sensing System Based on Cooperating Multiple Range Image Sensors

A museum is an important place for science education for children. The learning method in the museum is reading exhibits and explanations. Museums are investing efforts to quantify interests using questionnaires and sensors to improve their exhibitions and explanations. Therefore, even in places where many people gather, such as in museums, it is necessary to quantify people's interest by sensing behavior of multiple people. However, this has not yet been realized. We aim to quantify the interest by sensing a wide range of human behavior for multiple people by coordinating multiple noncontact sensors. When coordinating multiple sensors, the coordinates and the time of each sensor differ. To solve these problems, coordinates were transformed using a simultaneous transformation matrix and time synchronization was performed using unified time. The effectiveness of this proposal was verified through experimental evaluation. Furthermore, we evaluated the actual museum content. In this paper, we describe the proposed method and the results of the evaluation experiment.

Augmentation of GNSS by Low-Cost MEMS IMU, OBD-II, and Digital Altimeter for Improved Positioning in Urban Area

This paper proposes an efficient multi-sensor system to complement GNSS (Global Navigation Satellite System) for improved positioning in urban area. The proposed system augments GNSS by low-cost MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit), OBD (On-Board Diagnostics)-II, and digital altimeter modules. For improved availability of time synchronization in urban area, an adaptive synchronization method is proposed to combine the external PPS (Pulse Per Second) signal and the internal onboard clock. For improved positioning accuracy and availability, a 17-state Kalman filter is formulated for efficient multi-sensor fusion, including OBD-II and digital altimeter modules. A strategy to apply different types of measurement updates is also proposed for improved performance in urban area. Four experiment results with field-collected measurements evaluates the performance of the proposed GNSS/IMU/OBD-II/altimeter system in various aspects, including accuracy, precision, continuity, and availability.

Node-Identification-Based Secure Time Synchronization in Industrial Wireless Sensor Networks

Time synchronization is critical for wireless sensors networks in industrial automation, e.g., event detection and process control of industrial plants and equipment need a common time reference. However, cyber-physical attacks are enormous threats causing synchronization protocols to fail. This paper studies the algorithm design and analysis in secure time synchronization for resource-constrained industrial wireless sensor networks under Sybil attacks, which cannot be well addressed by existing methods. A node-identification-based secure time synchronization (NiSTS) protocol is proposed. The main idea of this protocol is to utilize the timestamp correlation among different nodes and the uniqueness of a node’s clock skew to detect invalid information rather than isolating suspicious nodes. In the detection process, each node takes the relative skew with respect to its public neighbor as the basis to determine whether the information is reliable and to filter invalid information. The information filtering mechanism renders NiSTS resistant to Sybil attacks and message manipulation attacks. As a completely distributed protocol, NiSTS is not sensitive to the number of Sybil attackers. Extensive simulations were conducted to demonstrate the efficiency of NiSTS and compare it with existing protocols.

Access Control Model Based on Time Synchronization Trust in Wireless Sensor Networks

Internal reliability and external safety of Wireless Sensor Networks (WSN) data transmission have become increasingly outstanding issues with the wide applications of WSN. This paper proposes a new method for access control and mitigation of interfering noise in time synchronization environments. First, a formal definition is given regarding the impact interference noise has on the clock skew and clock offset of each node. The degree of node interference behavior is estimated dynamically from the perspective of time-stamp changes caused by the interference noise. Secondly, a general access control model is proposed to resist invasion of noise interference. A prediction model is constructed using the Bayesian method for calculating the reliability of neighbor node behavior in the proposed model. Interference noise, which attacks the time synchronization, is regarded as the key factor for probability estimation of the reliability. The result of the calculations determines whether it is necessary to initiate synchronization filtering. Finally, a division of trust levels with bilinear definition is employed to lower interference noise and improve the quality of interference detection. Experimental results show that this model has advantages in system overhead, energy consumption and testing errors, compared to its counterparts. When the disturbance intensity of a WSN increases, the proposed optimized algorithm converges faster with a lower network communication load.

DE-Sync: A Doppler-Enhanced Time Synchronization for Mobile Underwater Sensor Networks

Time synchronization is the foundation of cooperative work among nodes of underwater sensor networks; it takes a critical role in the research and application of underwater sensor networks. Although numerous time synchronization protocols have been proposed for terrestrial wireless sensor networks, they cannot be directly applied to underwater sensor networks. This is because most of them typically assume that the propagation delay among sensor nodes is negligible, which is not the case in underwater sensor networks. Time synchronization is mainly affected by a long propagation delay among sensor nodes due to the low propagation speed of acoustic signals. Furthermore, sensor nodes in underwater tend to experience some degree of mobility due to wind or ocean current, or some other nodes are on self-propelled vehicles, such as autonomous underwater vehicles (AUVs). In this paper, we propose a Doppler-enhanced time synchronization scheme for mobile underwater sensor networks, called DE-Sync. Our new scheme considers the effect of the clock skew during the process of estimating the Doppler scale factor and directly substitutes the Doppler scale factor into linear regression to achieve the estimation of the clock skew and offset. Simulation results show that DE-Sync outperforms existing time synchronization protocols in both accuracy and energy efficiency.

Enhancing Time Synchronization Support in Wireless Sensor Networks

With the emerging Internet of Things (IoT) technology becoming reality, a number of applications are being proposed. Several of these applications are highly dependent on wireless sensor networks (WSN) to acquire data from the surrounding environment. In order to be really useful for most of applications, the acquired data must be coherent in terms of the time in which they are acquired, which implies that the entire sensor network presents a certain level of time synchronization. Moreover, to efficiently exchange and forward data, many communication protocols used in WSN rely also on time synchronization among the sensor nodes. Observing the importance in complying with this need for time synchronization, this work focuses on the second synchronization problem, proposing, implementing and testing a time synchronization service for low-power WSN using low frequency real-time clocks in each node. To implement this service, three algorithms based on different strategies are proposed: one based on an auto-correction approach, the second based on a prediction mechanism, while the third uses an analytical correction mechanism. Their goal is the same, i.e., to make the clocks of the sensor nodes converge as quickly as possible and then to keep them most similar as possible. This goal comes along with the requirement to keep low energy consumption. Differently from other works in the literature, the proposal here is independent of any specific protocol, i.e., it may be adapted to be used in different protocols. Moreover, it explores the minimum number of synchronization messages by means of a smart clock update strategy, allowing the trade-off between the desired level of synchronization and the associated energy consumption. Experimental results, which includes data acquired from simulations and testbed deployments, provide evidence of the success in meeting this goal, as well as providing means to compare these three approaches considering the best synchronization results and their costs in terms of energy consumption.

Multiple Two-Way Time Message Exchange (TTME) Time Synchronization for Bridge Monitoring Wireless Sensor Networks

Wireless sensor networks (WSNs) have been widely used to collect valuable information in Structural Health Monitoring (SHM) of bridges, using various sensors, such as temperature, vibration and strain sensors. Since multiple sensors are distributed on the bridge, accurate time synchronization is very important for multi-sensor data fusion and information processing. Based on shape of the bridge, a spanning tree is employed to build linear topology WSNs and achieve time synchronization in this paper. Two-way time message exchange (TTME) and maximum likelihood estimation (MLE) are employed for clock offset estimation. Multiple TTMEs are proposed to obtain a subset of TTME observations. The time out restriction and retry mechanism are employed to avoid the estimation errors that are caused by continuous clock offset and software latencies. The simulation results show that the proposed algorithm could avoid the estimation errors caused by clock drift and minimize the estimation error due to the large random variable delay jitter. The proposed algorithm is an accurate and low complexity time synchronization algorithm for bridge health monitoring.

Cluster-Based Maximum Consensus Time Synchronization for Industrial Wireless Sensor Networks

Time synchronization is one of the key technologies in Industrial Wireless Sensor Networks (IWSNs), and clustering is widely used in WSNs for data fusion and information collection to reduce redundant data and communication overhead. Considering IWSNs' demand for low energy consumption, fast convergence, and robustness, this paper presents a novel Cluster-based Maximum consensus Time Synchronization (CMTS) method. It consists of two parts: intra-cluster time synchronization and inter-cluster time synchronization. Based on the theory of distributed consensus, the proposed method utilizes the maximum consensus approach to realize the intra-cluster time synchronization, and adjacent clusters exchange the time messages via overlapping nodes to synchronize with each other. A Revised-CMTS is further proposed to counteract the impact of bounded communication delays between two connected nodes, because the traditional stochastic models of the communication delays would distort in a dynamic environment. The simulation results show that our method reduces the communication overhead and improves the convergence rate in comparison to existing works, as well as adapting to the uncertain bounded communication delays.

CoDA: Collaborative Data Aggregation in Emerging Sensor Networks Using Bio-Level Voronoi Diagrams

To implement minimum power consumption of the link, cluster heads adopt the multi-hop manner for inter-cluster communication so as to forward the aggregation data to the relay nodes. This paper proposes a collaborative data aggregation in emerging sensor networks using a bio-level Voronoi diagram, which is an energy-efficient data aggregation protocol that integrates topology control, Multiple Access Control (MAC) and routing. The sensor nodes situated in the lower level of the diagram are responsible for listening and gathering data, and should be organized by optimal clustering node. In the inter-cluster communication stage, a particle swarm optimization algorithm is addressed to seek optimal transmission path which could simultaneously achieve the minimization of the maximum next hop distance between two nodes in the routing path and the minimization of the maximum hop count, so the minimization of whole network energy consumption is realized. The results of theoretical analysis and simulation results show that energy efficiency and synchronization accuracy of the proposed algorithm can be much better than with traditional routing protocols, and the energy consumption of nodes in the whole network can be more balanced.

RB Particle Filter Time Synchronization Algorithm Based on the DPM Model

Time synchronization is essential for node localization, target tracking, data fusion, and various other Wireless Sensor Network (WSN) applications. To improve the estimation accuracy of continuous clock offset and skew of mobile nodes in WSNs, we propose a novel time synchronization algorithm, the Rao-Blackwellised (RB) particle filter time synchronization algorithm based on the Dirichlet process mixture (DPM) model. In a state-space equation with a linear substructure, state variables are divided into linear and non-linear variables by the RB particle filter algorithm. These two variables can be estimated using Kalman filter and particle filter, respectively, which improves the computational efficiency more so than if only the particle filter was used. In addition, the DPM model is used to describe the distribution of non-deterministic delays and to automatically adjust the number of Gaussian mixture model components based on the observational data. This improves the estimation accuracy of clock offset and skew, which allows achieving the time synchronization. The time synchronization performance of this algorithm is also validated by computer simulations and experimental measurements. The results show that the proposed algorithm has a higher time synchronization precision than traditional time synchronization algorithms.

Distributed Synchronization Technique for OFDMA-Based Wireless Mesh Networks Using a Bio-Inspired Algorithm

In this paper, a distributed synchronization technique based on a bio-inspired algorithm is proposed for an orthogonal frequency division multiple access (OFDMA)-based wireless mesh network (WMN) with a time difference of arrival. The proposed time- and frequency-synchronization technique uses only the signals received from the neighbor nodes, by considering the effect of the propagation delay between the nodes. It achieves a fast synchronization with a relatively low computational complexity because it is operated in a distributed manner, not requiring any feedback channel for the compensation of the propagation delays. In addition, a self-organization scheme that can be effectively used to construct 1-hop neighbor nodes is proposed for an OFDMA-based WMN with a large number of nodes. The performance of the proposed technique is evaluated with regard to the convergence property and synchronization success probability using a computer simulation.

An Autonomous Satellite Time Synchronization System Using Remotely Disciplined VC-OCXOs

An autonomous remote clock control system is proposed to provide time synchronization and frequency syntonization for satellite to satellite or ground to satellite time transfer, with the system comprising on-board voltage controlled oven controlled crystal oscillators (VC-OCXOs) that are disciplined to a remote master atomic clock or oscillator. The synchronization loop aims to provide autonomous operation over extended periods, be widely applicable to a variety of scenarios and robust. A new architecture comprising the use of frequency division duplex (FDD), synchronous time division (STDD) duplex and code division multiple access (CDMA) with a centralized topology is employed. This new design utilizes dual one-way ranging methods to precisely measure the clock error, adopts least square (LS) methods to predict the clock error and employs a third-order phase lock loop (PLL) to generate the voltage control signal. A general functional model for this system is proposed and the error sources and delays that affect the time synchronization are discussed. Related algorithms for estimating and correcting these errors are also proposed. The performance of the proposed system is simulated and guidance for selecting the clock is provided.

Enhanced precision time synchronization for wireless sensor networks

Time synchronization in wireless sensor networks (WSNs) is a fundamental issue for the coordination of distributed entities and events. Nondeterministic latency, which may decrease the accuracy and precision of time synchronization can occur at any point in the network layers. Specially, random back-off by channel contention leads to a large uncertainty. In order to reduce the large nondeterministic uncertainty from channel contention, we propose an enhanced precision time synchronization protocol in this paper. The proposed method reduces the traffic needed for the synchronization procedure by selectively forwarding the packet. Furthermore, the time difference between sensor nodes increases as time advances because of the use of a clock source with a cheap crystal oscillator. In addition, we provide a means to maintain accurate time by adopting hardware-assisted time stamp and drift correction. Experiments are conducted to evaluate the performance of the proposed method, for which sensor nodes are designed and implemented. According to the evaluation results, the performance of the proposed method is better than that of a traditional time synchronization protocol.