Clock synchronisation in underwater acoustic networks

This paper proposes a novel algorithm for clock synchronisation in underwater acoustic networks. The approach models modem clocks as linear functions and embeds the data necessary for the clock synchronisation procedure as time stamps that can be communicated in the payload of later messages and only when necessary, hence limiting the communication overhead. Experimental results are given from the CommsNet13 experiment, where the algorithm was run based on the data coming from the CMRE Littoral Ocean Observatory Network, and from the COLLAB13 sea trial, when the acoustic network was composed by fixed and mobile nodes.