Robust recursive network clock synchronization

A simple and statistically robust method for passive clock synchronization in sensor networks is presented. The method is not limited to passive (one-way communication) synchronization, but this scenario justifies the method. The recursive nature of the method and the targeted passive setup mean that it adds a minimum of requirements on the system in which it is used. Statistical characteristics of the method are quantified and real measurements are used to illustrate the robustness and performance gain relative to a naive Kalman filter based clock synchronization. Finally, C++ code that implements the suggested clock synchronization method, is provided in this article.