An algorithm for WSN clock synchronization: Uncertainty and convergence rate trade off

Abstract-Achieving tight time synchronization between wireless sensor network (WSN) nodes is essential to coordinate the activities of different devices. In this paper, a synchronization algorithm based on a linear controller is used to dynamically compensate both mutual offsets and drifts of the clock associated with the nodes of a WSN. This approach, compared with other existing solutions based on control theory, explicitly takes into account the inter-node communication latencies. Furthermore, it presents on optimal (fastest convergence) controller in the case of full visibility among nodes. In the case of noise in both the clock measurements and the clock drifts, a controller that reduces the noise effect on the synchronization accuracy is also proposed and compared to the optimal one. In all cases, the correct operation of the algorithm has been proved through simulations.