Synchronizing clocks on Internet of Things (IoT) devices is important for applications such as monitoring and real time control. In this paper, we describe a system for clock synchronization in IoT devices that is designed to be scalable, flexibly accommodate diverse hardware, and maintain tight synchronization over a range of operating conditions. We begin by examining clock drift on two standard IoT prototyping platforms. We observe clock drift on the order of seconds over relatively short time periods, as well as poor clock rate stability, each of which make standard synchronization protocols ineffective. To address this problem, we develop a synchronization system, which includes a lightweight client, a new packet exchange protocol called SPoT and a scalable reference server. We evaluate the efficacy of our system over a range of configurations, operating conditions and target platforms. We find that SPoT performs synchronization 22x and 17x more accurately than MQTT and SNTP, respectively, at high noise levels, and maintains a clock accuracy of within ~15ms at various noise levels. Finally, we report on the scalability of our server implementation through microbenchmark and wide area experiments, which show that our system can scale to support large numbers of clients efficiently.
Clock synchronization is ubiquitous in wireless systems for communication, sensing and control. In this paper we design a scalable system in which an indefinite number of passively receiving wireless units can synchronize to a single master clock at the level of discrete clock ticks. Accurate synchronization requires an estimate of the node positions. If such information is available the framework developed here takes position uncertainties into account. In the absence of such information we propose a mechanism which enables simultaneous synchronization and positioning. Furthermore we derive t…
Clock synchronization is a key function in embedded wireless systems and networks. This issue is equally important and more challenging in IoT systems nowadays, which often include heterogeneous wireless devices that follow different wireless standards. Conventional solutions to this problem employ gateway-based indirect synchronization, which suffers low accuracy. This paper for the first time studies the problem of cross-technology clock synchronization. Our proposal called Crocs synchronizes WiFi and ZigBee devices by direct cross-technology communication. Crocs decouples the synchronizatio…
In a wireless sensor network, nodes communicate time-stamped packets in order to synchronize their clocks, i.e., estimate each other's time display. We introduce and analyze a parametrized stochastic model for clocks and use it to calculate, at any given time, the Maximum-Likelihood (ML) estimate of the relative skew/offset between two communicating nodes. For network synchronization, event-based Kalman-Bucy filtering gives rise to a centralized scheme, and we propose an efficient distributed suboptimal algorithm. We study the performance both analytically and experimentally and provide provab…
Many critical computing applications rely on secure and dependable time which is reliably synchronized across large distributed systems. Today's time synchronization architectures are commonly based on global navigation satellite systems at the considerable risk of being exposed to outages, malfunction, or attacks against availability and accuracy. This paper describes a practical instantiation of a new global, Byzantine fault-tolerant clock synchronization approach that does not place trust in any single entity and is able to tolerate a fraction of faulty entities while still maintaining sync…
Empirical Evaluation of a 5G Transparent Clock for Time Synchronization in a TSN-5G Network
University of Granada（格拉纳达大学）；Research Center on Information and Communication Technologies, University of Granada（格拉纳达大学信息与通信技术研究中心）；Safran Electronics and Defense Spain（赛峰电子与防御西班牙公司）
Industrial control systems present numerous challenges from the communication systems perspective: clock synchronization, deterministic behavior, low latency, high reliability, flexibility, and scalability. These challenges are mostly solved with standard technologies over Ethernet, e.g., Time-Sensitive Networking (TSN). As a research trend, it is expected that TSN will converge with wireless, leading to the Wireless TSN paradigm. Also, Wireless TSN is expected to be integrated with Ethernet TSN to create large-scale wired-wireless (Hybrid) TSN networks. The first step towards Hybrid TSN is th…
In wireless sensor networks (WSNs), implementing a high-precision time synchronization scheme on resource-constrained sensor nodes is a major challenge. Our investigation of the practical implementation on a real testbed of the state-of-the-art WSN time synchronization scheme based on the asynchronous source clock frequency recovery and the reverse two-way message exchange, which can compensate for both propagation delay and clock skew for higher precision, reveals that its performance on battery-powered, low-complexity sensor nodes is not up to that predicted from simulation experiments due t…
The behavior of Wireless Sensor Networks (WSN) is nowadays widely analyzed. One of the most important issues is related to their energy consumption, as this has a major impact on the network lifetime. Another important application requirement is to ensure data sensing synchronization, which leads to additional energy consumption as a high number of messages is sent and received at each node. Our proposal consists in implementing a combined synchronization protocol based on the IEEE 1588 standard that was designed for wired networks and the PBS (Pairwise Broadcast Synchronization) protocol that…
The new wave of computing allows users to explore their time in the Internet of Things (IoT) by connecting their smart devices over the network for data transfer without human interventions. While this swing increases the pace in IoT, time synchronization became a demanding feature on IoT devices for real-time applications. In this paper, we describe two synchronization protocols in IoT, its features and the advantages over the other. In addition, this work reveals the importance of time synchronization in the IoT platform and the effects of bad syncs in real-time applications. We start our re…
Clock synchronization is a necessary component in modern distributed systems, especially Wirless Sensor Networks (WSNs). Despite the great effort and the numerous improvements, the existing synchronization schemes do not yet address the cancellation of propagation delays. Up to a few years ago, this was not perceived as a problem, because the time-stamping precision was a more limiting factor for the accuracy achievable with a synchronization scheme. However, the recent introduction of efficient flooding schemes based on constructive interference has greatly improved the achievable accuracy, t…
Sub-nanosecond precision clock synchronization over the packet network has been achieved by the White Rabbit protocol for a decade. However, few computer systems utilize such a technique. We try to attract more interest in the clock synchronization problem. We first introduce the basics of clock and synchronization in the time and frequency discipline. Then we revisit several related works, such as Google's Spanner, Huygens, FARMv2, DTP, and Sundial, explain why these works could be improved. Finally, we briefly discuss an independent time network approach towards low-cost and high-precision s…
Time synchronization is a vital concern for any Cognitive Radio Network (CRN) to perform dynamic spectrum management. Each Cognitive Radio (CR) node has to be environment aware and self adaptive and must have the ability to switch between multiple modulation schemes and frequencies. Achieving same notion of time within these CR nodes is essential to fulfill the requirements for simultaneous quiet periods for spectrum sensing. Current application layer time synchronization protocols require multiple timestamp exchanges to estimate skew between the clocks of CRN nodes. The proposed symbol timing…
In the above letter, Chin and Chen proposed an IEEE 1588 clock synchronization method based on dual slave clocks, where they claim that multiple unknown parameters --- i.e., clock offset, clock skew, and master-to-slave delay --- can be estimated with only one-way time transfers using more equations than usual. This comment investigates Chin and Chen's dual clock scheme with detailed models for a master and dual slave clocks and shows that the formulation of multi-parameter estimation is invalid, which affirms that it is impossible to distinguish the effect of delay from that of clock offset a…
Clock synchronization has become essential to modern societies since many critical infrastructures depend on a precise notion of time. This paper analyzes security aspects of high-precision clock synchronization protocols, particularly their alleged protection against delay attacks when clock synchronization traffic is encrypted using standard network security protocols such as IPsec, MACsec, or TLS. We use the Precision Time Protocol (PTP), the most widely used protocol for high-precision clock synchronization, to demonstrate that statistical traffic analysis can identify properties that supp…
One-way-broadcast based flooding time synchronization algorithms are commonly used in wireless sensor networks (WSNs). However, the packet delay and clock drift pose challenges to accuracy, as they entail serious by-hop error accumulation problems in the WSNs. To overcome it, a rapid flooding multi-broadcast time synchronization with real-time delay compensation (RDC-RMTS) is proposed in this paper. By using a rapid-flooding protocol, flooding latency of the referenced time information is significantly reduced in the RDC-RMTS. In addition, a new joint clock skew-offset maximum likelihood estim…
We present a detailled timed automata model of the clock synchronization algorithm that is currently being used in a wireless sensor network (WSN) that has been developed by the Dutch company Chess. Using the Uppaal model checker, we establish that in certain cases a static, fully synchronized network may eventually become unsynchronized if the current algorithm is used, even in a setting with infinitesimal clock drifts.
Time synchronization is important for a variety of applications in wireless sensor networks including scheduling communication resources, coordinating sensor wake/sleep cycles, and aligning signals for distributed transmission/reception. This paper describes a non-hierarchical approach to time synchronization in wireless sensor networks that has low overhead and can be implemented at the physical and/or MAC layers. Unlike most of the prior approaches, the approach described in this paper allows all nodes to use exactly the same distributed algorithm and does not require local averaging of meas…
In this paper we report preliminary results of a simulation study on an energy-efficient time synchronization scheme based on source clock frequency recovery (SCFR) at sensor nodes in asymmetric wireless sensor networks (WSNs), where a head node --- serving as a gateway between wired and wireless networks --- is equipped with a powerful processor and supplied power from outlet, and sensor nodes --- connected only through wireless channels --- are limited in processing and battery-powered. In the SCFR-based WSN time synchronization scheme, we concentrate on battery-powered sensor nodes and redu…
We consider energy-efficient time synchronization in a wireless sensor network where a head node (i.e., a gateway between wired and wireless networks and a center of data fusion) is equipped with a powerful processor and supplied power from outlet, and sensor nodes (i.e., nodes measuring data and connected only through wireless channels) are limited in processing and battery-powered. It is this asymmetry that our study focuses on; unlike most existing schemes to save the power of all network nodes, we concentrate on battery-powered sensor nodes in minimizing energy consumption for time synchro…
Time synchronization in any distributed network can be achieved by using application layer protocols for time correction. Time synchronization method proposed in this article uses symbol timing recovery at the physical layer to correct application layer clock. This cross layer methodology diminishes the quantity of message trades needed by application layer for time synchronization thus resulting in energy saving. Precision of skew estimate can be increased by using multiple message exchanges. Examination of the cross layer strategy including the simulation results, the experimentation outcome…
Network Time Protocol (NTP) is used by millions of hosts in Internet today to synchronize their clocks. Clock synchronization is necessary for many network applications to function correctly. Unsynchronized clock may lead to failure of various core Internet services including DNS and RPKI based interdomain routing and opens path for more sophisticated attacks. In this paper, we describe a new attack which can prevent a client configured in NTP's broadcast mode from synchronizing its clock with the server. We test the attack in real networks and show that it is effective in both authenticated a…
