Joint Ranging and Clock Parameter Estimation by Wireless Round Trip Time Measurements
It provides a practical solution for simultaneous clock synchronization and positioning in wireless networks, relevant for applications like IoT and indoor localization.
This paper develops a joint estimation technique for clock parameters and range using two-way time-of-arrival measurements with impulse-radio ultra-wideband signals, achieving sub-1 Hz frequency estimation, sub-1 ns phase estimation, and 20 cm range accuracy at 4 m distance with 100 MHz clocks.
In this paper we develop a new technique for estimating fine clock errors and range between two nodes simultaneously by two-way time-of-arrival measurements us- ing impulse-radio ultra-wideband signals. Estimators for clock parameters and the range are proposed that are robust with respect to outliers. They are analyzed numerically and by means of experimental measurement campaigns. The technique and derived estimators achieve accuracies below 1Hz for frequency estimation, below 1 ns for phase estimation and 20 cm for range estimation, at 4m distance using 100MHz clocks at both nodes. Therefore, we show that the proposed joint approach is practical and can simultaneously provide clock synchronization and positioning in an experimental system.