Advanced self-correcting time synchronization in wireless sensor networks

To improve the two deficiencies of the Self- Correcting Time Synchronization (SCTS) mechanism, we propose a Kalman filter based Advanced SCTS (ASCTS) mechanism in this letter. We prove and explain the close relationship between the basic phase locked loop (PLL) employed by SCTS and the Kalman filter employed by ASCTS. An experimental platform with eight GAINS-3 nodes is used to evaluate the performance.