Time synchronisation for millisecond-precision on bio-loggers

Abstract

Abstract Time-synchronised data streams from bio-loggers are becoming increasingly important for analysing and interpreting intricate animal behaviour including split-second decision making, group dynamics, and collective responses to environmental conditions. With the increased use of AI-based approaches for behaviour classification, time synchronisation between recording systems is becoming an essential challenge. Current solutions in bio-logging rely on manually removing time errors during post processing, which is complex and typically does not achieve sub-second timing accuracies. We first introduce an error model to quantify time errors, then optimise three wireless methods for automated onboard time (re)synchronisation on bio-loggers (GPS, WiFi, proximity messages). The methods can be combined as required and, when coupled with a state-of-the-art real time clock, facilitate accurate time annotations for all types of bio-logging data without need for post processing. We analyse time accuracy of our optimised methods in stationary tests and in a case study on 99 Egyptian fruit bats (Rousettus aegyptiacus). Based on the results, we offer recommendations for projects that require high time synchrony. During stationary tests, our low power synchronisation methods achieved median time accuracies of 2.72 / 0.43 ms (GPS / WiFi), compared to UTC time, and relative median time accuracies of 5 ms between tags (wireless proximity messages). In our case study with bats, we achieved a median relative time accuracy of 40 ms between tags throughout the entire 10-day duration of tag deployment. Using only one automated resynchronisation per day, permanent UTC time accuracies of ≤ 185 ms can be guaranteed in 95% of cases over a wide temperature range between 0 and 50 °C. Accurate timekeeping required a minimal battery capacity, operating in the nano- to microwatt range. Time measurements on bio-loggers, similar to other forms of sensor-derived data, are prone to errors and so far received little scientific attention. Our combinable methods offer a means to quantify time errors and autonomously correct them at the source (i.e., on bio-loggers). This approach facilitates sub-second comparisons of simultaneously recorded time series data across multiple individuals and off-animal devices such as cameras or weather stations. Through automated resynchronisations on bio-loggers, long-term sub-second accurate timestamps become feasible, even for life-time studies on animals. We contend that our methods have potential to greatly enhance the quality of ecological data, thereby improving scientific conclusions.

Keywords

• Animal tracking
• Movement ecology
• Telemetry
• Wireless sensors
• Embedded systems
• WiFi