DC-Sync: A Doppler-Compensation Time-Synchronization Scheme for Complex Mobile Underwater Sensor Networks

Abstract

Time synchronization is crucial for effective collaboration among underwater sensors. However, existing synchronization protocols primarily cater to low-speed or simple motion scenarios, neglecting variations in radial velocity during message propagation. A novel Doppler compensation time synchronization scheme, called DC-Sync, was developed in this study to address this issue by targeting complex moving underwater sensors. DC-Sync includes a practical Doppler compensation and estimation method. Simulation results demonstrate that when the target motion follows a specific pattern, DC-Sync outperforms existing similar schemes in terms of time skew and time offset accuracy. Furthermore, the scheme maintains high estimation accuracy even with incomplete Doppler measurement values. Its performance was also validated through physical experiments.

Keywords

• Underwater timing
• time synchronization protocol
• Doppler estimates
• clock skew and offset estimation