Time synchronization enhancements in wireless networks with ultra wide band communications

The emergence of low cost Ultra Wide Band (UWB) transceivers has enabled the implementation of Wireless Sensor Networks (WSN) based on this communication technology. These networks are composed of distributed autonomous low cost nodes (also known as motes) with their own processing unit, memory and communications. Usually these nodes are power-limited and due to the poor performance and quality of their clocks, time synchronization is in the order of milliseconds and in some specific scenarios till microseconds. The integration of commercial UWB transceivers in these nodes can improve the synchronization accuracy. In particular, we focus on WSN nodes based on off-the-shelf commercial products and commodity hardware. In this paper we analyze step by step, from a practical and experimental point of view, the different elements involved in the time synchronization using UWB technology on WSN with static nodes. From our experimental results, with timestamps captured during the packet exchanges, we analyze and discuss the application of different communication schemes and simple statistical methods (in order to be run in WSN nodes). The results obtained with timestamps captured at the UWB transceivers and by using linear regression show that the lowest time synchronization error achieved between two nodes is 0.14 ns. Employing the same setup and performing the synchronization with the timestamps captured internally at the microcontrollers of the nodes, the error rises to 31 ns, due to the higher time period of the microcontrollers' timers and the inaccuracies that affect the acquisition of the timestamps. Nevertheless, the synchronization of the microcontrollers' clocks allows the setting up of a common time reference at the network nodes, enabling the implementation of applications with tight synchronization requirements, such as collaborative beamforming and ranging.