Delay Compensation-Based Time Synchronization Under Random Delays: Algorithm and Experiment

This article proposes a delay compensation-based time synchronization (DCBTS) algorithm for wireless sensor networks (WSNs) with random bounded communication delays. First, we point out that in the framework of consensus-based time synchronization (CBTS) algorithms, the offset estimate is generally divergent in networks containing at least two root nodes due to immeasurable delays even if the drift estimate converges at a rate no slower than 1/k...