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In this work, we study the joint synchronization and localization (sync&#x0026;loc) of Mobile Nodes (MNs) in ultra dense networks. In particular, we deploy an asymmetric time-stamp exchange mechanism between the MNs and the Access Nodes (ANs), that, traditionally, provides us with information about the MNs' clock offset and skew. However, information about the distance between an AN and a MN is also intrinsic to the propagation delay experienced by exchanged time-stamps. In addition, we utilize Angle of Arrival (AoA) estimation to determine the incoming direction of time-stamp exchange packets, which gives further information about the MNs' location. Finally, we employ Bayesian Recursive Filtering (BRF) to combine the aforementioned pieces of information and jointly estimate the position and clock parameters of the MNs. The simulation results indicate that the Root Mean Square Errors (RMSEs) of position and clock offset estimation are kept below 1 meter and 1 nanosecond, respectively.

Bayesian Joint Synchronization and Localization Based on Asymmetric Time-stamp Exchange