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We consider two transceivers, the first with perfect clock and the secondwith imperfect clock. We investigate the joint estimation of the delay betweenthe transceivers and the offset and the drift of the imperfect clock. Wepropose a protocol for the synchronization of the clocks. We derive someempirical estimators for the delay, the offset and the drift, and compute theCramer-Rao lower bounds and the joint maximum likelihood estimator of the delayand the drift. We study the impact of the protocol parameters and thetime-of-arrival estimation variance on the achieved performances. We validatesome theoretical results by simulation.

Joint Estimation of the Time Delay and the Clock Drift and Offset Using UWB signals