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We propose a distributed algorithm for time synchronization in mobilewireless sensor networks. Each node can employ the algorithm to estimate theglobal time based on its local clock time. The problem of time synchronizationis formulated as nodes estimating their skews and offsets from noisy differencemeasurements of offsets and logarithm of skews; the measurements acquired bytime-stamped message exchanges between neighbors. A distributed stochasticapproximation based algorithm is proposed to ensure that the estimation erroris mean square convergent (variance converging to 0) under certain conditions.A sequence of scheduled update instants is used to meet the requirement ofdecreasing time-varying gains that need to be synchronized across nodes withunsynchronized clocks. Moreover, a modification on the algorithm is alsopresented to improve the initial convergence speed. Simulations indicate thathighly accurate global time estimates can be achieved with the proposedalgorithm for long time durations, while the errors in competing algorithmsincrease over time.

Accurate Distributed Time Synchronization in Mobile Wireless Sensor Networks from Noisy Difference Measurements