Clock skew tracking method based on weighted observation fusion and timestamp free interaction

Abstract

The present invention relates to a clock skew tracking method based on weighted observation fusion and timestamp-free interaction, and belongs to the technical field of wireless sensor networks. The method comprises performing listening synchronization by an implicit node S within an overlapping communication range between a reference node and multiple active nodes, and after multiple pairs of timestamp-free communication messages are successfully overheard, using multiple extended Kalman filtering algorithms to perform weighted fusion of multiple observed values on multiple obtained tracking results based on a scalar weighted linear minimum variance information fusion criterion, thus realizing timestamp-free relative skew fusion tracking of the implicit node. The present invention can not only dynamically track a relative clock skew on the basis of sending no message, but also reduce influence of a node with a relatively large tracking error on a listening node, thus robustness of skew tracking of the listening node is increased.

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