An Event-Based Kalman filter for Clock Synchronization

The distribution of a time reference has long been a significant research topic in measurement and different solutions have been proposed over the years. In this context, the design of servo clocks plays an important role to get better performances by smoothing the influence of noise sources affecting a synchronization system. A servo clock is asked to provide an adaptive and conservative measure of the time distance between the local clock and the time reference by minimizing, if possible, the energy consumption. In this paper, we propose a servo clock based on an efficient implementation of the Kalman filter (KF), called in the following event-based KF that allows to overcome drawbacks of existing KF-based servo clocks with furthermore a significant reduction of the computational cost. An in-depth analysis of the synchronization uncertainty has been reported to completely characterize the proposed solution; and finally, some guidelines on how to correctly initialize the KF are provided.