Skew Estimation Based on Weighted Median for Average Consensus Time Synchronization in the Presence of Communication Delays

This letter considers consensus time synchronization for wireless senor networks with random communication delays. Based on weighted median method, two different relative skew estimators are proposed to obtain accurate estimates: a gap-based estimator and a novel low storage estimator. Then, the estimated skew is applied to average consensus approach to compensate the clock skew and offset, and the synchronization performance is improved. Theoretical convergence analysis and simulations are presented to demonstrate the effectiveness of the proposed estimators under time delays.