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Table 1 Simulation parameters

From: Synchronization in 5G networks: a hybrid Bayesian approach toward clock offset/skew estimation and its impact on localization

Parameters

Values in synchronization (Sect. 4)

Values in joint sync&loc (Sect. 5)

Number of independent simulations

10000

1000

Master node

\(\varvec{\xi }_{1}\)

\(\varvec{\xi }_{1}\)

Initial random delays interval

[− 1000, 1000] ns

[− 1000, 1000] ns

Number of time-stamp exchange (K)

10

Standard deviation of \(T^k_{ij}\) and \(R^k_{ij}\)

9 ns

[2, 4, 6, 8, 10] ns

Random propagation delay between each pair of nodes

\(\left[ 200, 300 \right]\) ns

\(\left[ 200, 300 \right]\) ns

Initial pdf of the offset/skew for each node

\({\mathcal {N}}(0,+\infty )\)/\({\mathcal {N}}(1,10^{-4})\)

Initial pdf of the offset/skew of MN

\({\mathcal {N}}(0,0)\)/\({\mathcal {N}}(1,0)\)

STD of acceleration noise (\(\sigma _{a_x}, \sigma _{a_y}\))

2.5 m/\(\hbox {s}^2\)

Period of joint sync&loc (\(\Delta\))

200 ms

Process noise covariance matrix (\({\mathbf {Q}}_n\))

\(\text {diag}(10^{-12}, 10^{-2})\)

\(\text {diag}(10^{-12}, 10^{-2}, (0.5\sigma _{a_x}\Delta )^2,\)

  

\((0.5\sigma _{a_y}\Delta )^2, \sigma _{a_x}^2, \sigma _{a_y}^2)\)

Constant velocity

2 (m/s)

AN density

50 m