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 |