International Journal of Engineering Trends and Technology (IJETT) - Volume4Issue4- April 2013

Clock Harmonization during Time-Variant Underwater Acoustic Channels

Avvaru Ravi Kiran 1, K. Phani Srinivas 2, Ch. Sree Vardhan3
1

Electronics and Communications, KL University, Guntur, Andhra Pradesh, India

2 3

Assistant Professor, Electronics and Communications, KL University, Guntur, Andhra Pradesh, India

Assistant Professor, Electronics and Communications, KL University, Guntur, Andhra Pradesh, India communications trouble, the transmission medium introduces environmental issues such as high latency, multipath, refraction, transmission loss, noise and nonreciprocity, scattering. These factors have considerable effects on the channel impulse response. The individual multipath ar rival amplitudes and arrival times as well vary significantly depending on the surface circumstances and the directivity of the transducers. For a number of environmental conditions, the first or further multipath arrivals may be seriously attenuated or absent altogether.

Abstract This paper focuses on the underwater acoustic channel, accounting for the multipath arrivals, and generating a deposit of signal processing algorithms for estimating the necessary delay times to enable clock harmonization protocols for adjacent nodes in the underwater acoustic system. The projected technique engages correlating the reactions of the bidirectional channels to exploit the underlying reciprocity. Performed in two stages, a progression of probe signals is first transmitted to generate an assembly, which contains information regarding the time-variability of the acoustic communication channel through multipath. From this assembly, we decide its leading time-invariant attribute and use it as a suggestion datum for the time-delay measurements. The second stage engages performing time-delay evaluation for probe signals swapped between the nodes. Index Terms Acoustic harmonization, Underwater modem, Multipath. communications, Clock communications, Acoustic

I. Introduction

Clock harmonization between network nodes becomes compulsory once data from multiple nodes are to be co- processed. In the framework of surveillance networks, harmonization of the nodes clocks is directly associated with the correctness of the localization of a potential objective. Clock harmonization is attained by calculating and then correcting the skew and offset of the inner clock of a single node. The skew of a clock is the oscillator frequency differentiation among two synchronizing clocks, whereas the offset is the time variation at a definite point in time between two clocks. Clock harmonization is particularly significant for high-latency communications such as those in underwater acoustic networks in which data from individual nodes takes variable times to arrive at the main processing node. The challenge in underwater acoustic clock harmonization lies in properly estimating the time delay among the transmission of a signal from a node and the reception of that signal by a different node. For the acoustic

Fig1. The intend of this paper is to observe how timevariability of the impulse response impacts clockharmonization and how it can be kept away from or mitigated in a spatially stationary underwater network. The Time Synchronization for High Latency (TSHL) protocol developed by Syed and Heidemann is used as the basis. The protocol is tailored to account for time-variability of the channel impulse response.

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In the nonexistence of a fit-for-all underwater statistical model, channel soundings are an excellent alternative to the lack of prediction ability. They are straight measurements of the time-varying impulse response of propagation medium and substitute general assumptions concerning the existing channel between two nodes. A series of pulses is sent through the channel at a set interval. The receiver examines the obtained series and compiles its personal local channel characteristics from it. bA the offset of clock CA compared to its reference or master clock CB . All through this paper B indicates the reference node and A the synchronizing node. In an ideal situation with no errors or drifts, we would have C(t) = t . The skew of a clock fA is the oscillator frequency difference between CA and CB . The offset b A is the time difference at a exact point in time between the two clocks. Figure 2 is a graphical representation of a perfect reference clock combined with both a slower and faster slave with respective offset clocks.

Our approach calms down the assumption in TSHL of a stable propagation delay among the synchronizing nodes. It also relaxes the reciprocity assumption for the channel. Alternatively, we repeat the measure the response of the channel over a period of time to statistically describe the communication channel to estimate the propagation delay and its skew in an enhanced way. This move could also be defined as adding channel sounding to the TSHL protocol. This model keeps the two- stage approach developed by TSHL, correcting for the skew first followed by the offset. At the first stage of skew correction, examination of a sequence of chirp responses to recognize the smallest amount time-varying multipath present in the channel among the two nodes is performed. Based on the known chirp transmission interval, linear regression is performed on the calculated interval of arrivals of that recognized multipath detected within each chirp response. The slope of the ensuing best-of-fit straight line signifies the skew of the clocks receiver node compared to the initiating or reference node. The second stage consists of an exchange o f timestamp messages between the two nodes, where we presume a time varying one-way propagation delay between the two nodes. The defy in this stage consists in shaping the variation in propagation delays. This is solved by performing, at one of the nodes, a time-delay estimate via the chirp responses of the channel sounding of both one-way propagation paths.

Fig2.
2. Changeability of the underwater communication channel

II. BACK GROUND A. Clock Model Each node in a sensor network has its individual clock. The time measured by clock A generally presents random errors, but on average it can be represented by a linear function of the form CA(t ) = fAt + b A [1] where fA represents the skew and

Fig3. The underwater acoustic channel is a difficult communication medium. It can be considered of as a lengthy slim pipe, with the deprived physical link quality of a mobile terrestrial radio channel, and the high latency of a satellite channel. Technologies developed fo r wireless radio communications are used as the foundation for underwater acoustic communications. Wireless communication difficulties l i k e multipath, scattering, noise, attenuation and fading are replicated in the ocean because of the high latency of the medium. Acoustic signals

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proliferate five-orders-of-magnitude slower in water compared to over-the-air RF signals, with speeds of 1.5x103 m/s and 3x108m/s, respectively. Also, greater absorption at higher acoustic frequencies restricts the existing bandwidth, leaving only lower frequencies, which are susceptible to channel fading due to multipath. Underwater acoustic research regularly takes the above-mentioned intricacies of the medium into account. However, most realistic explanations make the hypothesis that the environment is steady over relatively short periods of time. On the other hand, signal fluctuations can occur due to transceiver movement or inherent changes within the propagation medium. In the underwater environment there is always some movement present in the system. This motion outage of the communication channel. In the nonexistence of a fit-for-all underwater statistical model, channel soundings are an excellent alternative to the lack of prediction capability. They are measurements of the time-varying impulse response of propagation medium and substitute common assumptions regarding the channel. A chain of pulses is sent through the channel at a set interval. The receiver analyzes the received series and estimates the local channel characteristics from it. This practice is an added support cost to the system, but the result may deeply improve its overall efficiency.

III. PROPOSED CLOCK SYNCHRONIZATION ALGORITHMS The stated algorithms below stand for time variability in the underwater communication channel when synchronizing the clock of slave node A to reference master node B. As mentioned in the introduction, this approach is based on the TSHL protocol. Our approach calms down the

can affect the impulse responses frequency spectrum according to the Doppler effect, potency of the arrival paths, or in the horrible case, the complete disappearance of it due to one of the transceivers entering a shadow region where no communication pathway exists between two communicating nodes. The Doppler effect originates frequency shifting as well as added frequency spreading. The amount of spectral shift is proportional to the ratio of the relative transmitter-receiver velocity to the speed of sound. As the speed of sound in the water is comparatively slow (1500 m/s), a transducers shift from waves, currents, tides, and platform shift will be enough to impair the communication channel. Further, unlike wireless communications systems in the air, it has been publicized that assumption that the underwater acoustic channels are subject to wide-sense stationary uncorrelated scattering (WSSUS) does not always apply. In addition to transducer movement, the impulse response varies due to motion within the environment. There are different phenomena accountable for this motion, which drop in either long or short-term categories. Transform that happen over an extended time scale regularly develop at a slow pace and do not influence the signal during its propagation through the medium. The regular happening says that the system can accustom to the changes in the environment. Since some of them can be cyclical in nature, the system can be designed to expect and adapt to these fluctuations. Long-term phenomena include but are not limited to swell, current, internal waves, tides and daily or seasonal water temperature variations. Short-term changeability is articulated in loads of diverse ways, which is the reason there is no consensus on a numerical description of the underwater acoustic channel. Wind energy is the central reason for the shortterm instability. Its extremely dynamic nature leaves little time for the system to adapt and can often result in the

assumption in TSHL of a stable propagation delay between the synchronizing nodes. Instead, we frequently compute the response of the channel over a period of time and statistically illustrate the communication channel to better decide the propagation delay and its skew. 1) Stage 1: Channel sound and skew correction Our approach to the skew correction views deeper into the physical attributes of the received chirps. When considering to a multipath environment, an acoustic modem will pick an arrival or path in agreement to a predefined metric. Considering the Teledyne Benthos acoustic modems, the most vigorous path or principal peak is preferred as the synchronizing reference datum. This reference arrival can temporarily change within the impulse response of a time-varying communication channel. Such an environment will influence the arrivals within the impulse response differently, resulting in few arrivals being steadier over a period of time than others. The following model effectively changes the pre-define synchronization metric used by the acoustic modem. The new metric is based on the formation of the impulse response predictable by sending a series of chirps through the channel. The initial point of the process is the generation by the reference node B of a digital impulse train, finally based on its clock frequency. The length of this impulse train should be adequate enough to provide enough chirps to the synchronization node A for the linear regression algorithm. The selection of the Repetition Pulse Interval (RPI) should base on the sampling frequency of the system and the intended measurement precision of the skew. The length of the complete impulse train must be such that there are

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adequate samples to cover the scale of the clock skew. The characteristics of the pulse, influence how precisely each multipath arrival can be differed from one another within the impulse response. Because the function of the algorithm is essentially the same as channel sounding, reference identifies linear frequency-modulated (LFM) chirp trains and pseudorandom (PRN) binary sequences as the most suitable types of probe signals. Because the series of chirps is shaped, it is combined The time delay between signals traced at two spatially alienated sensors can be recovered using a correlator, even in the presence of noise. The recognized reference pulse x i(t) is correlated with the signal received by the synchronizing node yi(t) to produce Pxyi(). The separation between the peaks in Pxyi() signify the time delays between the multiple copies of the transmitted pulse. These initiate from the multipath attribute of the channel. P xyi() can also be used to approximate the channel impulse response at time t. The peak detector then applies a threshold to sense the location of the peaks present in the signal P xyi(). These peaks correspond to the signal propagation time difference between the different paths there in the channel at time t. similar multipath arrival for each one of the received responses. Therefore the arrivals of each multipath must be properly grouped prior to the skew can be found. To act so, a sorting algorithm line up each multipath in a single column of a matrix, keeping the received detected arrival for a particular pulse on the same row. To establish the key multipath arrivals, a probability density function (PDF) is predicted using all of the detected arrival in matrix A of Figure 4. The time indexes of the peaks of this PDF are pulled out and used to signify the main multipath, identified individually by the index q in Figure 3, of the channel when q = 1,2,...,Q. The maximum number of multipaths recognized by the algorithm can be pre-set. In Figure 5, the s major peaks of the PDF will be known as the main multipath, when s = Q. Each key multipath is represented by a column in a new matrix B, an example of which is shown in Figure 5. The time indexes are compared with the noticed arrival time of each pulse. If a detected arrival time corresponds to one of the resoluted chief multipath arrival times, it is transported to the new matrix on the particular row of the pulse from which it was detected and the column to which multipath it is related. If no arrivals are detected, a zero is inserted in the matrix as a placeholder. The size of matrix B can be varied from the size of A, depending on how much the impulse response of the channel varies between the transmission times of the n pulses. to the carrier frequency and propagated as the ith chirp (xi(t)) of n total chirps by the reference nodes transducer. The environment influences the transmitted signal xi(t). The received signal is then indicated as yi(t). The signal yi(t) received by the synchronizing nodes transducer is filtered, united back down to baseband, and digitized based on the sampling frequency regulated by the nodes local clock.

Fig4.

Each arrival time is noted as ai, j which points to the jth received multipath arrival time from the ith out of n propagated pulses. The arrival times are then grouped in a matrix A as shown in Figure 4. It is significant to note down the number of detected arrival may vary among the received chirp responses. Therefore, m denotes the maximum number of arrivals detected in a single received pulse. The ending size of matrix A is then n x m. The peak detector will not essentially detect the identical number of arrivals for each received pulse. The time variability of the channel impulse response can influence the energy level received from a particular multipath and avoid it from being detected by the peak detector. Thus, the detected arrival times present in a single column of Figure 4 need not essentially symbolize the

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Fig5.

demonstrated in Figure 6 by independently labeling the one-way propagation delays.

Now lined up, every common ensemble of arrivals (separate columns of matrix B in Figure 5) is processed by a linear-regression algorithm. The predictable time delay calculated for each chirp for a regular multipath arrival and the well-known RPI can be used to carry out a linearregression analysis. A straight line is fit to the data in each of the columns of B. This study results in two values Fj is the slope of the best fit line and Ej denotes the goodness of fit of this line, better defined as the linear correlation coefficient. The slope Fj denotes the skew between the synchronizing and reference clocks. The linear correlation coefficient Ej is used in the subsequent step of the algorithm to choose the most stable multipath arrival. The last step of the process spots which set of arrivals is the most stable and consistent within the sequence of chirp responses analyzed. This verdict is based on the measured value of Ej and the number of arrivals detected in a particular set. The linear correlation coefficient is calculated based on the standard deviations of the measured and predicted time delays and their related mutual covariance. The value of the mutual coherence can vary between 0 and 1, where 1 stands for the best possible fit (i.e., all the points are on the line) and 0 the worst possible.

Fig6. The definition of P is pA,B+pB,A=P. As well, the offset can be defined as T2T1pA,B=b A T4T3pB,A=bA.

[2]

[3] [4]

Time variability in a definite multipath cause the arrivals to vary in the time domain, resulting in a superior deviation of the arrivals from the best-of-fit line. We arrange all of the correlation coefficients Ej , j = 1,2,...,m and discover the largest one. This most stable multipath arrival is selected to be the one with the highest correlation coefficient (i.e., closest to 1), and this arrival has the slightest deviation from its best-of-fit line. Additional metric essential to corroborate this most stable multipath arrival is the number of arrivals included in the ensemble. A low number of arrivals in a multipath arrival ensemble is a superior indication by itself that it is not a reliable multipath arrival (if a column of B contains several zeros). As well, it can negatively persuade the result of the linear regression. For example, performing linear regression with merely two arrivals produces a perfect correlation coefficient of the most stable multipath is known by the number of multipath detections and the related time-variability of that multipath. II. Stage 2: Offset correction To correct the offset b A (as defined in equation (1)) of the skew-corrected clock compared to a reference is unlike than THSLs as it doesnt presume that the propagation between the two. Such a condition is

The foundation of our approach is the two-way message exchange used by the majority clock-synchronization protocols. Its distinction lies in its capability to distinguish the propagation delays for both one-way propagation channels instead of using an normal based on the round-trip propagation time. A chirp is sent to the front of each message allowing the chirp response of the one-way communication channel to be determined by the receiver. Both expected impulse responses are correlated at the synchronizing node A to determine the difference in propagation delay p between the two. This delay p is the difference between the time corresponding to the largest peak and zero lag. This method can be used because the modem all the time synchronizes on the largest amplitude arrival. The offset of the clock can be calculated by using this propagation delay difference and the four time-stamps produced by the two-way message exchange. The synchronizing node A begins the offset correction process by sending a new pulse to the front of the offset calculation request message to reference node B. The time of the start of the transmission is time-stamped T1 and recorded by node A. As it propagates through the channel, the pulse is

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transformed. The propagation delay to be resoluted is denoted as p B,A in Figure 4. Time-stamp T2 is recorded by the receiver upon initial detecting the arrival of the pulse sent by node A. From the pulse response, the instantaneous oneway impulse response from node A to B is resoluted using a matched filter and identifying the peaks of the resulting time series. This impulse response is mandatory later in the algorithm at the synchronizing node. To lessen the bandwidth required to send it across the channel for processing, the predictable impulse response is condensed by retaining its main characteristics, which are the amplitudes of the largest peaks and their related time indices. These characteristics are symbolized as HA,B .
The reference node then transmits the same new reference pulse before transmitting the second message of the exchange. Time-stamp T3 is recorded concurrently to the commencement of the transmission of the second message. It carries the two time-stamps generated by node B, T2 and T3, as well as the compacted impulse response information HA,B recorded from the probe signal preceding the first message. The second message promulgates through the channel from node B to A. The message is transformed by the channel. The yet to resoluted propagation delay is denoted as pA,B in Fig.4. Time-stamp T4 is produced by the receiver upon detecting the arrival of the chirp sent by node B. From this received chirp, the instantaneous one-way impulse response from node B to A (HB,A) is predicted and its information compressed. From their individual recorded characteristics, the main arrivals of both estimated impulse responses are rebuild in the time-domain from HA,B and HB,A . Their cross-correlation allows for the timedelay estimation between the two signals. Based on the supposition that the modem will synchronize with the strongest arrival, the difference in propagation delay p (eq. [5]) will be the time index difference between the highest peak of the crosscorrelation and its zero lag:

pA,B pB,A = p = * [5] V. ACKNOWLEDGMENT Adding equations (2) and (5) together, we get P + p = 2 pA,B. [6] We thank Mr. K. Phani Srinivas, Assistant Professor, Department of ECE, KL University, for his valuable The one-way propagation delay pA,B can be determined from contribution and guidance in helping me to prepare this paper equation (6): P + p = pA,B. [7] and helping me out many a times when we need assistance and Mr. Ch. Sree Vardhan Assistant Professor, Department of ECE, 2 KL University, for his encouragement and support. I indebted The second propagation delay can be evaluated from to the Department of Electronics and Communication P p A,B = pB,A. [8] Engineering of KL University for providing the support

required.
Either one of the one-way propagation delay can be used in equation [7] as p can be positive or negative. Whichever one-way VI. REFERENCES propagation is calculated in equation [7], the remaining one can be [1] A.A Syed and J. Heidemann, Time Synchronization for determined using equation [8]. The last step of the algorithm High Latency Acoustic Networks, in Proc. IEEE Conference on Computer consists of evaluating the offset bA between the two nodes clock Communications (Infocom), Barcelona, Spain, Apr. 2006. using equations [3] or [4]. The result of both equations will be the [2] M. Stojanovic and J. Preisig, Underwater Acoustic Communication Channels: Propagation Models and Statistical Characterization, IEEE same.

Communications Magazine, Jan. 2009. [3] P.V. Walree, Channel sounding for acoustic communications: techniques and shallow-water examples, report from Norwegian Defence Research IV. CONCLUSION Establishment (FFI), Apr. 2011. [4] X. Lurton, Environment variability and signal fluctuations, in An In this paper we speak out the problem of clock Introduction to Underwater Acoustics,11 Principles and Applications, harmonization in an underwater acoustic network. This is a Chichester, UK: Praxis, pp. 128- 129, 2002. C.H. Knapp and C. Carter, The Generalized Correlation Method for very actively researched area for every form of communication [5] Estimation of Time Delay, IEEE Transaction on Acoustics, Speech, and channel. This is mainly challenging in the underwater acoustic Signal Processing, vol ASSP-24, no. 4, Aug. 1976. environment due to its high latency characteristics, and it [6] J.R. Taylor, Least-Squares Fitting, in An introduction to Error requires the advancement of a exact clock synchronization Analysis, 2nd ed. Sausalito, CA: University Science Books, pp. 181-190, 1997. The BELLHOP Manual and Users Guide, Preliminary draft, Heat, Light, protocol. Most of the approaches found in the literature imagine [7] and Sound Research Inc., La Jolla, CA, 2011.

constant propagation delays between two nodes and ignore time variability of the channel. An general idea of how and why time variance exists in the underwater acoustic environment is specified.

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