{"id":2798,"date":"2025-01-10T11:24:42","date_gmt":"2025-01-10T10:24:42","guid":{"rendered":"https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/?p=2798"},"modified":"2026-02-26T14:18:19","modified_gmt":"2026-02-26T13:18:19","slug":"clock-drifts-synchronization-in-wireless-sensor-networks","status":"publish","type":"post","link":"https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/clock-drifts-synchronization-in-wireless-sensor-networks\/","title":{"rendered":"Clock Drifts &amp; Synchronization in Wireless Sensor Networks"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">What if your sensor nodes can\u2019t agree on the time? Having all wireless sensor nodes developed and ready for use is an important milestone toward conducting multimodal experiments \u2013 but it&#8217;s only the beginning. To ensure consistent data across all nodes, wireless sensor networks rely on precise fusion of measurements from different devices. This is where clock drift quickly becomes a critical factor \u2013 and where robust synchronization algorithms are essential.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">In this kickoff of our <strong>Synchronization Series<\/strong>, we start with a general overview of why synchronization matters and how clock drift affects distributed sensing. You&#8217;ll get a first look at the role of clock drift, plus the insights we gained while developing our highly synchronized wireless sensor network <a href=\"https:\/\/www.iis.fraunhofer.de\/en\/ff\/sse\/health\/medical-sensors-and-analytics\/maphera.html\">maphera<sup>\u00ae<\/sup><\/a>. <\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Think of this post as the foundation \u2013 and for all fellow engineers, don\u2019t worry: you will find algorithms, metrics, and plenty of shiny diagrams in the other posts of the series. We hope you&#8217;ll enjoy this series as much as we do.\u00a0<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading has-gridlove-acc-color has-text-color has-link-color wp-elements-8bfb9a712841e9e076430b5fb8d5c599\">Clock Drift &amp; Synchronization Series<\/h2>\n\n\n\r\n      \t\t\r\n                \r\n\t\t<div id=\"ymc-filter-1\"\r\n             class=\"ymc ymc-filter-grids ymc-container js-ymc-container ymc-filter-5169 ymc-filter-5169-1\"\r\n             data-params=\"{&quot;post_types&quot;:[&quot;post&quot;],&quot;taxonomies&quot;:[&quot;post_tag&quot;],&quot;terms&quot;:[115],&quot;preloader_settings&quot;:{&quot;icon&quot;:&quot;ripple_pulse&quot;,&quot;filter_preloader&quot;:&quot;none&quot;,&quot;custom_filters_css&quot;:&quot;&quot;},&quot;filter_id&quot;:5169,&quot;counter&quot;:1,&quot;page_id&quot;:0,&quot;paged&quot;:1}\"\r\n             data-initial-params=\"{&quot;post_types&quot;:[&quot;post&quot;],&quot;taxonomies&quot;:[&quot;post_tag&quot;],&quot;terms&quot;:[115],&quot;preloader_settings&quot;:{&quot;icon&quot;:&quot;ripple_pulse&quot;,&quot;filter_preloader&quot;:&quot;none&quot;,&quot;custom_filters_css&quot;:&quot;&quot;},&quot;filter_id&quot;:5169,&quot;counter&quot;:1,&quot;page_id&quot;:0,&quot;paged&quot;:1}\"\r\n             data-loading-enabled=\"true\"\r\n             data-grid-style=\"grid\"\r\n             data-filter-id=\"5169\">\r\n\t\t\t\r\n\t    <style>\r\n\t    .ymc-filter-5169, .ymc-extra-filter-5169 {\r\n\t        --ymc-filter-font-family: Montserrat;\r\n\t        --ymc-filter-font-size: 16px;\r\n\t        --ymc-filter-font-weight: 400;\r\n\t        --ymc-filter-font-style: normal;\r\n\t        --ymc-filter-line-height: 1.4;\r\n\t        --ymc-filter-letter-spacing: 1;\r\n\t        --ymc-filter-text-transform: none;\r\n\t        --ymc-filter-background-color: #095c81;\r\n\t        --ymc-filter-color: #ffffff;\r\n\t        --ymc-filter-active-color: #ffffff;\r\n\t        --ymc-filter-active-background-color: #1f1f1f;\r\n\t        --ymc-filter-hover-text-color: #ffffff;\r\n\t        --ymc-filter-hover-background-color: #095c81;\r\n\t        --ymc-filter-justify-content: flex-start;\r\n\t        --ymc-filter-padding-top: 10px;\n--ymc-filter-padding-right: 20px;\n--ymc-filter-padding-bottom: 10px;\n--ymc-filter-padding-left: 20px;\n\r\n\t        --ymc-filter-margin-top: 0px;\n--ymc-filter-margin-right: 10px;\n--ymc-filter-margin-bottom: 10px;\n--ymc-filter-margin-left: 0px;\n\r\n\t\r\n\t        --ymc-post-title-font-family: Montserrat;\r\n\t        --ymc-post-title-font-size: 18px;\r\n\t        --ymc-post-title-font-weight: 600;\r\n\t        --ymc-post-title-text-transform: none;\r\n\t        --ymc-post-title-line-height: 1.4;\r\n\t        --ymc-post-title-letter-spacing: 1;\r\n\t        --ymc-post-title-color: #1f1f1f;\r\n\t\r\n\t        --ymc-post-meta-font-family: Montserrat;\r\n\t        --ymc-post-meta-font-size: 14px;\r\n\t        --ymc-post-meta-font-weight: 400;\r\n\t        --ymc-post-meta-color: #1f1f1f;\r\n\t\r\n\t        --ymc-post-excerpt-font-family: Montserrat;\r\n\t        --ymc-post-excerpt-font-size: 16px;\r\n\t        --ymc-post-excerpt-font-weight: 400;\r\n\t        --ymc-post-excerpt-line-height: 1.4;\r\n\t        --ymc-post-excerpt-font-style: normal;\r\n\t        --ymc-post-excerpt-transform: none;\r\n\t        --ymc-post-excerpt-letter-spacing: 1;\r\n\t        --ymc-post-excerpt-color: #1f1f1f;\r\n\t\r\n\t        --ymc-post-link-font-family: Montserrat;\r\n\t        --ymc-post-link-font-size: 16px;\r\n\t        --ymc-post-link-font-weight: 400;\r\n\t        --ymc-post-link-transform: none;\r\n\t        --ymc-post-link-letter-spacing: 1;\r\n\t        --ymc-post-link-color: #1f1f1f;\r\n\t    }\r\n\t    <\/style>\n<div class=\"filter-posts-wrapper\">\n\t\t\t    <div class=\"filter-layout filter-layout--top filter-hidden\">\n                <div class=\"filter-content\">\n                        <div class=\"posts-grid js-ajax-content ymc-cols-xxs-1 ymc-cols-xs-1 ymc-cols-sm-2 ymc-cols-md-2 ymc-cols-lg-2 ymc-cols-xl-2 ymc-col-gap-30 ymc-row-gap-30 ymc-col-gap-30 ymc-row-gap-30\"><\/div>\n\t                <\/div>\n    <\/div>\n<\/div>\n\n\t\t<\/div>\r\n\t\t\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Let&#8217;s talk about watches<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Let&#8217;s go back a little bit in time, when a lot of watches were still analog. Every now and then, you check the current time of your watch just to see that it is slightly off. So you compare the time on your watch with a reference clock and correct for its deviation.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Microcontrollers suffer a similar fate. They have internal clocks, which are crucial for a variety of tasks like scheduling and communication. Like our analog watches, the accuracy of time is less important when considering a single individual. As soon as multiple people start making arrangements, a shared time base becomes crucial. In case of sensor networks made of multiple microcontrollers, where each is running at tens of megahertz, drifts of a few microseconds can break system integrity and corrupt recorded data.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">maphera<sup>\u00ae<\/sup> &#8212; Drifts &amp; synchronization in wireless sensor networks<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Since much of the content in this series is based on the development of maphera<sup>\u00ae<\/sup>, we will use maphera for reference. But the general problem of drifts and synchronization is pretty much the same for all high-resolution wireless sensor networks that fuse data from multiple sources.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">While maphera<sup>\u00ae<\/sup> can be used for a wide variety of applications, we primarily use it to record physiological data. In this domain, some signals need high time resolution, like data from ECG and IMU sensors. As maphera<sup>\u00ae<\/sup> is a universal platform, the requirements for the synchronization of recorded data are derived from challenging use cases. maphera<sup>\u00ae<\/sup> can synchronize up to seven wirelessly connected sensors with an accuracy well below 50 \u00b5s.<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img decoding=\"async\" width=\"682\" height=\"572\" src=\"https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2024\/11\/maphera-modalities.png\" alt=\"\" class=\"wp-image-2801\" style=\"aspect-ratio:1.1923129456114951;width:434px;height:auto\" srcset=\"https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2024\/11\/maphera-modalities.png 682w, https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2024\/11\/maphera-modalities-300x252.png 300w, https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2024\/11\/maphera-modalities-370x310.png 370w, https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2024\/11\/maphera-modalities-270x226.png 270w, https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2024\/11\/maphera-modalities-570x478.png 570w\" sizes=\"(max-width: 682px) 100vw, 682px\" \/><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">When two sensors are set up in a wired network, it is rather straightforward to implement time synchronization. However, as maphera<sup>\u00ae<\/sup> is designed for mobile applications with minimal constraints on subject mobility, the sensors are connected wirelessly. This is where things are getting interesting.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Synchronization in wireless sensor networks<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Time synchronization in wireless sensor networks is tricky. Delivering messages wirelessly exposes them to external traffic. For maphera<sup>\u00ae<\/sup>, we use Bluetooth-Low-Energy (BLE) to send data. BLE is a great tool for low-power wireless applications. We are going to provide more details about synchronization when using BLE in a follow-up post, but here is a quick summary: BLE operates in the ISM band. What makes the ISM band special is that it is free to use in many countries. While this simplifies the portability of BLE around the world without getting into conflicts with local regulations, many other technologies like Wi-Fi operate in this band. Transmitting a message within the ISM band is like riding a bike on the main city road during rush hour. Put your helmet on and hope for the best!<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">BLE is like a dedicated bike lane for you to ride on. BLE does a great job at evading other traffic on the ISM band with methods like adaptive frequency hopping. It is a very reliable protocol, ensuring messages sent will arrive at the receiver; however, it is highly non-deterministic when it comes to latencies. Another Wi-Fi message might just crush into your BLE message, resulting in a retransmission.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">In terms of our initial goal of achieving synchronization, it is not straight forward for a sender to know when a package will arrive at the receiving end. With wired connections the latency is usually constant and can be measured, which makes synchronization easier. In wireless sensor networks varying latencies in the range of tens of milliseconds are not unusual.<\/p>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile has-gridlove-bg-background-color has-background\" style=\"grid-template-columns:46% auto\"><figure class=\"wp-block-media-text__media\"><a href=\"https:\/\/doi.org\/10.1016\/j.measurement.2025.117635\"><img decoding=\"async\" width=\"593\" height=\"790\" src=\"https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2025\/01\/Cover_Pfeifer-Weber_Methods-for-MS-Accuracy.png\" alt=\"\" class=\"wp-image-4037 size-full\" srcset=\"https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2025\/01\/Cover_Pfeifer-Weber_Methods-for-MS-Accuracy.png 593w, https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2025\/01\/Cover_Pfeifer-Weber_Methods-for-MS-Accuracy-225x300.png 225w, https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2025\/01\/Cover_Pfeifer-Weber_Methods-for-MS-Accuracy-370x493.png 370w, https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2025\/01\/Cover_Pfeifer-Weber_Methods-for-MS-Accuracy-270x360.png 270w, https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2025\/01\/Cover_Pfeifer-Weber_Methods-for-MS-Accuracy-570x759.png 570w\" sizes=\"(max-width: 593px) 100vw, 593px\" \/><\/a><\/figure><div class=\"wp-block-media-text__content\">\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Can&#8217;t get enough of clock drifts?<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">&#8220;Methods for microsecond accuracy synchronization of Wireless Body Area Networks for biosignal acquisition using Bluetooth Low Energy&#8221; by Dominik Weber and Norman Pfeiffer introduces two novel and easy-to-implement synchronization methods for \u00b5s-accuracy in Wireless Body Area Networks (WBANs) using BLE.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Read the paper<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Weber, Dominik &amp; Pfeiffer, Norman. Methods for Ms-Accuracy Synchronization of Wireless Body Area Networks for Biosignal Acquisition Using Bluetooth Low Energy. Available at ScienceDirect: <a href=\"https:\/\/doi.org\/10.1016\/j.measurement.2025.117635\" target=\"_blank\" rel=\"noreferrer noopener\">http:\/\/dx.doi.org\/10.2139\/ssrn.5034871<\/a><\/p>\n\n\n\n<p class=\"has-gridlove-bg-color has-text-color has-link-color wp-elements-c29acea8df43cb17ac4ecc7969acd9b7 wp-block-paragraph\"><\/p>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">Image copyright (cover image): Rawpixel.com \u2013 stock.adobe.com<\/p>\n","protected":false},"excerpt":{"rendered":"<p>What if your sensor nodes can\u2019t agree on the time? Having all wireless sensor nodes developed and ready for use is an important milestone toward conducting multimodal experiments \u2013 but it&#8217;s only the beginning. To ensure consistent data across all nodes, wireless sensor networks rely on precise fusion of measurements from different devices. This is [&hellip;]<\/p>\n","protected":false},"author":21,"featured_media":2807,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[39,93],"tags":[94,115,66,95],"coauthors":[92],"class_list":["post-2798","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-digital-health","category-medical-sensing","tag-maphera","tag-maphera-synchronization","tag-multimodal-data","tag-synchronization"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.6 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Clock Drifts &amp; Synchronization in Wireless Sensor Networks - SMART SENSING insights<\/title>\n<meta name=\"description\" content=\"Wireless sensor networks have to deal with the impact of clock drifts and implement synchronization algorithms.\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/clock-drifts-synchronization-in-wireless-sensor-networks\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Clock Drifts &amp; Synchronization in Wireless Sensor Networks - SMART SENSING insights\" \/>\n<meta property=\"og:description\" content=\"Wireless sensor networks have to deal with the impact of clock drifts and implement synchronization algorithms.\" \/>\n<meta property=\"og:url\" content=\"https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/clock-drifts-synchronization-in-wireless-sensor-networks\/\" \/>\n<meta property=\"og:site_name\" content=\"SMART SENSING insights\" \/>\n<meta property=\"article:publisher\" content=\"https:\/\/www.facebook.com\/FraunhoferIIS\" \/>\n<meta property=\"article:published_time\" content=\"2025-01-10T10:24:42+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2026-02-26T13:18:19+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/websites.fraunhofer.de\/smart-sensing-insights\/wp-content\/uploads\/2024\/11\/AdobeStock_200729323_clocks-scaled.jpeg\" \/>\n\t<meta property=\"og:image:width\" content=\"2560\" \/>\n\t<meta property=\"og:image:height\" content=\"1708\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/jpeg\" \/>\n<meta name=\"author\" content=\"Markus Jechow\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Written by\" \/>\n\t<meta name=\"twitter:data1\" content=\"Markus Jechow\" \/>\n\t<meta name=\"twitter:label2\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data2\" content=\"5 minutes\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\\\/\\\/websites.fraunhofer.de\\\/smart-sensing-insights\\\/clock-drifts-synchronization-in-wireless-sensor-networks\\\/#article\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/websites.fraunhofer.de\\\/smart-sensing-insights\\\/clock-drifts-synchronization-in-wireless-sensor-networks\\\/\"},\"author\":{\"name\":\"Markus Jechow\",\"@id\":\"https:\\\/\\\/websites.fraunhofer.de\\\/smart-sensing-insights\\\/#\\\/schema\\\/person\\\/f5407477b48b8dd7a79991f609cef14a\"},\"headline\":\"Clock Drifts &amp; 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