Synchronization system and method for wireless communicating nodes
A system includes first and second wireless nodes having a clock with plural times, a wireless transceiver, and a processor cooperating with the transceiver to transmit and receive packets. The second node transceivers wirelessly communicate with the first or other second node transceivers. The second nodes include a Kalman filter with an output, plural filter gains, and an input representing the difference between: about the time of the clock when a received packet should have ideally been received, and a time when the received packet was actually received as measured by the clock. A circuit provides dynamic adjustment of the filter gains. The Kalman filter output estimates the difference between the time of the receiving node clock and a corresponding one of the times of the transmitting node clock. The second processor cooperates with the Kalman filter output to adjust the times of the receiving node clock.