Time Synchronization of OpenSky s ADS-B Receivers
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1 Time Synchronization of OpenSky s ADS-B Receivers Kiran Mathews Department of Computer Science Technical University of Kaiserslautern July 13th / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
2 Outline / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
3 Why we need time synchronization in OpenSky? 3 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
4 Why we need time synchronization in OpenSky? The OpenSky Network is a community-based receiver network which continuously collects air traffic surveillance data 3 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
5 Why we need time synchronization in OpenSky? The OpenSky Network is a community-based receiver network which continuously collects air traffic surveillance data Multilateration requires three or more synchronized sensor nodes 3 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
6 Why we need time synchronization in OpenSky? The OpenSky Network is a community-based receiver network which continuously collects air traffic surveillance data Multilateration requires three or more synchronized sensor nodes achieve synchronization within the range of nanoseconds 3 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
7 To synchronize the network: Find the synchronization error and synchronize the node or, Predict the offset 4 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
8 Let R A and R B be two receivers and let i be a location claim event sent by the flight, ta i and ti B denotes the reception timestamp of the location claim event i. 5 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
9 A i and B i denotes the propagation delay between receiver R A and aircraft, receiver R B and aircraft respectively Ground Truth Φ AB i = Ω AB i θ AB i = (t A i t B i ) ( A i B i ) = (t A i A i ) (t B i B i ) (1) where Ω AB i = t A i t B i, θ AB i = A i B i 6 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
10 Hardware details Radarcape receivers 30 bit rolling timestamps nanosecond precision. 7 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
11 Preprocessing Analyzed two different data sets, from different point in time Data set includes message sensors which are GPS synchronized and not 8 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
12 Preprocessing Filtered the data from multiple reception Choose the duplicate position reporting messages Duplicates are position messages sent from an aircraft that are received by two or more sensors 9 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
13 How to solve it?? Internal synchronization 10 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
14 How to solve it?? Internal synchronization Assume one sensor node as the master node and synchronize the clock of other nodes with the master node or, 10 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
15 How to solve it?? Internal synchronization Assume one sensor node as the master node and synchronize the clock of other nodes with the master node or, predict the offset of sensor node for the time t with to the master node 10 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
16 How to solve it?? Internal synchronization Assume one sensor node as the master node and synchronize the clock of other nodes with the master node or, predict the offset of sensor node for the time t with to the master node and why not other methods? 10 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
17 : Unexpected IJ for duplicates Unexpected IJ for duplicates. 11 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
18 : Unexpected IJ for duplicates Typical TCP phenomenon 12 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
19 timeatsensor was supposed to provide the second of each day 13 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
20 timeatsensor was supposed to provide the second of each day But, false readings for some sensors!!! 13 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
21 14 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
22 checked the Internet Jitter (IJ) for every message received by the sensor pair to reach the server. 15 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
23 checked the Internet Jitter (IJ) for every message received by the sensor pair to reach the server. IJ was in the range of microseconds. 15 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
24 checked the Internet Jitter (IJ) for every message received by the sensor pair to reach the server. IJ was in the range of microseconds. So, compare local timestamp counter of each sensor 15 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
25 : Sensor without GPS sync Sensor pair Zug and Uni-KL 16 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
26 : Sensor without GPS sync Sensor pair Hattersheim am Main and Uni-KL Shows that sensor at Uni-Kl was not GPS synchronized 17 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
27 Sensor at Thun GPS synchronized, also shows the precision of Radarcape timestamp counter (15 to 16 ns) 18 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
28 Sensors at Zug and Binningen (100 km apart) 19 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
29 Repeated the process for other sensor pairs 20 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
30 Repeated the process for other sensor pairs Minimum offset in synchronization error with standard deviation of ns (0.016 km apart, sensors at Thun) Maximum offset in synchronization error with standard deviation of ns ( km apart, Zug and Binningen ) 20 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
31 Plot showing offset at a certain timestamp for sensor at Dübendorf with respect to the sensor at Zug shows that there is error in Propagation delay calculation, i.e. error is distance calculation 21 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
32 World Geodetic System 1984 (WGS 84), the GPS model of earth To calculate the error, consider two GPS synchronized nodes and measure the offset with respect to increase in distance. Propagation delay with respect to difference in distance by comparing sensors at Hattersheim am Main and Zug 22 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
33 Modified equation for an event i for sensors A and B Final equation Φ AB i = Ω AB i θ AB i = (t A i t B i ) ( A i B i ) Error d (2) A i is the propagation delay for the message to reach from aircraft to R A B i is the propagation delay for the message to reach from aircraft to R B 23 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
34 Improvement in standard deviation for synchronization error Histogram showing residual distribution Hattersheim am Main (Frankfurt) vs Zug ( ns to ns) 24 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
35 Improvement in standard deviation for synchronization error Histogram showing residual distribution Hattersheim am Main (Frankfurt) vs Zug ( ns to ns) But, ns means an error of 329 meters. Is it a good result for air-traffic surveillance?? 24 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
36 Lets synchronize! consider the tuples or pairs 25 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
37 Result : How we sync? Sensor node placed at Zug was considered as master. Measured the offset the for each pair 26 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
38 : why still some error? Still error exits, and the source for those are ; 27 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
39 : why still some error? Still error exits, and the source for those are ; error in GPS position error reports, upto 15m 27 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
40 : why still some error? Still error exits, and the source for those are ; error in GPS position error reports, upto 15m pressure altitudes vs true altitude 27 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
41 : why still some error? Still error exits, and the source for those are ; error in GPS position error reports, upto 15m pressure altitudes vs true altitude inaccuracy in the position information of the receivers 27 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
42 Goal : analyze the time synchronization of the sensor nodes in the OpenSky network. Findings, 28 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
43 Goal : analyze the time synchronization of the sensor nodes in the OpenSky network. Findings, tried out different ways to achieve synchronization, fault timeatsensor, unsynchronized nodes in the network, how could we improve our result. 28 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
44 29 / 28 Kiran Mathews Time Synchronization of OpenSky s ADS-B Receivers
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