Method and apparatus for synchronizing clocks underwater using light and sound
Methods and systems for synchronizing clocks used in underwater devices is described. All clocks have some drift due to frequency accuracy and this disclosure provides a method for periodically synchronizing clocks to an accurate master clock to remove long term drift. A synchronization device can use an accurate clock and hardware to transmit both a sound wave and light pulse at the same point in time. Remote slave clocks can detect the light first, and later the sound, allowing them to calculate the distance the pulse had to travel. The clocks can then synchronize their time to the master clock canceling out any drift. The synchronization device can be packaged in a waterproof housing and can be moved around on a periodic basis between the clock on an underwater robot or any other means.
1. A method for synchronizing underwater slave clock devices from a master clock device wirelessly, comprising:
transmitting from the master clock device a light pulse and a sound pulse;
receiving at a slave clock device the light pulse and the sound pulse;
calculating at the slave clock device, based upon the difference in arrival times of the light pulse and the sound pulse, a distance between the master clock device and the slave clock device;
calculating at the slave clock device, based upon the distance between the master clock device and the slave clock device, the time at which the light pulse was transmitted from the master clock device;
applying at the slave clock device a time offset to a clock on the slave clock device based upon a difference between the time that the light pulse was transmitted according to a clock on the master clock device and the calculated light pulse transmission time calculated at the slave clock device.
2. The method of claim 1 , wherein light pulses can be sent and received by both the master and slave clock devices for two way transmission of digital data between the master and slave clock devices.
3. The method of claim 1 , wherein sound pulses can be sent and received by both the master and slave clock devices for two way transmission of digital data between the master and slave clock devices.
4. The method of claim 1 , wherein the master clock device includes logic for synchronizing the master clock to the GPS atomic clock when the master clock device is located so as to receive GPS signals.
5. The method of claim 1 , wherein the master clock device is located on an autonomous underwater vehicle.
6. A system for keeping synchronized time underwater comprising:
a master clock device including a master clock, a light transmitter, and a sound transmitter;
a slave clock device including a slave clock, a light receiver, a sound receiver, and a computing device implementing logic for adjusting the slave clock, the logic:
i. calculating, based upon the difference in arrival times of the light pulse and the sound pulse, a distance between the master clock device and the slave clock device;
ii. calculating, based upon the distance between the master clock device and the slave clock device, the time at which the light pulse was transmitted from the master clock device; and
iii. applying a time offset to the slave clock based upon a difference between the time that the light pulse was transmitted according to the master clock and the calculated light pulse transmission time calculated at the slave clock device.
7. The system of claim 6 , wherein light pulses can be sent and received by both the master and slave clock devices for two way transmission of digital data between the master and slave clock devices.
8. The system of claim 6 , wherein sound pulses can be sent and received by both the master and slave clock devices for two way transmission of digital data between the master and slave clock devices.
9. The system of claim 6 , wherein the master clock device includes logic for synchronizing the master clock to the GPS atomic clock when the master clock device is located so as to receive GPS signals.
10. The system of claim 6 , wherein the master clock device is located on an autonomous underwater vehicle.
11. A system for keeping synchronized time underwater comprising:
a master clock device including a master clock and a light transmitter;
a slave clock device including a slave clock, a light receiver, and a computing device implementing logic for adjusting the slave clock, the logic:
i. determining a distance between the master clock device and the slave clock device;
ii. calculating, based upon the distance between the master clock device and the slave clock device a time at which a light pulse transmitted from the master clock device is received by the slave clock device, the time at which the light pulse was transmitted from the master clock device; and
iii. applying a time offset to the slave clock based upon a difference between the time that the light pulse was transmitted according to the master clock and the calculated light pulse transmission time calculated at the slave clock device.
12. The method of claim 1 , wherein the master clock device transmits the light pulse and the sound pulse at the same time.
13. The method of claim 12 , wherein the master clock device transmits the light pulse and the sound pulse at the same predetermined time.
14. The method of claim 13 , wherein the predetermined time is scheduled according to a schedule that is known to both the master clock device and the slave clock device.
15. The system of claim 6 , wherein the master clock device transmits the light pulse and the sound pulse at the same time.
16. The system of claim 15 , wherein the master clock device transmits the light pulse and the sound pulse at the same predetermined time.
17. The system of claim 16 , wherein the predetermined time is scheduled according to a schedule that is known to both the master clock device and the slave clock device.
18. The system of claim 11 , wherein the master clock device transmits the light pulse at a predetermined time according to a schedule that is known to both the master clock device and the slave clock device.