Systems and methods for synchronizing time, frequency, and phase among a plurality of devices

1. A system for synchronizing the clocks of a plurality of platforms that includes a first platform and a second platform, the system including:

a first platform and a second platform that is movable relative to the first platform, each of the first and second platform comprising:

(a) wireless communications module;

(b) a clock module that provides a fundamental clock having a fundamental frequency and a fundamental phase and a baseband clock having a baseband frequency having a baseband phase, wherein the baseband clock is based on the fundamental clock;

(c) a transceiver for providing a radio-frequency (RF) signal having an RF clock that is based on the fundamental clock and the baseband clock;

(d) a processor; and

(e) a clock-control module that is operative for controlling at least one of the fundamental frequency, the fundamental phase, the baseband frequency, and the baseband phase; and

wherein the processor of each platform is operative for determining:

(i) estimating a baseband frequency offset between the respective fundamental frequencies of the first and second platforms, the estimated baseband frequency offset being based on a round-trip RF signal having a first leg transmitted from the first platform to the second platform and a second leg transmitted from the second platform to the first platform, the round-trip RF signal including a carrier phase slope on each of the first and second legs;

(ii) computing a derived code phase slope from the carrier phase slope that is based on the fundamental frequency, and the baseband frequency for each platform;

(iii) computing a fractional baseband offset between the respective baseband clocks of the first and second platforms, the fractional baseband offset being based on the number of elapsed baseband clock cycles and the code phase for each of the first and second platforms; and

(iv) controlling at least one of the fundamental frequency, the fundamental phase, the baseband frequency, and the baseband phase of its respective platform based on a combination of the respective baseband frequency offset and fractional baseband offset of its respective platform.

2. The system of claim 1 wherein the processor of each platform is further operative for determining a carrier frequency offset related to the baseband frequency offset, the carrier frequency offset based on one or more carrier phase slope measurements made during the round-trip RF signal.

3. The system of claim 2 wherein the processor of the first platform is further operative for adjusting the first platform's baseband clock to the second platform's baseband clock.

4. The system of claim 3 wherein the adjusting substantially synchronizes the two baseband clocks.

5. A method for synchronizing the clocks of a plurality of platforms that includes a first platform and a second platform that is movable relative to the first platform, the method comprising:

estimating a baseband frequency offset between the respective fundamental frequencies of the first and second platforms, the estimated baseband frequency offset being based on a round-trip RF signal having a first leg transmitted from the first platform to the second platform and a second leg transmitted from the second platform to the first platform, the round-trip RF signal including a carrier phase slope on each of the first and second legs;

computing a derived code phase slope from the carrier phase slope that is based on the fundamental frequency, and the baseband frequency for each platform;

computing a fractional baseband offset between a first baseband clock of the first platform and a second baseband clock of the second platform, the fractional baseband offset being based on the number of elapsed baseband clock cycles and the code phase for each of the first and second platforms; and

controlling at least one of the fundamental frequency, the fundamental phase, the baseband frequency, and the baseband phase of its respective platform based on a combination of the respective baseband frequency offset and fractional baseband offset of its respective platform.

6. The method of claim 5 wherein the processor of each platform is further operative for determining a carrier frequency offset related to the baseband frequency offset, the carrier frequency offset based on one or more carrier phase slope measurements made during the round-trip RF signal.

7. The method of claim 6 wherein the processor of the first platform is further operative for adjusting the first platform's baseband clock to the second platform's baseband clock.

8. The method of claim 7 wherein the adjusting substantially synchronizes the two baseband clocks.