Education, Science, Technology, Innovation and Life
Open Access
Sign In

TSN Time Synchronization Based on Kalman Filtering

Download as PDF

DOI: 10.23977/jeis.2023.080607 | Downloads: 12 | Views: 271


Li Kai 1, Zhu Yuan 1, Sun Zhipeng 2


1 School of Automotive Studies, Tongji University, Shanghai, China
2 Nanchang Intelligent New Energy Vehicle Research Institute, Nanchang, China

Corresponding Author

Sun Zhipeng


With the continuous development of the automotive industry and network technology, automotive Ethernet is facing the need for real-time and high-precision synchronization of data transmission. In this paper, the IEEE 802.1AS protocol gPTP based on the precise time protocol is studied and analysed in depth, focusing on the design and functional implementation of the time synchronization subsystem in the time-sensitive network system, and a method to improve the accuracy of time synchronization between nodes in the AUTOSAR protocol stack based on Kalman filter is given, and is implemented on the hardware platform AURIX TC397 and NXP SJA1110. Finally, the Kalman filter algorithm is used to correct the time synchronization error. Experimental results show that the proposed algorithm can significantly reduce the time deviation between the master-slave clocks.


IEEE 802.1AS protocol, Kalman filtering, AUTOSAR


Li Kai, Zhu Yuan, Sun Zhipeng, TSN Time Synchronization Based on Kalman Filtering. Journal of Electronics and Information Science (2023) Vol. 8: 55-61. DOI:


[1] Shi Z Y. (2020).  Research on real-time Ethernet clock synchronization system based on improved Kalman filter algorithm. (Master's thesis, Zhejiang Sci-Tech University). 
[2] Xu, M K. (2020). Implementation and testing of IEEE 802.1AS protocol. (Master's thesis, Harbin Institute of Technology).
[3] Gardiner, Eric. The Avnu Alliance Theory of Operation for TSN-enabled Industrial Systems [J]. IEEE Communications Standards Magazine, 2018, 2(1):5-5.
[4] Lin Zhao, Feng He, et al. Comparison of Time Sensitive Networking (TSN) and TTEthernet [C]. 2018 IEEE/AIAA 37th Digital Avionics Systems Conference (DASC), 23-27 Sept. 2018 
[5] Kevin B. Stanton. Distributing Deterministic, Accurate Time for Tightly Coordinated Network and Software Applications: IEEE 802.1 AS, the TSN profile of PTP [J]. IEEE Communications Standards Magazine, 2018.
[6] Nikolaus Kerö, Andreas Puhm, et al. Performance and Reliability Aspects of Clock Synchronization Techniques for Industrial Automation [J]. Proceedings of the IEEE, June 2019.
[7] Nsaibi S, Leurs L, Schotten H D. Formal and Simulation-based Timing Analysis of Industrial-Ethernet Sercos III over TSN[C]. 2017 IEEE/ACM 21st International Symposium on Distributed Simulation and Real Time Applications (DS-RT). IEEE, 2017. 
[8] Zhao Q L, Dong X Z, et al. A Universal Method for Implementing IEEE 1588 with the 1000M Ethernet Interface [J]. IEEE AUTOTESTCON, 12-15 Sept. 2016.
[9] Wang H, Shao L, et al. A Global Clock Skew Estimation Scheme for Hierarchical Wireless Sensor Networks [J]. IEEE Access, 2017(5):20333-20338. 
[10] Wang H, Zeng H, Wang P. Linear Estimation of Clock Frequency Offset for Time Synchronization Based on Overhearing in Wireless Sensor Networks [J]. IEEE Communications Letters, 2016, 20(2):288-291. 
[11] Zhang B H. Improved Time Synchronization Algorithm Based on TPSN [J]. Computer Engineering, 2010, 36(9):109-110. 
[12] Garone E, Gasparri A, Lamonaca F. Clock Synchronization Protocol for Wireless Sensor Networks with Bounded Communication Delays[J]. Automatica, 2015, 59(C):60-72.

Downloads: 6319
Visits: 248808

Sponsors, Associates, and Links

All published work is licensed under a Creative Commons Attribution 4.0 International License.

Copyright © 2016 - 2031 Clausius Scientific Press Inc. All Rights Reserved.