Error Bounds and Consistency of Maximum Likelihood Time Synchronization

In this paper we consider a simplified version of a maximum likelihood time synchronization estimator introduced in [2]. This simplified variant assumes approximately accurate clock rates. We give error bounds for the estimator under the assumption of a maximum timestamping delay, and we show that these error bounds are optimal. Furthermore, we prove consistency of the clock offset estimator for increasing numbers of observed events, and we derive a result on the error distribution of the event time estimates.