Clock skew and offset estimation from relative measurements in mobile networks with Markovian switching topology [Technical Report]

We propose a distributed algorithm for estimation of clock skew and offset of the nodes of a mobile network. The problem is cast as an estimation from noisy relative measurements. The time variation of the network was modeled as a Markov chain. The estimates are shown to be mean square convergent under fairly weak assumptions on the Markov chain, as long as the union of the graphs is connected. Expressions for the asymptotic mean and correlation are also provided. The Markovian switching topology model of mobile networks is justified for certain node mobility models through empirically estimated conditional entropy measures.