Natural Spontaneous Order in Wireless Sensor Networks: Time Synchronization Based on Entrainment

Time is critical for a variety of applications in wireless sensor networks. In this work we present, theoretically analyze and evaluate in practice a simple time synchronization algorithm for wireless sensor networks, based on entrainment. This algorithm requires no specialized servers or beacons but it relies on local communication between neighboring nodes spontaneously emerging to global network synchrony. Its simplicity, accuracy and precision are examined through the practical implementation of tho different kinds of wireless sensor networks. Error synchronization error on the order of microseconds is observed 100% of the time, with minimal communication and computation cost tailored to the available resources of the wireless sensor network nodes.