Self-synchronization of multiple vehicles using ambient impulsive noise

Clock synchronization is important when considering a swarm of underwater vehicles. Unfortunately, accurate clocks are expensive, and acoustic communication is power intensive, preventing large numbers of vehicles from being deployed for long periods of time. We propose a technique where vehicles achieve relative synchronization by leveraging sounds already present in the underwater environment. This provides a synchronization method that does not rely on expensive clocks, communication, or additional infrastructure. We demonstrate that our technique accurately tracks clock offsets between vehicles during an at sea deployment.