Patent ID: 11923969
Assignee: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Field: Computer technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 12:
13. The system of claim 12, wherein the system state is represented in the coordinate system such that x=xε, f(x)=fε(xε), and g(x)=Gε(xε) and:, f
        ɛ
      
      ⁡
      
        (
        
          x
          ɛ
        
        )
      
    
    :=
    
      [
      
        
          
            
              η
              +
              
                ϵ
                a
              
            
          
        
        
          
            
              h
              ⁢
              
                
              
              ⁢
              η
            
          
        
        
          
            
              μɛ
              τ
            
          
        
        
          
            
              
                -
                
                  ɛ
                  τ
                
              
              -
              
                ɛ
                a
              
            
          
        
        
          
            
              -
              1
            
          
        
      
      ]
    
  
  ,
  
    
      
        G
        ɛ
      
      ⁡
      
        (
        
          x
          ɛ
        
        )
      
    
    :=
    
      [
      
        
          
            e
          
        
        
          
            
              
                -
                γℒ
              
              ⁢
              
                
              
              ⁢
              e
            
          
        
        
          
            
              ɛ
              a
            
          
        
        
          
            
              ɛ
              τ
            
          
        
        
          
            
              [
              
                
                  T
                  1
                
                ,
                
                  T
                  2
                
              
              ]
            
          
        
      
      ]
    
  

where L is the Laplacian matrix obtained from the adjacency matrix,
εa represents the error in the estimate of the ith clock's drift a, in the coordinate system,
ετ represents the error in the estimate of the ith clock's state τi in the coordinate system, and
[T1, T2] is the time interval between the communication events T1 and T2.