Algorithm 2 Batch clock parameter estimator

1:Time record table:  $\{\{x_k,y_k\}=\{C_1\left(t_k\right),C_2\left(t_k\right)\}:k=1,\cdots ,N\}$ Input:  $\{x_{N+1},y_{N+1}\}=\{C_1\left(t_{N+1}\right),C_2\left(t_{N+1}\right)\}$ Output:  ${\hat{\tau }}_{12}$, ${\hat{\alpha }}_{12}$ 2:Update the table entries {append the new and drop the oldest entry} 3:(for incremental model)Calculate the time difference between the table entries 4:Calculate the clock-skew using the table entries 5:Calculate the time-offset ${\hat{\tau }}_{12}\leftarrow \frac{1}{N}{\displaystyle \sum _{k=1}^N}\left\{C_1\left(t_k\right)-{\hat{\alpha }}_{12}{C}_2\left(t_k\right)\right\}$ 6:return${\hat{\alpha }}_{12}$ and ${\hat{\tau }}_{12}$