ESTIMATION OF OFFSET BETWEEN CLOCKS IN A DISTRIBUTED SYSTEM

Some embodiments of the invention pertain to methods for estimating an offset between clocks (110, 210) of separate devices (100, 200), for example for clock synchronization purposes. The devices (100, 200) are moving, at least for a period of time, with respect to each other. An estimator (130, 230, 330) is operated, which computes values of its state variables based on time-tagged measurement data from the respective devices (100, 200), wherein the time-tagged measurement data represents a motion of a first device (100) measured, on the one hand, by the first device (100) and, on the other hand, by a second device (200). The method does not necessarily depend on good GNSS coverage. Systems and devices for carrying the method, or a part thereof, are also disclosed.