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<article article-type="research-article" dtd-version="1.3" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xml:lang="ru"><front><journal-meta><journal-id journal-id-type="publisher-id">gyroscopy</journal-id><journal-title-group><journal-title xml:lang="ru">Гироскопия и навигация</journal-title><trans-title-group xml:lang="en"><trans-title>Giroskopiya i Navigatsiya</trans-title></trans-title-group></journal-title-group><issn pub-type="ppub">0869-7035</issn><issn pub-type="epub">2075-0927</issn><publisher><publisher-name>AO «Концерн «ЦНИИ «Электроприбор»</publisher-name></publisher></journal-meta><article-meta><article-id custom-type="elpub" pub-id-type="custom">gyroscopy-449</article-id><article-categories><subj-group subj-group-type="heading"><subject>Research Article</subject></subj-group><subj-group subj-group-type="section-heading" xml:lang="ru"><subject>Статьи</subject></subj-group></article-categories><title-group><article-title>Инструментальные средства синхронизации гидроакустических устройств связи в задачах управления подводными сенсорами, распределенными антеннами, автономными аппаратами</article-title><trans-title-group xml:lang="en"><trans-title></trans-title></trans-title-group></title-group><contrib-group><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Кебкал</surname><given-names>К. Г.</given-names></name></name-alternatives><bio xml:lang="ru"><p>Кебкал Константин Георгиевич, доктор технических наук, старший научный сотрудник,</p></bio><xref ref-type="aff" rid="aff-1"/></contrib><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Кебкал</surname><given-names>А. Г.</given-names></name></name-alternatives><bio xml:lang="ru"><p>Кебкал Алексей Георгиевич, руководитель группы разработчиков программного обеспечения. </p></bio><xref ref-type="aff" rid="aff-2"/></contrib><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Кебкал</surname><given-names>В. К.</given-names></name></name-alternatives><bio xml:lang="ru"><p>Кебкал Вероника Константиновна, инженер-программист </p></bio><xref ref-type="aff" rid="aff-1"/></contrib></contrib-group><aff xml:lang="ru" id="aff-1"><institution>Evologics GmbH (г. Берлин)</institution><country>Germany</country></aff><aff xml:lang="ru" id="aff-2"><institution>Evologics GmbH  (г. Берлин)</institution><country>Germany</country></aff><pub-date pub-type="collection"><year>2014</year></pub-date><pub-date pub-type="epub"><day>29</day><month>01</month><year>2026</year></pub-date><volume>22</volume><issue>2</issue><fpage>70</fpage><lpage>85</lpage><permissions><copyright-statement>Copyright &amp;#x00A9; Кебкал К.Г., Кебкал А.Г., Кебкал В.К., 2026</copyright-statement><copyright-year>2026</copyright-year><copyright-holder xml:lang="ru">Кебкал К.Г., Кебкал А.Г., Кебкал В.К.</copyright-holder><copyright-holder xml:lang="en">Кебкал К.Г., Кебкал А.Г., Кебкал В.К.</copyright-holder><license xml:lang="ru" license-type="creative-commons-attribution" xlink:href="https://creativecommons.org/licenses/by/4.0/" xlink:type="simple"><license-p>Данная работа распространяется под лицензией Creative Commons Attribution 4.0.</license-p></license><license xml:lang="en" license-type="creative-commons-attribution" xlink:href="https://creativecommons.org/licenses/by/4.0/" xlink:type="simple"><license-p>This work is licensed under a Creative Commons Attribution 4.0 License.</license-p></license></permissions><self-uri xlink:href="https://www.gyroscopy.ru/jour/article/view/449">https://www.gyroscopy.ru/jour/article/view/449</self-uri><abstract><p>Продемонстрированы встроенные инструментальные средства точного измерения степени расхождения часов взаимодействующих гидроакустических модемов непосредственно в ходе обмена данными для решения задач синхронизации и синхронного управления распределенными сенсорами, длиннобазового позиционирования и управления под-водными аппаратами</p></abstract><trans-abstract xml:lang="en"><p>Modern underwater acoustic (UWA) modems, besides receiving-transmitting data, can measure signal propagation time and evaluate the distance between the transmit-ter and the receiver. Such capabilities can be exploited for synchronization of UWA sensor networks, where sensing and actuation must be coordinated across multiple nodes, UWA positioning and navigation of autonomous underwater vehicles. How-ever, such problem as the accuracy of propagation time measurement, especially in highly reverberant environment, as well as the evaluation of clock skew on interact-ing modems, have been investigated rather poorly. One of the objectives consists in experimental evaluation of the precision of propagation time measurements between UWA modems communicating in reverberant environments (Fig.5), as well as in demonstration of the modems built-in tools providing opportunities for precise esti-mation of the modems clock skews (Fig.6). Another objective is to demonstrate a “comfortable” way for clock synchronization of UWA network nodes directly during payload data exchange (Fig.1). Experiments were carried out during CommsNet13 sea trials, CMRE, La Spezia.</p></trans-abstract><kwd-group xml:lang="en"><kwd>Digital sonar communication</kwd><kwd>digital sonar networks</kwd><kwd>underwater sensor networks</kwd><kwd>synchronization in sonar channel</kwd></kwd-group></article-meta></front><back><ref-list><title>References</title><ref id="cit1"><label>1</label><citation-alternatives><mixed-citation xml:lang="ru">Mills, David L. Network Time Synchronization: the Network Time Protocol on Earth and in Space, second Edition, CRC Press 2011, 466 p.</mixed-citation><mixed-citation xml:lang="en">Mills, David L. Network Time Synchronization: the Network Time Protocol on Earth and in Space, second Edition, CRC Press 2011, 466 p.</mixed-citation></citation-alternatives></ref><ref id="cit2"><label>2</label><citation-alternatives><mixed-citation xml:lang="ru">Eidson, John C. Measurement, Control and Communication Using IEEE 1588. 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