International Journal of Distributed Sensor Networks
fabricated identities. If the name space is intentionally limited
to prevent attackers from fabricating identities, they can
also destroy or temporarily disable the impersonated nodes
and assign stolen identities to malicious nodes. In replay
attack, a valid data transmission is maliciously or fraudulently
repeated. An attacker can take part in distributing timing
messages among its neighbor nodes. As a result, old timing
messages could be deceitfully issued as legitimate messages to
its neighbor nodes for disrupting the timing synchronization
process. In message manipulation attack, an attacker may
drop, modify, or even forge the exchanged timing messages
to interrupt the process of time synchronization. In a delay
attack, an attacker intentionally delays some of the time
messages in order to disrupt the time synchronization process
and cause it to fail. If this attack inltrates into the system,
it cannot be prevented using traditional cryptographic tech-
niques.
In this paper, we propose a novel CLUster-based Secure
Synchronization (CLUSS) protocol that concerns security
as well as accuracy in synchronization. Before time syn-
chronization, CLUSS needs to execute the process of cluster
formation securely by means of cluster consistency checking.
Aer that, CLUSS performs the process of time synchroniza-
tion, which can be divided into three phases: authentication
phase, intercluster synchronization phase, and intracluster
synchronization phase. During the authentication phase,
all sensor nodes need to be authenticated to each other
and the identied malicious nodes will be removed from
the network. During the intercluster synchronization phase,
cluster heads synchronize themselves with beacons in sender-
receiver mode. And then, ordinary nodes synchronize them-
selves with cluster heads in receiver-receiver mode during
the intracluster synchronization phase. Part of interclus-
ter synchronization phase and intracluster synchronization
phase can be executed concurrently in order to reduce the
number of messages generated in synchronization. In order
to improve time synchronization accuracy, CLUSS detects
abnormal end-to-end delay data and identies malicious
nodes. Additionally, CLUSS also distinguishes the propaga-
tiondelayofdownlinkfromthatofuplinkcausedbynode
movement during the process of calculating clock skew and
oset. Numerical simulations conrm the suitability of our
protocol compared with the current schemes.
e remainder of the paper is organized as follows:
Section presents a brief overview of related work. Section
presents the technical details of our time synchronization
protocol. Performance evaluation is described in Section .
Finally, we conclude the paper in Section .
2. Related Work
In the literature, there are various time synchronization pro-
tocols for distributed systems like terrestrial radio sensor
networks. RBS (Reference Broadcast Synchronization) []is
a well-known receiver-receiver synchronization protocol that
synchronizes a set of receivers with one another by periodi-
cally sending beacon messages to their neighbors. Recipients
use the message’s arrival time as a point of reference for
comparing their clocks. However, RBS requires extra message
exchange to communicate the local timestamps between any
two nodes which intend to become synchronized. TPSN
(Timing-sync Protocol for Sensor Networks) []isbased
on the sender-receiver time synchronization, which employs
a two-way message exchange for synchronization. Although
TPSN takes care of propagation delays, it does not take
the clock skew into account during synchronization period.
FTSP (Flooding Time Synchronization Protocol) []sup-
ports network topology changes including mobile nodes.
e applied ood-based communication protocol provides
a very robust network, but it is not applicable to underwa-
tersensornetworkmainlybecauseitalsoassumesinstant
reception of messages. TSHL (Time Synchronization for High
Latency) [] is the rst time synchronization algorithm
designed for high latency networks specically. It uses one-
way communication to estimate the clock skew and two-way
communication to estimate the clock oset. TSHL assumes
that underwater sensor networks are static and therefore
suers from sensor nodes mobility, especially when nodes
move fast. D-Sync [] provides an indication of the relative
motion between nodes. In D-Sync, Doppler shi is used in
order to infer the propagation delay and an ordinary least
square estimator is applied to provide an estimate for both
clock skew and oset. However, in deriving the estimators,
communication channel variability is not taken into account,
which reduces the accuracy of synchronization. MU-Sync
[] runs two times of linear regression to estimate the clock
skew and clock oset for cluster based UWSNs. MU-Sync
assumes that the one-way propagation delay can be estimated
as the average round trip time, which causes extra errors and
has relative high message overhead. Moreover, none of these
protocolstakesecurityasoneoftheirgoals.Consequently,an
adversary can easily attack any of these time synchronization
protocols by capturing a fraction of the nodes and have them
distribute faulty time synchronization messages. In eect, the
nodes in the entire network will be out-of-sync with each
other. WATERSync [] is a correlation-based time synchro-
nization protocol specically for shallow underwater sensor
networks. WATERSync integrates the time synchronization
procedure with the tree-like network routing topology in
vertical direction (the surface station is the tree root), which
consists of Gradual Depth Timing (GDT) phase and Level
(i.e., between the surface station and rst depth nodes)
Skew Compensation (LSC) phase. To make the time syn-
chronization dependable, WATERSync adopts a correlation-
based security model to detect outlier timestamp data and
identify malicious nodes. However, horizontal direction is
neglected during the process of time synchronization, which
results in high oset errors.
3. Proposed Scheme
3.1. Network Topology and Cluster Formation. We consider
thataUWSNiscomposedofalargenumberofnodes
uniformly scattered in monitoring elds and represented by
= (,),wheredenotes the set of vertexes (nodes) and
is the set of communication links. We assume that the set