327 lines
18 KiB
HTML
327 lines
18 KiB
HTML
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<!-- $NetBSD: prefer.html,v 1.1 1998/12/30 20:20:36 mcr Exp $ --><
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!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML Strict//EN">
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<html><head><title>
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Mitigation Rules and the ``prefer'' Keyword
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</title></head><body><h3>
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Mitigation Rules and the <code>prefer</code> Keyword
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</h3><hr>
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<p><h4>Introduction</h4>
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<p>The mechanics of the NTP algorithms which select the best data sample
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from each available peer and the best subset of the peer population have
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been finely crafted to resist network jitter, faults in the network or
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peer operations, and to deliver the best possible accuracy. Most of the
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time these algorithms do a good job without requiring explicit manual
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tailoring of the configuration file. However, there are times when the
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accuracy can be improved by some careful tailoring. The following
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sections explain how to do this using explicit configuration items and
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special signals, when available, that are generated by some radio
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clocks.
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<p>In order to provide robust backup sources, primary (stratum-1)
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servers are usually operated in a diversity configuration, in which the
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server operates with a number of remote peers in addition to one or more
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radio or modem clocks operating as local peers. In these configurations
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the suite of algorithms used in NTP to refine the data from each peer
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separately and to select and weight the data from a number of peers are
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used with the entire ensemble of remote peers and local peers. As the
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result of these algorithms, a set of <i>survivors</i> are identified
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which can presumably provide the most reliable and accurate time.
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Ordinarily, the individual clock offsets of the survivors are combined
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on a weighted average basis to produce an offset used to control the
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system clock.
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<p>However, because of small but significant systematic time offsets
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between the survivors, it is in general not possible to achieve the
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lowest jitter and highest stability in these configurations. This
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happens because the selection algorithm tends to <i>clockhop</i> between
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survivors of substantially the same quality, but showing small
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systematic offsets between them. In addition, there are a number of
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configurations involving pulse-per-second (PPS) signals, modem backup
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services and other special cases, so that a set of mitigation rules
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becomes necessary to select a single peer from among the survivors.
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These rules are based on a set of special characteristics of the various
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peers and reference clock drivers specified in the configuration file.
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<p><h4>The <code>prefer</code> Peer</h4>
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<p>The mitigation rules are designed to provide an intelligent selection
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between various peers of substantially the same statistical quality.
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They is designed to provide the best quality time without compromising
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the normal operation of the NTP algorithms. The mitigation scheme in its
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present form is not an integral component of the NTP specification RFC-
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1305. but is likely to be included in future versions of the
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specification. The scheme is based on the concept of <i>prefer peer</i>,
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which is specified by including the <code>prefer</code> keyword with the
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associated <code>server</code> or <code>peer</code> command in the
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configuration file. This keyword can be used with any peer or server,
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but is most commonly used with a radio clock. While the scheme does not
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forbid it, it does not seem useful to designate more than one peer as
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preferred, since the additional complexities to mitigate among them do
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not seem justified from on the air experience.
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<p>The prefer scheme works on the set of peers that have survived the
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sanity checks and intersection algorithms of the clock selection
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procedures. Ordinarily, the members of this set can be considered
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<i>truechimers</i> and any one of them could in principle provide
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correct time; however, due to various error contributions, not all can
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provide the most stable time. The job of the clustering algorithm, which
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is invoked at this point, is to select the best subset of the survivors
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providing the least variance in the combined ensemble, compared to the
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variance in each member of the subset. The detailed operation of the
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clustering algorithm, which is given in the specification, is not
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important here, other than to point out it operates in rounds, where a
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survivor, presumably the worst of the lot, is discarded in each round
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until one of several termination conditions is met.
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<p>In the prefer scheme the clustering algorithm is modified so that the
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prefer peer is never discarded; on the contrary, its potential removal
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becomes a termination condition. If the original algorithm were about to
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toss out the prefer peer, the algorithm terminates right there. The
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prefer peer can still be discarded by the sanity checks and intersection
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algorithms, of course, but it will always survive the clustering
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algorithm. The prefer peer is used as long as it survives the sanity
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checks and intersection algorithm. If it does not survive or for some
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reason it fails to provide updates, it will eventually become
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unreachable and the clock selection will remitigate to select the next
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best source.
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<p>Along with this behavior, the clock selection procedures are modified
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so that the combining algorithm is not used when a prefer peer is
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present. Instead, the offset of the prefer peer is used exclusively as
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the synchronization source. In the usual case involving a radio clock
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and a flock of remote stratum-1 peers, and with the radio clock
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designated a prefer peer, the result is that the high quality radio time
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disciplines the server clock as long as the radio itself remains
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operational and with valid time, as determined from the remote peers,
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sanity checks and intersection algorithm.
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<p><h4>Peer Classification</h4>
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<p>In order to understand the effects of the various intricate schemes
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involved, it is necessary to understand some arcane details on how the
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algorithms decide on a synchronization source, when more than one source
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is available. This is done on the basis of a set of explicit mitigation
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rules, which define special classes of remote and local peers as a
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function of configuration declarations and reference clock driver type:
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<ol>
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<li>The prefer peer is designated using the <code>prefer</code>
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keyword with the <code>server</code> or <code>peer</code> commands. All
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other things being equal, this peer will be selected for synchronization
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over all other survivors of the clock selection procedures.
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<p><li>When a PPS signal is connected via the PPS Clock Discipline
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driver (type 22), this is called the <i>PPS peer</i>. This driver
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provides precision clock corrections only within one second, so is
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always operated in conjunction with another peer or reference clock
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driver, which provides the seconds numbering. The PPS peer is active
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only under conditions explained below.
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<p><li>When the Undisciplined Local Clock driver (type 1) is configured,
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this is called the <i>local-clock peer</i>. This is used either as a
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backup reference source (stratum greater than zero), should all other
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synchronization sources fail, or as the primary reference source
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(stratum zero) in cases where the kernel time is disciplined by some
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other means of synchronization, such as the NIST <code>lockclock</code>
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scheme, or another synchronization protocol, such as the Digital Time
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Synchronization Service (DTSS).
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<p><li>When a modem driver such as the Automated Computer Time Service
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driver (type 18) is configured, this is called the <i>modem peer</i>.
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This is used either as a backup reference source, should all other
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primary sources fail, or as the (only) primary reference source.
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<p><li>Where support is available, the PPS signal may be processed
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directly by the kernel, as described in the <a href="kern.html">A Kernel
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Model for Precision Timekeeping</a> page. This is called the <i>kernel
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discipline</i>. The PPS signal can discipline the kernel in both
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frequency and time. The frequency discipline is active as long as the
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PPS signal itself is operating correctly, as determined by the kernel
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algorithms. The time discipline is active only under conditions
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explained below.
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</ol>
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<p>Reference clock drivers operate in the manner described in the <a
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href="refclock.html">Reference Clock Drivers</a> page and its
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dependencies. The drivers are ordinarily operated at stratum zero, so
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that as the result of ordinary NTP operations, the server itself
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operates at stratum one, as required by the NTP specification RFC-1305.
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In some cases described below, the driver is intentionally operated at
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an elevated stratum, so that it will be selected only if no other
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survivor is present with a lower stratum. In the case of the PPS peer or
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kernel time discipline, these sources appear active only if the prefer
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peer has survived the intersection and clustering algorithms, as
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described below, and its clock offset relative to the current local
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clock is less than a specified value, currently +-128 ms.
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<p>The modem clock driver is a special case. Ordinarily, the update
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interval between modem calls to synchronize the system clock is many
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times longer than the interval between polls of either the remote or
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local peers. In order to provide the best stability, the operation of
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the clock discipline algorithm changes from a phase-lock mode at the
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shorter update intervals to a frequency-lock mode at the longer update
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intervals. If both remote or local peers together with a modem peer are
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operated in the same configuration, what can happen is that first the
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clock selection algorithm can select one or more remote/local peers and
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the clock discipline algorithm will optimize for the shorter update
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intervals. Then, the selection algorithm can select the modem peer,
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which requires a much different optimization. The intent in the design
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is to allow the modem peer to control the system clock either when no
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other source is available or, if the modem peer happens to be marked as
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prefer, then it always controls the clock, as long as it passes the
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sanity checks and intersection algorithm. There still is room for
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suboptimal operation in this scheme, since a noise spike can still cause
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a clockhop either way. Nevertheless, the optimization function is slow
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to adapt, so that a clockhop or two does not cause much harm.
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<h4>Mitigation Rules</h4>
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<p>The mitigation rules apply in the intersection and clustering
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algorithms described in the NTP specification. The intersection
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algorithm first scans all peers with a persistent association and
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includes only those that satisfy specified sanity checks. In addition to
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the checks required by the specification, the mitigation rules require
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either the local-clock peer or modem peer to be included only if marked
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as the prefer peer. The intersection algorithm operates on the included
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population to select only those peers believed to represent the correct
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time. If one or more peers survive the operation, processing continues
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in the clustering algorithm. Otherwise, if there is a modem peer, it is
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declared the only survivor; otherwise, if there is a local-clock peer,
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it is declared the only survivor. Processing then continues in the
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clustering algorithm.
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<p>The clustering algorithm repeatedly discards outlyers in order to
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reduce the residual jitter in the survivor population. As required by
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the NTP specification, these operations continue until either a
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specified minimum number of survivors remain or the minimum select
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dispersion of the population is greater than the maximum peer dispersion
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of any member. The mitigation rules require an additional terminating
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condition which stops these operations at the point where the prefer
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peer is about to be discarded.
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<p>The mitigation rules establish the choice of <i>system peer</i>,
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which determine the stratum, reference identifier and several other
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system variables which are visible to clients of the local server. In
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addition, they establish which source or combination of sources control
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the local clock.
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<ol>
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<li>If there is a prefer peer and it is the local-clock peer or the
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modem peer; or, if there is a prefer peer and the kernel time discipline
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is active, choose the prefer peer as the system peer and its offset as
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the system clock offset. If the prefer peer is the local-clock peer, an
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offset can be calculated by the driver to produce a frequency offset in
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order to correct for systematic frequency errors. In case a source other
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than NTP is controlling the system clock, corrections determined by NTP
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can be ignored by using the <code>disable pll</code> in the
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configuration file. If the prefer peer is the modem peer, it must be the
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primary source for the reasons noted above. If the kernel time
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discipline is active, the system clock offset is ignored and the
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corrections handled directly by the kernel.
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<p><li>If the above is not the case and there is a PPS peer, then choose
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it as the system peer and its offset as the system clock offset.
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<p><li>If the above is not the case and there is a prefer peer (not the
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local-clock or modem peer in this case), then choose it as the system
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peer and its offset as the system clock offset.
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<p><li>If the above is not the case and the peer previously chosen as
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the system peer is in the surviving population, then choose it as the
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system peer and average its offset along with the other survivors to
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determine the system clock offset. This behavior is designed to avoid
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excess jitter due to clockhopping, when switching the system peer would
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not materially improve the time accuracy.
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<p><li>If the above is not the case, then choose the first candidate in
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the list of survivors ranked in order of synchronization distance and
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average its offset along with the other survivors to determine the
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system clock offset. This is the default case and the only case
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considered in the current NTP specification.
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</ol>
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<p><h4>Using the Pulse-per-Second (PPS) Signal</h4>
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<p>Most radio clocks are connected using a serial port operating at
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speeds of 9600 bps or higher. The accuracy using typical timecode
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formats, where the on-time epoch is indicated by a designated ASCII
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character, like carriage-return <cr>, is limited to a millisecond
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at best and a few milliseconds in typical cases. However, some radios
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produce a PPS signal which can be used to improve the accuracy in
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typical workstation servers to the order of a few tens of microseconds.
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The details of how this can be accomplished are discussed in the <a
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href="pps.html">Pulse-per-second (PPS) Signal Interfacing</a>
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page. The following paragraphs discuss how the PPS signal is affected by
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the mitigation rules.
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<p>First, it should be pointed out that the PPS signal is inherently
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ambiguous, in that it provides a precise seconds epoch, but does not
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provide a way to number the seconds. In principle and most commonly,
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another source of synchronization, either the timecode from an
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associated radio clock, or even one or more remote peers, is available
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to perform that function. In all cases, a specific, configured peer or
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server must be designated as associated with the PPS signal. This is
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done using the <code>prefer</code> keyword as described previously. The
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PPS signal can be associated in this way any peer, but is most commonly
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used with the radio clock generating the PPS signal.
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<p>In order to operate, the PPS driver must be enabled by the
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<code>enable pps</code> command in the configuration file and the signal
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must be present and within nominal jitter and wander error tolerances.
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In addition, its associated prefer peer must have survived the sanity
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checks and intersection algorithms and have become active. This insures
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that the radio clock hardware is operating correctly and that,
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presumably, the PPS signal is operating correctly as well. Second, the
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absolute time offset from that peer must be less than
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<code>CLOCK_MAX</code>, the gradual-adjustment range, which is
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ordinarily set at +-128 ms, or well within the +-0.5-s unambiguous range
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of the PPS signal itself. Finally, the time offsets generated by the PPS
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peer are propagated via the clock filter to the clock selection
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procedures just like any other peer. Should these pass the sanity checks
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and intersection algorithms, they will show up along with the offsets of
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the prefer peer itself. Note that, unlike the prefer peer, the PPS peer
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samples are not protected from discard by the clustering algorithm.
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These complicated procedures insure that the PPS offsets developed in
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this way are the most accurate, reliable available for synchronization.
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<p>The PPS peer remains active as long as it survives the intersection
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algorithm and the prefer peer is active; however, like any other clock
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driver, it runs a reachability algorithm on the PPS signal itself. If
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for some reason the signal fails or displays gross errors, the PPS peer
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will either become unreachable or stray out of the survivor population.
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In this case the clock selection remitigates as described above.
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<p><h4>Using the Kernel Discipline</h4>
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<p>Code to implement the kernel discipline is a special feature that can
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be incorporated in the kernel of some workstations as described in the
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<br><a href = "kern.html"> A Kernel Model for Precision Timekeeping </a>
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page. The discipline provides for the control of the local clock
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oscillator time and/or frequency by means of an external PPS signal
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interfaced via a modem control lead. As the PPS signal is derived from
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external equipment, cables, etc., which sometimes fail, a good deal of
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error checking is done in the kernel to detect signal failure and
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excessive noise. The way in which the mitigation rules affect the kernel
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discipline is as follows.
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<p>In order to operate, the kernel discipline must be enabled by the
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<code>enable pps</code> command in the configuration file and the signal
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must be present and within nominal jitter and wander error tolerances.
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In the NTP daemon, the kernel time discipline is active only when the
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prefer peer is among the survivors of the clustering algorithm, and its
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offset is within +-128 ms, as in the PPS peer. Under these conditions
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the kernel disregards updates produced by the NTP daemon and uses its
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internal PPS source instead. The kernel maintains a watchdog timer for
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the PPS signal; if the signal has not been heard or is out of tolerance
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for more than some interval, currently two minutes, the kernel
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discipline is declared inoperable and operation continues as if it were
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not present.
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<hr><address>David L. Mills (mills@udel.edu)</address></body></html>
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