The-clock-synchronization-problem.md

-Clock synchronization with Global Navigation Satellite Systems (GNSS) involves comparing the time kept by a GNSS receiver with the time signal sent by the GNSS satellites. The receiver uses the time difference between the two to calculate its position and velocity. The receiver also includes a clock that can be synchronized with the satellite time signal to improve its accuracy. This is done by comparing the time offset between the satellite and receiver clocks, and adjusting the receiver clock to match the satellite clock. 
+Clock synchronization with GNSS involves comparing the time kept by a GNSS receiver with the time signal sent by the GNSS satellites. The receiver uses the time difference between the two to calculate its position and velocity. The receiver also includes a clock that can be synchronized with the satellite time signal to improve its accuracy. This is done by comparing the time offset between the satellite and receiver clocks, and adjusting the receiver clock to match the satellite clock. 
 
 [![synchronisation](uploads/a3264678e17c3e22a1ab8659dab8f137/synchronisation.png)](https://www.bodet-time.com/time-servers/articles-and-resources/1595-why-is-time-synchronization-so-important.html)
 
@@ -33,7 +33,9 @@ with ![lagrida_latex_editor__88_](uploads/36716b7a0e028ae59b0c0910b02dd90f/lagri
 
 ![lagrida_latex_editor__89_](uploads/834c1ea6350f3d584837a695495615cc/lagrida_latex_editor__89_.png) is controlled and considered insignificant for the measurements.
 
-Therefore, the localisation problem has 4 unknown parameters : the speed following the 3 axis of the reference frame, and the clock drift of the receptor. The question that arises is: **how to make sure those clocks are synchronized?**
+Therefore, the localisation problem has 4 unknown parameters : the speed following the 3 axis of the reference frame, and the clock drift of the receptor. 
+
+The question that arises is: **how to make sure those clocks are synchronized?**
 
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