Adaptive Kalman Filter process for controlling an ensemble clock

In an ensemble oscillator system including multiple free-running oscillators, a voltage controlled oscillator having a frequency responsive to a control signal, and a differencer unit that measures time differences between the oscillators, an adaptive Kalman Filter Processor (AKFP) generates the control signal responsive to the time differences. The AKFP uses oscillator noise models to model noise/errors of the ensemble system oscillators, including random noise parameters, and adaptively estimates the errors and the random noise parameters to derive the control signal.