The present disclosure relates to a method to determine a clock signal when separate clocks are used. In one embodiment, a disciplined clock system comprising an update subsystem and a synthesis subsystem is provided. A first clock phase estimate is provided to the update subsystem and used, along with the update subsystem, to determine a frequency offset estimate and a phase offset estimate. The clock signal is determining using the frequency offset estimate, the phase offset estimate, and the synthesis subsystem. Alternatively, two clocks can be synchronized by generating a signal associated with a first clock; modulating the signal; transmitting the modulated signal; receiving the modulated signal by a receiver associated with a second clock; correlating the received signal; determining the time of arrival of the received signal; determining the time difference between the two clocks; and synchronizing the two clocks.