The Book of Prayers
وَحَدَّثَنَا إِسْحَاقُ بْنُ إِبْرَاهِيمَ الْحَنْظَلِيُّ، أَخْبَرَنَا عَبْدُ الْوَهَّابِ الثَّقَفِيُّ، حَدَّثَنَا خَالِدٌ الْحَذَّاءُ، عَنْ أَبِي قِلاَبَةَ، عَنْ أَنَسِ بْنِ مَالِكٍ، قَالَ ذَكَرُوا أَنْ يُعْلِمُوا، وَقْتَ الصَّلاَةِ بِشَىْءٍ يَعْرِفُونَهُ فَذَكَرُوا أَنْ يُنَوِّرُوا نَارًا أَوْ يَضْرِبُوا نَاقُوسًا فَأُمِرَ بِلاَلٌ أَنْ يَشْفَعَ الأَذَانَ وَيُوتِرَ الإِقَامَةَ .Anas b. Malik reported:They (the Companions) discussed that they should know the timings of prayer by means of something recognized by all. Some of them said that fire should be lighted or a bell should be rung. But Bilal was ordered to repeat the phrases twice in Adhan, and once in Iqama
From Sahih Muslim, whose reports the scholars accept as authentic.