Time synchronization method and apparatus

A non-transitory readable storage medium, wherein the non-transitory readable storage medium stores an instruction;

• and when the non-transitory readable storage medium runs on a device, the device is enabled to perform a time synchronization method, comprising:
• sending, by the first node, a first reference signal to the second node, and receiving an arrival time t2 at which the first reference signal arrives at the second node and that is sent by the second node;
• receiving, by the first node, a second reference signal and a sending time t3 at which the second reference signal is sent that are sent by the second node;
• and
• calculating, by the first node, a time of arrival (TOA) and a timing error Toffset based on the arrival time t2 of the first reference signal, the sending time t3 of the second reference signal, a sending time t1 at which the first node sends the first reference signal, and an arrival time t4 of the second reference signal received by the first node, wherein
• the time of arrival (TOA) comprises a difference between a time at which the second node sends a first signal and a time at which the first node receives the first signal sent by the second node, or a difference between a time at which the first node sends a second signal and a time at which the second node receives the second signal sent by the first node, the timing error Toffset comprises a frame error between the first node and the second node or a slot synchronization error between the first node and the second node, the first signal comprises the first reference signal, and the second signal comprises the second reference signal.