This article analyzes the clock model of sensor nodes and the basic principle of time synchronization. Then, it systematically\nintroduces the existing time synchronization mechanisms and compares their advantages and disadvantages. In\norder to solve the problems of consensus-based time synchronization, such as propagation delay and convergence\nspeed, Group Consensus Time Synchronization algorithm is proposed. In this protocol, minimum data exchange is\nachieved for both frequency and phase offset compensation, and at the same time, the propagation delay is considered\nand compensated for. The simulation results show that the protocol can adapt to dynamic topology and be suitable to\nlarge-scale wireless sensor networks.
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