Time synchronization method, sensor and system

The embodiment of the invention discloses a time synchronization method, a sensor and a system. The method comprises the following steps: after a sensor detects a periodic pulse signal sent by clock synchronization equipment, recording a first count value of a local counter; after a timestamp message which is sent by the clock synchronization equipment and carries the sending time of the periodic pulse signal is received, recording a second count value of the local counter; analyzing the sending time of the periodic pulse signal from the timestamp message; and determining the timestamp of the sensor according to the sending time of the periodic pulse signal, the first count value and the second count value. According to the invention, the time synchronization precision can be improved, the implementation is simple, and the expandability is high. 本发明实施例公开了一种时间同步方法、传感器及系统。其中，方法包括：传感器检测到时钟同步设备发送的周期性脉冲信号后，记录本地计数器的第一计数值；接收到所述时钟同步设备发送的携带有所述周期性脉冲信号的发送时间的时间戳消息后，记录所述本地计数器的第二计数值；从所述时间戳消息中解析出所述周期性脉冲信号的发送时间；根据所述周期性脉冲信号的发