Algorithm 1 Calculate synchronized time

1:Input:  local clock report $y=C_2\left(t\right)$ Global Variables:  ${\hat{\alpha }}_{12}$ and ${\hat{\tau }}_{12}$ Output:  Corrected time report $\hat{x}={\hat{C}}_1\left(t\right)$ 2:return${\hat{C}}_1\left(t\right)\leftarrow \left(C_2\left(t\right)-{\hat{\tau }}_{12}\right)/{\hat{\alpha }}_{12}$;