Abstract: Inter-node time synchronization is the foundation of cross-platform resource scheduling and collaborative detection and reconnaissance in formation, and bidirectional time synchronization technology is often used for high-precision time synchronization between formation nodes. When air-sea nodes perform formation collaborative detection and reconnaissance tasks, the dynamic topology and relative motion between nodes can lead to asymmetric transmission delay and Doppler frequency shift, thereby affecting time synchronization accuracy and reducing the effectiveness of collaborative detection and reconnaissance. In response to the unequal transmission delay, the dual-triggered bidirectional time synchronization technology is introduced under the premise of uniform node motion, and the clock difference formula between two nodes is derived. In response to Doppler frequency shift, the phase-locked loop technology is used to compensate. The simulation results verify the effectiveness of the proposed method. Compared with the traditional bidirectional time synchronization method, the proposed method can reduce the error caused by relative motion on time synchronization by about 81%.