A data communication method, wherein, a first terminal continuously generates communication carrier signals during communication with a second terminal, the method comprises: the first terminal sending a communication data signal carrying a data packet to be processed, and the first terminal beginning to detect a first phase difference between a waveform phase of the communication carrier signal and a first initial phase when the first terminal completes sending the data packet to be processed, wherein the first initial phase is the waveform phase of the communication carrier signal when the first terminal completes sending the data packet to be processed, and the communication data signal is obtained by the first terminal by means of modulating the data packet to be processed onto the communication carrier signal; the second terminal receiving the communication data signal carrying the data packet to be processed, and the second terminal beginning to detect a second phase difference between the waveform phase of the communication carrier signal and a second initial phase when the second terminal completes receiving the data packet to be processed, and generating a reply packet based on the data packet to be processed, wherein the second initial phase is the waveform phase of the communication carrier signal when the second terminal completes receiving the data packet to be processed; the second terminal sending the reply packet to the first terminal when detecting that the second phase difference reaches a threshold phase difference Δ φ; and the first terminal allowing to start receiving the reply packet when detecting that the first phase difference is within a threshold range, wherein the threshold range is obtained by the first terminal based on the threshold phase difference Δ φ. the first terminal sending a communication data signal carrying a data packet to be processed, and the first terminal beginning to detect a first phase difference between a waveform phase of the communication carrier signal and a first initial phase when the first terminal completes sending the data packet to be processed, wherein the first initial phase is the waveform phase of the communication carrier signal when the first terminal completes sending the data packet to be processed, and the communication data signal is obtained by the first terminal by means of modulating the data packet to be processed onto the communication carrier signal; the second terminal receiving the communication data signal carrying the data packet to be processed, and the second terminal beginning to detect a second phase difference between the waveform phase of the communication carrier signal and a second initial phase when the second terminal completes receiving the data packet to be processed, and generating a reply packet based on the data packet to be processed, wherein the second initial phase is the waveform phase of the communication carrier signal when the second terminal completes receiving the data packet to be processed; the second terminal sending the reply packet to the first terminal when detecting that the second phase difference reaches a threshold phase difference Δ φ; and the first terminal allowing to start receiving the reply packet when detecting that the first phase difference is within a threshold range, wherein the threshold range is obtained by the first terminal based on the threshold phase difference Δ φ.