A method, device and apparatus for generating a pulse waveform based on a complementary Golay sequence

Abstract

The present invention provides a method, device and equipment for generating a pulse waveform based on a complementary Gray sequence. The method comprises: generating a linear frequency modulation signal; cyclically shifting the frequency modulation signal in multiple transmission channels to obtain a cyclic shift code; generating a set of Gray complementary sequences, simultaneously continuously sending two consecutive pulses, and applying each pulse in the Gray complementary sequence to the cyclic shift code; receiving a pulse signal with a time delay, and adding the results of matched filtering of each pulse with a time delay to generate an operation result, which can better detect the positions of static and dynamic targets.

Description

Technical Field

[0001] The present invention relates to the field of wireless communications, and in particular to a method, device and equipment for generating a pulse waveform based on a complementary Golay sequence. Background Art

[0002] With the rapid development of water transportation, the number of ships has increased unprecedentedly. The larger and faster ships have significantly expanded the waters required for navigation and berthing. This has led to unprecedented congestion in limited waters, increasing the difficulty of ship operation and necessitating a safety assurance system. Therefore, radar technology provides a technically feasible solution for the development and improvement of ship transportation. Radar waveform design is an integral part of modern radar technology theory and is closely linked to the specific functions and applications of radar. The quality of radar waveform design plays a decisive role in the performance of detection radars in areas such as range resolution and parameter estimation accuracy.

[0003] In current MIMO radars, it is usually assumed that the transmitted waveforms associated with each transmitting antenna or subarray are orthogonal and have good waveform autocorrelation characteristics. However, in practice, it is difficult to achieve simultaneous waveform transmission within the same bandwidth.

[0004] In view of this, this application is filed. Summary of the Invention

[0005] The present invention discloses a method, device and equipment for generating a pulse waveform based on a complementary Golay sequence, aiming to solve the deficiencies of the prior art.

[0006] The first embodiment of the present invention provides a pulse waveform generation method based on a complementary Golay sequence.

[0007] generating a linear frequency modulation signal;

[0008] cyclically shifting the frequency modulation signal in a plurality of transmission channels to obtain a cyclic shift code;

[0009] generating a set of Golay complementary sequences, transmitting two consecutive pulses simultaneously, and applying each pulse in the Golay complementary sequence to the cyclic shift code;

[0010] A pulse signal with a time delay is received, each pulse signal with a time delay is matched filtered to generate an operation result, and the operation results are coherently added to remove side lobes and improve the signal-to-interference ratio and signal-to-noise ratio, thereby improving the range resolution of the radar signal.

[0011] Preferably, the linear frequency modulation signal is:

[0012]

[0013] Where A is the amplitude, B is the bandwidth, and τ is the pulse length.

[0014] Preferably, the waveform of the frequency modulation signal circulating in the Nth channel is:

[0015] s N (t) = a N ·s(t-(N-1)·Δt)

[0016] Among them, a N is the amplitude of the signal, and Δt is the relative time shift between cyclic signals.

[0017] Preferably, the pulse signal with time delay includes a transmission signal and a reception signal in the θ direction;

[0018] Wherein, the transmission signal is expressed as:

[0019]

[0020] The received signal is expressed as:

[0021]

[0022] Where k0 is the wave number, and are the receiving and transmitting positions of the Nth antenna, respectively. and represent the Nth transmitting and receiving antennas respectively.

[0023] Preferably, the operation results include static target results and dynamic target results.

[0024] Preferably, when the operation result is a static target result, the operation result is:

[0025]

[0026] Among them, y(τ) is the static target result generated by matched filtering, The first Gray pulse and the second Gray pulse transmit signals, is the corresponding received signal.

[0027] Preferably, when the calculation result is a dynamic target result, the calculation result is:

[0028]

[0029] Where y(τ) is the dynamic target result generated by matched filtering, GRT is the pulse repetition time, and v is the assumed velocity of the target. and are the received signals of the new first Gray pulse and the second Gray pulse.

[0030] The second embodiment of the present invention provides a pulse waveform generating device based on a complementary Golay sequence.

[0031] A linear frequency modulation signal generating unit, configured to generate a linear frequency modulation signal;

[0032] a cyclic shift code acquisition unit, configured to perform cyclic shift on the frequency modulation signal in a plurality of transmission channels to obtain a cyclic shift code;

[0033] a Golay complementary sequence generating unit, configured to generate a set of Golay complementary sequences, simultaneously continuously send two consecutive pulses, and apply each pulse in the Golay complementary sequence to the cyclic shift code;

[0034] The pulse signal receiving unit receives pulse signals with time delays, performs matched filtering on each pulse signal with time delay to generate operation results, coherently adds the operation results, removes side lobes and improves the signal-to-interference ratio and signal-to-noise ratio, thereby improving the range resolution of the radar signal.

[0035] Preferably, the linear frequency modulation signal is:

[0036]

[0037] Where A is the amplitude, B is the bandwidth, and τ is the pulse length.

[0038] A third embodiment of the present invention provides a pulse waveform generating device based on a complementary Golay sequence, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement a pulse waveform generating method based on a complementary Golay sequence as described in any one of the above.

[0039] The present invention provides a pulse waveform generation method, apparatus, and device based on a complementary Golay sequence. By combining a cyclically shifted signal with a complementary Golay sequence, a waveform with a narrower mainlobe and smaller sidelobes is designed. Compared with traditional MIMO waveforms, this waveform is simpler, exhibits good coherence between waveforms, and achieves improved range resolution. Simulation results of the signal cross-correlation function also demonstrate that the designed waveform has good orthogonality, meeting the application requirements of multi-pulse waveforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 1 is a flow chart of a method for generating a pulse waveform based on a complementary Golay sequence provided by the first embodiment of the present invention;

[0041] Figure 2 Schematic diagram of cyclic shift provided by the present invention;

[0042] Figure 3 This is a schematic diagram of the autocorrelation of the Golay complementary sequence provided by the present invention;

[0043] Figure 4 Schematic diagram of matched filtering provided by the present invention;

[0044] Figure 5 It is the range-Doppler ambiguity function diagram provided by the present invention;

[0045] Figure 6 This is a single pulse ambiguity function diagram provided by the present invention without adding a Gray complementary sequence;

[0046] Figure 7 It is a multi-pulse ambiguity function diagram of the Golay complementary sequence provided by the present invention;

[0047] Figure 8 This is a module intention of a pulse waveform generating device based on a complementary Golay sequence provided by the second embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0050] It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0051] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "an", "the" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0052] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0053] The word "if," as used herein, may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0054] The "first" and "second" mentioned in the embodiments are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the specific order or precedence of "first" and "second" can be interchanged where appropriate. It should be understood that the objects distinguished by "first" and "second" can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0055] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0056] The present invention discloses a method, device and equipment for generating a pulse waveform based on a complementary Golay sequence, aiming to solve the deficiencies of the prior art.

[0057] See also Figure 1 The first embodiment of the present invention provides a method for generating a pulse waveform based on a complementary Golay sequence.

[0058] S101, generating a linear frequency modulation signal;

[0059] In this embodiment, the linear frequency modulation signal is:

[0060]

[0061] Where A is the amplitude, B is the bandwidth, and τ is the pulse length.

[0062] It should be noted that the linear frequency modulation signal is a single waveform with a large time-bandwidth product, wherein better distance resolution requires that the compressed signal be a narrow pulse, and such a narrow pulse can be achieved using a signal with a large bandwidth.

[0063] S102, cyclically shift the frequency modulation signal in multiple transmission channels (cyclic shift is as follows Figure 2 As shown), to obtain a cyclic shift code;

[0064] In this embodiment, the frequency modulation signal may be circulated in N MIMO transmission channels with a relative time offset, wherein the waveform of the Nth channel cycle is:

[0065] s N (t) = a N·s(t-(N-1)·Δt)

[0066] Among them, a N is the amplitude of the signal, and Δt is the relative time shift between cyclic signals.

[0067] S103, generating a set of Golay complementary sequences, and simultaneously continuously sending two consecutive pulses, and applying each pulse in the Golay complementary sequence to the cyclic shift code;

[0068] In this embodiment, a set of Golay complementary sequences is denoted as {x i},{y i}, and their autocorrelation functions are expressed as:

[0069]

[0070]

[0071] The two autocorrelation functions are added together as follows:

[0072]

[0073] Where i = (1, 2, ..., n), j = (1, 2, ..., n), and n is the sequence length. At this time, the cross-correlation of the complementary sequence is 0. By suppressing the sidelobes of the signal through this property, the sidelobes of the signal can be reduced. A pair of Gray complementary sequences can be represented as Gray pulse 1: [1 1 1 -1 1 -1 1 1] and Gray pulse 2: [1 1 1 -1 -1 1 -1 -1]. The result of the autocorrelation addition of the Gray complementary sequence is as follows: Figure 3 shown.

[0074] Send two consecutive pulses, apply each pulse in the pair of Gray complementary sequences to the cyclic shift code (i.e., the spatial code a of the cyclic shift signal) N ). It is understandable that in this embodiment, eight integrated transmitting and receiving antennas are preferably used (but not limited to this). When transmitting and receiving, there is a distance between two adjacent antennas, that is, when electromagnetic waves reach different receiving antennas, there will be a time delay difference. The time delay is the Gray pulse repetition time. The delay of the echo compared to the transmitted pulse is expressed as follows:

[0075]

[0076] Among them, R is the distance of the target, c is the propagation speed of electromagnetic waves, v r is the radial velocity.

[0077] The transmitted signal and the received signal in a certain direction θ are used as input signals of the matched filter. The transmitted signal and the received signal are expressed as:

[0078] Transmit signal:

[0079] Receive signal:

[0080] Where k0 is the wave number, and are the receiving and transmitting positions of the Nth antenna, respectively. and Represents the Nth transmitting and receiving antennas respectively

[0081] S104, receiving a pulse signal with a time delay, performing matched filtering on each of the pulse signals with a time delay to generate a calculation result, coherently adding the calculation results, removing side lobes and improving the signal-to-interference ratio and signal-to-noise ratio, thereby improving the range resolution of the radar signal.

[0082] In this embodiment, the operation results include static target results and dynamic target results.

[0083] It should be noted that for a static target, since the target is stationary, there is no phase difference between the two pulses. The matched filter is applied to the reflected signal received from each pulse separately, and then the results of the two matched filter operations are coherently added to remove the sidelobes. So the output of the matched filter is

[0084]

[0085] Among them, y(τ) is the static target result generated by matched filtering, The first Gray pulse and the second Gray pulse transmit signals, is the corresponding received signal.

[0086] It should be noted that for moving targets, the signal must have good Doppler tolerance to minimize Doppler loss at the matched filter output. The metrics for waveform performance are the signal's autocorrelation, cross-correlation, and Doppler properties. First, when two pulses are sent consecutively, since the Gray pairs must be transmitted as two pulses at different times, the target will move during this time, causing a phase shift. Because the signal travels different distances to the target and back, the Doppler effect and the phase shift caused by this movement will affect the signal and the matched filter's results. Therefore, the matched filter results cannot be directly added together. Therefore, different antennas receive signals with different phase shifts, expressed as:

[0087]

[0088] Where Δφ is the phase shift, λ cis the wavelength of the carrier signal, and R is the distance to the target. The movement of the target will cause the frequency shift of the reflected signal to be affected by the surrounding environment. So when Doppler shift exists, the received signal is expressed as:

[0089] y r ′(t)=X T y t (t)D+z(t)

[0090] Among them, y r ′(t) is the new received signal, X is the channel matrix, y t (t) is the transmitted signal, D is the Doppler frequency shift matrix, and z(t) is the noise. The Doppler frequency shift matrix is expressed as:

[0091]

[0092] Next, a matched filter is used in each receiving channel to separate the echoes caused by different transmitted signals from the composite signal for further processing. MIMO radar requires orthogonal signals with low autocorrelation sidelobes. Separating the transmitted signal components through matched filtering of the received signal requires that the cross-correlation between the signals be as low as possible. The matched filter is equivalent to a cross-correlator; simply correlating the composite signal with each transmitted signal separately can separate the echoes caused by different transmitted signals. The cross-correlation between the two sequences is calculated each time, known as matched filtering. The target angle is determined to be within the range [-90°, 90°]. Within this range, the angle is quantized to several values with the same step size. These quantized angle values are used to construct an exponential function, which compensates the echo signals accordingly. Coherent integration is then performed. When a particular angle value is closest to the actual target angle, the coherent integration output signal-to-noise ratio reaches its maximum, resulting in a rough estimate of the angle. This means that the compensated angular delay aligns the received signals from the eight receiving channels, resulting in the highest range resolution. Simultaneously, the range value is searched for within the maximum range, similarly searching for a matching range value. The matching process is as follows Figure 4 shown.

[0093] Next, the pulse matched filtered signal is weighted and summed to obtain the integrated beamforming. In order to observe the impact of moving targets on the resolution of the measured distance, the Doppler effect and phase shift caused by the moving target will reduce the distance resolution. The distance resolution is:

[0094]

[0095] Where c is the propagation speed of electromagnetic waves and τ is the echo delay. Therefore, in order to reduce the influence of Doppler on moving targets, phase shift must be eliminated. Therefore, in order to eliminate phase shift, phase compensation is performed on the two Gray pulses that have been properly processed by matched filtering, that is, multiplying To eliminate the phase shift, so that after the phase is correctly corrected, the position of the target can be found more accurately.

[0096] Among them, the maximum distance can be expressed as:

[0097]

[0098] Where c is the propagation velocity of electromagnetic waves, and GRT is the Gray pulse repetition time.

[0099] At the same time, the target speed is not precisely known, so the speed compensation will be performed on the assumed speed. Similarly, at different movement speeds, the speed compensation method is consistent with the angle compensation method, and the change of distance resolution at different speeds can be observed. Figure 5 shown.

[0100] Maximum speed:

[0101]

[0102] Therefore, the output of the matched filter is (when the operation result is a dynamic target result, the operation result is):

[0103]

[0104] Where y(τ) is the dynamic target result generated by matched filtering, GRT is the pulse repetition time, and v is the assumed velocity of the target. and are the received signals of the new first Gray pulse and the second Gray pulse.

[0105] Finally, the ambiguity function graph without Gray complementary sequence is compared with the ambiguity function graph with Gray complementary sequence by the above matched filtering method to analyze the range resolution and main lobe and side lobe conditions due to Doppler influence. Figure 6 and Figure 7 shown.

[0106] This concludes the design of a MIMO radar multi-pulse waveform based on a complementary Gray sequence. Computer simulation results demonstrate that by combining cyclically shifted signals with a complementary Gray sequence, this method achieves a waveform with a narrower mainlobe and smaller sidelobes. Compared to traditional MIMO waveforms, this waveform offers a simpler waveform, good coherence between waveforms, and improved range resolution. Simulation results of the signal cross-correlation function also demonstrate the good orthogonality of the designed waveform, meeting the application requirements of multi-pulse waveforms.

[0107] See also Figure 8 The second embodiment of the present invention provides a pulse waveform generating device based on a complementary Golay sequence.

[0108] A linear frequency modulation signal generating unit 201 is used to generate a linear frequency modulation signal;

[0109] a cyclic shift code acquisition unit 202, configured to perform cyclic shift on the frequency modulation signal in multiple transmission channels to obtain a cyclic shift code;

[0110] a Golay complementary sequence generating unit 203, configured to generate a set of Golay complementary sequences, and simultaneously transmit two consecutive pulses, and apply each pulse in the Golay complementary sequence to the cyclic shift code;

[0111] The pulse signal receiving unit 204 receives the pulse signal with a time delay, performs matched filtering on the pulse signal with a time delay to generate an operation result, coherently adds the operation result, removes side lobes and improves the signal-to-interference ratio and signal-to-noise ratio, thereby improving the range resolution of the radar signal.

[0112] Preferably, the linear frequency modulation signal is:

[0113]

[0114] Where A is the amplitude, B is the bandwidth, and τ is the pulse length.

[0115] A third embodiment of the present invention provides a pulse waveform generating device based on a complementary Golay sequence, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement a pulse waveform generating method based on a complementary Golay sequence as described in any one of the above.

[0116] The present invention provides a pulse waveform generation method, apparatus, and device based on a complementary Golay sequence. By combining a cyclically shifted signal with a complementary Golay sequence, a waveform with a narrower mainlobe and smaller sidelobes is designed. Compared with traditional MIMO waveforms, this waveform is simpler, exhibits good coherence between waveforms, and achieves improved range resolution. Simulation results of the signal cross-correlation function also demonstrate that the designed waveform has good orthogonality, meeting the application requirements of multi-pulse waveforms.

[0117] For example, the computer programs described in the third and fourth embodiments of the present invention may be divided into one or more modules, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the device for implementing a pulse waveform generation device based on a complementary Golay sequence. For example, the apparatus described in the second embodiment of the present invention.

[0118] The processor may be a central processing unit (CPU), or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the method for generating a pulse waveform based on a complementary Golay sequence, and utilizes various interfaces and lines to connect the various parts of the method for generating a pulse waveform based on a complementary Golay sequence.

[0119] The memory can be used to store the computer program and / or module, and the processor implements various functions of a pulse waveform generation method based on a complementary Golay sequence by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function (such as a sound playback function, a text conversion function, etc.); the data storage area can store data created based on the use of the mobile phone (such as audio data, text message data, etc.). In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0120] Wherein, if the implemented module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, it can implement the steps of each of the above-mentioned method embodiments. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0121] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art can understand and implement the present invention without inventive effort.

[0122] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A pulse waveform generation method based on complementary Golay sequence, characterized in that ,include: generating a linear frequency modulation signal; cyclically shifting the frequency modulation signal in a plurality of transmission channels to obtain a cyclic shift code; generating a set of Golay complementary sequences, transmitting two consecutive pulses simultaneously, and applying each pulse in the Golay complementary sequence to the cyclic shift code; A pulse signal with a time delay is received, and the results of matched filtering of each pulse with a time delay are added together to generate an operation result.

2. A pulse waveform generation method based on a complementary Golay sequence according to claim 1, characterized in that , the linear frequency modulation signal is: Where A is the amplitude, B is the bandwidth, and τ is the pulse length.

3. A pulse waveform generation method based on a complementary Golay sequence according to claim 1, characterized in that , the waveform of the FM signal circulating in the Nth channel is: s N (t)=a N ·s(t-(N-1)·Δt) Among them, a N is the amplitude of the signal, and Δt is the relative time shift between cyclic signals.

4. A pulse waveform generation method based on a complementary Golay sequence according to claim 1, characterized in that ,The pulse signal with time delay includes the transmitting signal and the receiving signal in the θ direction; Wherein, the transmission signal is expressed as: The received signal is expressed as: Where k0 is the wave number, and are the receiving and transmitting positions of the Nth antenna, respectively. and represent the Nth transmitting and receiving antennas respectively.

5. The method for generating a pulse waveform based on a complementary Golay sequence according to claim 1, characterized in that ,The operation results include static target results and dynamic target results.

6. A pulse waveform generation method based on a complementary Golay sequence according to claim 5, characterized in that , when the operation result is a static target result, the operation result is: Among them, y(τ) is the static target result generated by matched filtering, The first Gray pulse and the second Gray pulse transmit signals, is the corresponding received signal, and τ is the pulse length.

7. A pulse waveform generation method based on a complementary Golay sequence according to claim 5, characterized in that , when the operation result is a dynamic target result, the operation result is: Among them, y(τ) is the dynamic target result generated by matched filtering, GRT is the pulse repetition time, v is the assumed speed of the target, and is the received signal of the new first Gray pulse and the second Gray pulse, τ is the pulse length, λ c is the wavelength of the carrier signal.

8. The method for generating a pulse waveform based on a complementary Golay sequence according to claim 5 is characterized in that , also includes: coherently adding the operation results, removing side lobes and improving the signal-to-interference ratio and signal-to-noise ratio, thereby improving the distance resolution of the radar signal.

9. A pulse waveform generating device based on complementary Golay sequence, characterized in that , A linear frequency modulation signal generating unit, configured to generate a linear frequency modulation signal; a cyclic shift code acquisition unit, configured to perform cyclic shift on the frequency modulation signal in a plurality of transmission channels to obtain a cyclic shift code; a Golay complementary sequence generating unit, configured to generate a set of Golay complementary sequences, simultaneously continuously send two consecutive pulses, and apply each pulse in the Golay complementary sequence to the cyclic shift code; The pulse signal receiving unit receives a pulse signal with a time delay and adds up the results of matched filtering of each pulse with a time delay to generate an operation result.

10. A pulse waveform generating device based on a complementary Golay sequence, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement a pulse waveform generation method based on a complementary Golay sequence according to any one of claims 1 to 8.

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