A radar signal delay transmitting apparatus and method, a calibration system and method

Abstract

The present application relates to radar signal delay sending device and method, scaling system and method, wherein, radar delay sending device includes at least two radar signal receiving branch, control module, delay line module and polarization switch module, each radar signal receiving branch is used to receive the radar signal of one wave band one polarization characteristic;Control module is used to determine the current wave band and current polarization characteristic corresponding to current radar signal, according to current wave band and current polarization characteristic, for delay line module provides wave band switching instruction and delay instruction, and for polarization switch module provides polarization switch trigger instruction;Delay line module is used to according to wave band switching instruction, the wave band of delay line module is switched to current wave band, and according to delay instruction, current radar signal is sent with delay;Polarization switch module is used to according to polarization switch trigger instruction, the polarization characteristic of current wave band polarization switch is switched to current polarization characteristic.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radar signal processing, and in particular to a radar signal delay sending device and method, a calibration system and method. BACKGROUND

[0002] Currently, the measurement radar calibration mode mostly adopts a passive calibration mode, and the measurement radar system is calibrated by a standard sphere RCS true value. However, the passive calibration has the disadvantage of high requirement for the calibration environment, and needs to be tested in a scene with small clutter interference and clean background.

[0003] In order to overcome the above problems, an active calibration mode is also proposed. The active calibration mode can avoid a position with large interference and complex background, and obtain a relatively accurate calibration result. However, the delay sending system in the traditional active calibration mode can only receive and send one kind of polarized radar signal of one wave band, so that the active calibration mode can only measure one kind of polarized radar signal of one wave band at the same time, and cannot realize real-time calibration of the measurement radar equipment with multi-wave band and multi-polarization characteristics.

[0004] Therefore, in view of the above problems, the present application is proposed. SUMMARY

[0005] The technical problem to be solved by the present application is how to realize the reception and delay sending of radar signals with multi-wave band and multi-polarization characteristics, and how to realize the real-time calibration of the measurement radar with multi-wave band and multi-polarization characteristics. In view of the defects in the prior art, the present application provides a radar signal delay sending device and method, and a calibration system and method.

[0006] In order to solve the above technical problems, the present application provides a radar signal delay sending device, which comprises at least two radar signal receiving branches, a control module, a delay line module and a polarization switch module, wherein:

[0007] Each radar signal receiving branch is used for receiving a radar signal with one kind of polarization characteristic of one wave band;

[0008] The control module is used for determining a current wave band and a current polarization characteristic corresponding to a current radar signal received by a current radar signal receiving branch at a current time, providing a wave band switching instruction and a delay instruction for the delay line module according to the current wave band and the current polarization characteristic, and providing a polarization switch triggering instruction for the polarization switch module;

[0009] The delay line module is used for switching the wave band of the delay line module to the current wave band according to the wave band switching instruction, and delaying and sending the current radar signal according to the delay instruction;

[0010] The polarization switch module is configured to switch a polarization characteristic of a current wave band polarization switch to the current polarization characteristic according to the polarization switch trigger instruction after the delay line module completes delay control on the current radar signal, so as to transmit the current radar signal.

[0011] Preferably, each radar signal receiving branch comprises a signal receiving antenna and a receiving module for sequentially receiving radar signals of a corresponding polarization characteristic of a corresponding wave band, wherein the receiving module is connected with the corresponding signal receiving antenna and the control module respectively.

[0012] Preferably, the control module is configured to equivalent a preset transmission distance corresponding to the current radar signal to a delay time period of the current radar signal according to a transmission rate of the current radar signal, and generate the delay instruction based on the delay time period, wherein the delay time period is a time course between a receiving time and a transmitting time of the current radar signal, and is used to simulate a time length required when the transmission distance of the current radar signal reaches the preset transmission distance.

[0013] Preferably, the control module is further configured to determine the receiving time of the current radar signal based on a preset detection threshold.

[0014] Based on the receiving time and the delay time period, a transmitting time of the polarization switch trigger instruction is determined.

[0015] Preferably, the number of the at least two radar signal receiving branches is four, which are a first radar signal receiving branch, a second radar signal receiving branch, a third radar signal receiving branch and a fourth radar signal receiving branch.

[0016] The first radar signal receiving branch is configured to receive radar signals of a first polarization characteristic of a first wave band.

[0017] The second radar signal receiving branch is configured to receive radar signals of a second polarization characteristic of the first wave band.

[0018] The third radar signal receiving branch is configured to receive radar signals of the first polarization characteristic of a second wave band.

[0019] The fourth radar signal receiving branch is configured to receive radar signals of the second polarization characteristic of the second wave band.

[0020] Preferably, the first polarization characteristic is a vertical polarization characteristic, and the second polarization characteristic is a horizontal polarization characteristic.

[0021] Preferably, the polarization switch module comprises a first wave band polarization switch and a second wave band polarization switch.

[0022] The application further provides a radar signal calibration system, comprising the radar signal delay transmitting device, a measuring radar and a radar signal calibration module.

[0023] The measuring radar is configured to transmit a radar signal to the radar signal delay transmitting device, wherein the radar signals transmitted by the measuring radar at adjacent two transmission times are different in corresponding wave bands and / or polarization characteristics.

[0024] The radar signal delay transmitting device is configured to receive the radar signal and delay and forward the radar signal to the measuring radar.

[0025] The radar signal calibration module is configured to determine an actual energy of the echo signal after detecting that the measuring radar receives the echo signal, compare the actual energy with a preset theoretical energy, determine a difference between the actual energy and the theoretical energy, and complete radar signal calibration, wherein the echo signal is the radar signal after delay and forwarding.

[0026] The application further provides a radar signal delay transmitting method, which is executed by the radar signal delay transmitting device and comprises the following steps.

[0027] The control module determines a current wave band and a current polarization characteristic corresponding to a current radar signal received by a current radar signal receiving branch at a current time, provides a wave band switching instruction and a delay instruction for the delay line module and a polarization switch triggering instruction for the polarization switch module according to the current wave band and the current polarization characteristic.

[0028] The delay line module switches a wave band of the delay line module to the current wave band according to the wave band switching instruction and delays and transmits the current radar signal according to the delay instruction.

[0029] The polarization switch module switches a polarization characteristic of a current wave band polarization switch to the current polarization characteristic according to the polarization switch triggering instruction after the delay line module completes delay control on the current radar signal, so as to transmit the current radar signal.

[0030] The application further provides a radar signal calibration method, which is executed by the radar signal calibration system and comprises the following steps.

[0031] The measuring radar transmits a radar signal to the radar signal delay transmitting device, wherein the radar signals transmitted by the measuring radar at adjacent two transmission times are different in corresponding wave bands and / or polarization characteristics.

[0032] The radar signal delay transmitting device is configured to receive the radar signal and delay and forward the radar signal to the measuring radar.

[0033] The radar signal calibration module determines the actual energy of the echo signal after detecting that the measuring radar receives the echo signal, compares the actual energy with preset theoretical energy, determines the difference between the actual energy and the theoretical energy, and completes radar signal calibration, wherein the echo signal is the radar signal after time delay forwarding.

[0034] The radar signal time delay sending device and method, calibration system and method have the following beneficial effects:

[0035] By arranging at least two radar signal receiving branches, the receiving of radar signals with multiple wave bands and multiple polarization characteristics can be realized; by arranging time delay lines and controlling the time delay and wave band switching of the time delay lines and arranging polarization switches, radar signals with multiple wave bands and multiple polarization characteristics can be time delayed and sent. The radar signal time delay sending device is used in a radar signal calibration system, and real-time calibration of measuring radars with multiple wave bands and multiple polarization characteristics can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a structure schematic diagram of a radar signal time delay sending device provided by an embodiment of the present application;

[0037] Figure 2 is a structure schematic diagram of another radar signal time delay sending device provided by an embodiment of the present application;

[0038] Figure 3 is a structure schematic diagram of a radar signal calibration system provided by an embodiment of the present application;

[0039] Figure 4 is a flow schematic diagram of a radar signal time delay sending method provided by an embodiment of the present application;

[0040] Figure 5 is a flow schematic diagram of a radar signal calibration method provided by an embodiment of the present application.

[0041] In the drawings: 1: radar signal receiving branch; 2: control module; 3: time delay line module; 4: polarization switch module; 11: signal receiving antenna; 12: receiving module; 111: first wave band V polarization characteristic signal receiving antenna; 112: first wave band H polarization characteristic signal receiving antenna; 113: second wave band V polarization characteristic signal receiving antenna; 114: second wave band H polarization characteristic signal receiving antenna; 121: first wave band V polarization characteristic receiving module; 122: first wave band H polarization characteristic receiving module; 123: second wave band V polarization characteristic receiving module; 124: second wave band H polarization characteristic receiving module; 31: radar signal time delay sending device; 32: measuring radar; 33: radar signal calibration module; 41: first wave band polarization switch; 42: second wave band polarization switch. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Example 1

[0044] like Figure 1 and Figure 2 As shown, the radar signal delay transmission device provided in this embodiment of the invention includes at least two radar signal receiving branches 1, a control module 2, a delay line module 3, and a polarization switch module 4, wherein:

[0045] Each radar signal receiving branch 1 is used to receive radar signals with a certain polarization characteristic in one band.

[0046] In this embodiment, the radar signals received by each radar signal receiving branch 1 correspond to different bands and / or polarization characteristics. Preferably, the radar signal is emitted by a measurement radar. At one emission moment, the measurement radar emits a radar signal with one polarization characteristic in one band, which is received by one radar signal receiving branch. At the next emission moment, the measurement radar may emit a radar signal with another polarization characteristic in another band, which is received by another radar signal receiving branch. That is, at the same emission moment, only one radar signal receiving branch receives the radar signal.

[0047] The number of radar signal receiving branches 1 is preferably matched with the operating band and polarization characteristics of the measuring radar. For example, if the measuring radar is a dual-band single-polarization measuring radar, then there are two radar signal receiving branches: a single-polarization radar signal receiving branch for band A and a single-polarization radar signal receiving branch for band B. If the measuring radar is a single-band dual-polarization measuring radar, then there are two radar signal receiving branches: a single-band a-polarization radar signal receiving branch and a single-band b-polarization radar signal receiving branch. If the measuring radar is a dual-band dual-polarization measuring radar, then there are four radar signal receiving branches: a single-band a-polarization radar signal receiving branch, a single-band b-polarization radar signal receiving branch, a single-band a-polarization radar signal receiving branch, and a single-band b-polarization radar signal receiving branch.

[0048] The control module 2 is configured to determine a current wave band and a current polarization characteristic corresponding to a current radar signal received by the current radar signal receiving branch at a current time, and provide a wave band switching instruction and a delay instruction for the delay line module 3 and a polarization switch triggering instruction for the polarization switch module 4 according to the current wave band and the current polarization characteristic.

[0049] In the embodiment, the control module 2 can detect the wave band and the polarization characteristic of the received radar signal in real time, and generate corresponding control instructions according to the wave band and the polarization characteristic. Optionally, the control module 2 can determine whether the current radar signal is received and the current time when the current radar signal is received by means of detection. Optionally, the current wave band and the current polarization characteristic of the current radar signal can also be determined by the wave band and the polarization characteristic corresponding to the current radar signal receiving branch.

[0050] The wave band switching instruction is configured to switch the working wave band of the delay line module 3 to the current wave band. The delay instruction is configured to control the delay time of the delay line module 3 for delaying the current radar signal. The polarization switch triggering instruction is configured to control the working polarization characteristic of the corresponding polarization switch in the polarization switch module 4 to be switched to the current polarization characteristic. It can be understood that the polarization switch triggering instruction is preferably sent at the end of the delay of the current radar signal. It should be noted that the delay time corresponding to the delay instruction in the embodiment is less than the time interval between the emission times corresponding to the adjacent two radar signals, that is, the current radar signal has been sent after the delay before the next radar signal arrives.

[0051] The delay line module 3 is configured to switch the wave band of the delay line module 3 to the current wave band according to the wave band switching instruction, and send the current radar signal after the delay according to the delay instruction.

[0052] Preferably, the delay line module 3 can be an optical fiber delay line. In the embodiment, the wave band of the delay line module 3 is switched to the current wave band, so that the delay line module 3 can transmit the current radar signal. The time of the wave band switching is in the order of microseconds, and real-time switching can be realized. The output signal of the delay line module 3 is invalid within the delay time period corresponding to the delay instruction.

[0053] The polarization switch module 4 is configured to switch the polarization characteristic of the current wave band polarization switch to the current polarization characteristic according to the polarization switch triggering instruction after the delay line module 3 completes the delay control on the current radar signal, so as to send the current radar signal.

[0054] Preferably, the polarization switch module 4 can include at least one waveband polarization switch, and the number of waveband polarization switches is preferably the same as the number of wavebands corresponding to the at least two radar signal receiving branches 1. For example, when the number of wavebands corresponding to the at least two radar signal receiving branches 1 is one, the number of waveband polarization switches is one, which is a waveband A polarization switch; for another example, when the number of wavebands corresponding to the at least two radar signal receiving branches 1 is two, the number of waveband polarization switches is two, which are a waveband A polarization switch and a waveband B polarization switch. Each waveband polarization switch can switch its polarization characteristics to the required polarization characteristics according to the polarization switch trigger instruction.

[0055] In the embodiment, the delay line module 3 completes the delay control on the current radar signal at the delay end time, and the signal at the output end of the delay line module 3 is valid at this time. The control module 2 starts the timer to time from the current time, and sends a polarization switch trigger instruction to the polarization switch module 4 when the delay end time is reached. The polarization switch module 4 receives the polarization switch trigger instruction, and switches the polarization characteristics of the current waveband polarization switch to the current polarization characteristics according to the polarization switch trigger instruction, so as to transmit the current radar signal.

[0056] The radar signal delay transmitting device provided in the embodiment can realize the reception of radar signals with multiple wavebands and multiple polarization characteristics by arranging at least two radar signal receiving branches. The radar signal delay transmitting device can delay and transmit radar signals with multiple wavebands and multiple polarization characteristics by arranging a delay line, performing delay control and waveband switching on the delay line, and arranging a polarization switch.

[0057] In some preferred embodiments, each radar signal receiving branch 1 includes a signal receiving antenna 11 and a receiving module 12 for sequentially receiving radar signals with corresponding polarization characteristics in corresponding wavebands, and the receiving module 12 is connected with the corresponding signal receiving antenna 11 and the control module 2. Figure 1 The wavebands and / or polarization characteristics corresponding to each signal receiving antenna 11 are different.

[0058] In some preferred embodiments, the control module 2 is configured to convert a preset transmission distance corresponding to the current radar signal into a delay time period of the current radar signal according to a transmission rate of the current radar signal, and generate a delay instruction based on the delay time period, wherein the delay time period is a time course between a receiving time and a transmitting time of the current radar signal, and is used to simulate a time length required when the transmission distance of the current radar signal reaches the preset transmission distance.

[0059] In the embodiment, the time unit of the delay time period is microsecond.

[0060] In some preferred embodiments, the control module 2 is further configured to determine the receiving time of the current radar signal based on a preset detection threshold.

[0061] Based on the receiving time and the time delay period, a sending time of the polarization switch triggering instruction is determined.

[0062] Specifically, the radar signal transmitted by the radar is in the form of a pulse, and preferably, the detection signal can be a periodic square wave signal. By setting a preset detection threshold of the detection signal, the receiving time of the radar signal can be monitored. For example, if the signal strength of the radar signal is 9000 dbm, the preset detection threshold can be set to 8500 dbm.

[0063] In some preferred embodiments, the number of at least two radar signal receiving branches 1 is four, and the four radar signal receiving branches are respectively a first radar signal receiving branch, a second radar signal receiving branch, a third radar signal receiving branch, and a fourth radar signal receiving branch. The first radar signal receiving branch is used to receive a radar signal of a first polarization characteristic in a first wave band; the second radar signal receiving branch is used to receive a radar signal of a second polarization characteristic in the first wave band; the third radar signal receiving branch is used to receive a radar signal of a first polarization characteristic in a second wave band; and the fourth radar signal receiving branch is used to receive a radar signal of a second polarization characteristic in the second wave band. In this embodiment, four radar signal receiving branches can receive radar signals of double wave band and double polarization characteristics, and the same radar signal time delay sending device can be used to perform time delay sending processing on radar signals of double wave band and double polarization characteristics.

[0064] Further, the first polarization characteristic is a vertical polarization characteristic, and the second polarization characteristic is a horizontal polarization characteristic. The vertical polarization characteristic is also referred to as a V polarization characteristic, and the horizontal polarization characteristic is also referred to as an H polarization characteristic. For example, the first radar signal receiving branch is used to receive a radar signal of a V polarization characteristic in a first wave band, and the first radar signal receiving branch can include a first wave band V polarization characteristic signal receiving antenna 111 and a first wave band V polarization characteristic receiving module 121. The second radar signal receiving branch is used to receive a radar signal of an H polarization characteristic in the first wave band, and the second radar signal receiving branch can include a first wave band H polarization characteristic signal receiving antenna 112 and a first wave band H polarization characteristic receiving module 122. The third radar signal receiving branch is used to receive a radar signal of a V polarization characteristic in a second wave band, and the third radar signal receiving branch can include a second wave band V polarization characteristic signal receiving antenna 113 and a second wave band V polarization characteristic receiving module 123. The fourth radar signal receiving branch is used to receive a radar signal of an H polarization characteristic in the second wave band, and the fourth radar signal receiving branch can include a second wave band H polarization characteristic signal receiving antenna 114 and a second wave band H polarization characteristic receiving module 124.

[0065] Further, the polarization switch module 4 includes a first waveband polarization switch 41 and a second waveband polarization switch 42. Two waveband polarization switches are arranged in this embodiment, and the same radar signal delay sending device can be used to send and process dual-waveband radar signals.

[0066] Embodiment Two

[0067] As shown in Figure 3 The radar signal delay sending device 31, the measurement radar 32, and the radar signal calibration module 33 are used in the radar signal calibration system provided by the embodiment of the present application, wherein:

[0068] The measurement radar 32 is configured to send a radar signal to the radar signal delay sending device 31, and the measurement radar 32 sends radar signals with different wavebands and / or polarization characteristics at adjacent two transmission time points.

[0069] The radar signal delay sending device 31 is configured to receive the radar signal and delay and forward the radar signal to the measurement radar 32.

[0070] The radar signal calibration module 33 is configured to determine an actual energy of the echo signal after detecting that the measurement radar 32 receives the echo signal, compare the actual energy with a preset theoretical energy, determine a difference between the actual energy and the theoretical energy, and complete the radar signal calibration, wherein the echo signal is the radar signal after the delay and forwarding.

[0071] In this embodiment, the radar signal calibration module 33 can determine the difference between the actual energy and the theoretical energy by calculating a mean square error between the actual energy and the preset theoretical energy, and complete the radar signal calibration.

[0072] The radar signal calibration system provided by this embodiment can realize real-time calibration of the measurement radar with multiple wavebands and multiple polarization characteristics by using the radar signal delay sending device in the radar signal calibration system.

[0073] Embodiment Three

[0074] As shown in Figure 4 The radar signal delay sending method provided by the embodiment of the present application is preferably executed by the radar signal delay sending device of Embodiment One, and the method includes the following steps:

[0075] S410, a current radar signal receiving branch receives a current radar signal with a current polarization characteristic in a current waveband.

[0076] S420, the control module determines the current wave band and the current polarization characteristic corresponding to the current radar signal received by the current radar signal receiving branch at the current time, and provides a wave band switching instruction and a delay instruction for the delay line module according to the current wave band and the current polarization characteristic, and provides a polarization switch trigger instruction for the polarization switch module.

[0077] S430, the delay line module switches the wave band of the delay line module to the current wave band according to the wave band switching instruction, and delays and transmits the current radar signal according to the delay instruction.

[0078] S440, after the delay line module completes the delay control on the current radar signal, the polarization switch module switches the polarization characteristic of the current wave band polarization switch to the current polarization characteristic according to the polarization switch trigger instruction, so as to transmit the current radar signal.

[0079] The radar signal delay transmitting method provided by the embodiment can realize the reception of radar signals with multiple wave bands and multiple polarization characteristics through at least two radar signal receiving branches of the radar signal delay transmitting device.

[0080] On the basis of the above-mentioned embodiments, further, each signal receiving antenna receives radar signals with corresponding wave bands and corresponding polarization characteristics, and transmits the received radar signals with corresponding wave bands and corresponding polarization characteristics to the corresponding receiving module; each receiving module receives the radar signals with corresponding wave bands and corresponding polarization characteristics transmitted by the corresponding signal receiving antenna.

[0081] On the basis of the above-mentioned embodiments, further, the control module equivalent the preset transmission distance corresponding to the current radar signal to the delay time period of the current radar signal according to the transmission rate of the current radar signal, and generates the delay instruction based on the delay time period, wherein the delay time period is the time course between the receiving time and the transmitting time of the current radar signal, and is used to simulate the time length required when the transmission distance of the current radar signal reaches the preset transmission distance.

[0082] On the basis of the above-mentioned embodiments, further, the control module determines the receiving time of the current radar signal based on the preset detection threshold, and determines the transmitting time of the polarization switch trigger instruction based on the receiving time and the delay time period.

[0083] The radar signal delay transmitting method provided by the embodiment can be executed by the radar signal delay transmitting device provided by the device embodiment of the application, and the execution steps and beneficial effects are not repeated here.

[0084] Embodiment Four

[0085] As shown in the radar signal scaling method provided by the embodiment of the application, the method is preferably executed by the radar signal scaling system of embodiment two, and the method comprises the following steps: Figure 5

[0086] S510, the measurement radar transmits a radar signal to the radar signal delay sending device, wherein the radar signals transmitted by the measurement radar at adjacent two transmission time points have different wave bands and / or polarization characteristics;

[0087] S520, the radar signal delay sending device is configured to receive the radar signal and delay forwarding the radar signal to the measurement radar;

[0088] S530, the radar signal scaling module determines the actual energy of the echo signal after detecting that the measurement radar receives the echo signal, compares the actual energy with the preset theoretical energy, determines the difference between the actual energy and the theoretical energy, and completes the scaling of the radar signal, wherein the echo signal is the radar signal after the delay forwarding.

[0089] The radar signal scaling method provided by the embodiment can realize the real-time scaling of the measurement radar with multiple wave bands and multiple polarization characteristics, by means of the radar signal delay sending device provided in the radar signal scaling system to delay sending the radar signals with multiple wave bands and multiple polarization characteristics, and by means of the radar signal scaling module to determine the difference between the actual energy and the theoretical energy of the radar signal echo.

[0090] The radar signal scaling method provided by the embodiment of the application can be executed by the radar signal scaling device provided by the device embodiment of the application, and the execution steps and beneficial effects are not repeated here.

[0091] In summary, the radar signal delay sending device and method, the radar signal scaling system and method provided by the application can realize the reception of the radar signals with multiple wave bands and multiple polarization characteristics by means of the at least two radar signal receiving branches, can delay send the radar signals with multiple wave bands and multiple polarization characteristics by means of the delay line, the delay control and wave band switching of the delay line, and the polarization switch, and can realize the real-time scaling of the measurement radar with multiple wave bands and multiple polarization characteristics by means of the radar signal delay sending device used in the radar signal scaling system.

[0092] ​It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A radar signal delay transmission device, characterized in that, It includes at least two radar signal receiving branches, a control module, a delay line module, and a polarization switch module, wherein: Each radar signal receiving branch is used to receive radar signals with a certain polarization characteristic in one band; The control module is used to determine the current band and current polarization characteristics of the current radar signal received by the current radar signal receiving branch at the current moment, and to provide band switching instructions and delay instructions to the delay line module and polarization switch trigger instructions to the polarization switch module based on the current band and current polarization characteristics. The delay line module is used to switch the band where the delay line module is located to the current band according to the band switching command, and to delay the transmission of the current radar signal according to the delay command. The polarization switch module is used to switch the polarization characteristics of the current band polarization switch to the current polarization characteristics according to the polarization switch trigger command after the delay line module completes the delay control of the current radar signal, so as to transmit the current radar signal. Each radar signal receiving branch includes a signal receiving antenna and a receiving module for sequentially receiving radar signals with corresponding polarization characteristics in the corresponding band, wherein the receiving module is connected to the corresponding signal receiving antenna and the control module respectively. The control module is used to convert the preset transmission distance corresponding to the current radar signal into a delay time period of the current radar signal according to the transmission rate of the current radar signal, and generate the delay command based on the delay time period. The delay time period is the time history of the current radar signal from the receiving time to the transmitting time, which is used to simulate the time required for the transmission distance of the current radar signal to reach the preset transmission distance. The control module is also used to determine the reception time of the current radar signal based on a preset detection threshold; Based on the receiving time and the delay period, the sending time of the polarization switch trigger command is determined.

2. The radar signal delay transmission device according to claim 1, characterized in that, The number of the at least two radar signal receiving branches is four, namely a first radar signal receiving branch, a second radar signal receiving branch, a third radar signal receiving branch, and a fourth radar signal receiving branch, wherein: The first radar signal receiving branch is used to receive radar signals with the first polarization characteristics in the first band; The second radar signal receiving branch is used to receive radar signals with the second polarization characteristics of the first band; The third radar signal receiving branch is used to receive radar signals with the first polarization characteristics in the second band. The fourth radar signal receiving branch is used to receive radar signals with the second polarization characteristics of the second band.

3. The radar signal delay transmission device according to claim 2, characterized in that, The first polarization characteristic is a vertical polarization characteristic, and the second polarization characteristic is a horizontal polarization characteristic.

4. The radar signal delay transmission device according to claim 2, characterized in that, The polarization switch module includes a first-band polarization switch and a second-band polarization switch.

5. A radar signal calibration system, characterized in that, Includes the radar signal delay transmission device, measuring radar, and radar signal calibration module as described in any one of claims 1-4, wherein: The measuring radar is used to transmit radar signals to the radar signal delay transmission device, wherein the radar signals transmitted by the measuring radar at two adjacent transmission times correspond to different wavebands and / or polarization characteristics. The radar signal delay transmission device is used to receive radar signals and forward the radar signals to the measuring radar after a delay; The radar signal calibration module is used to determine the actual energy of the echo signal after detecting that the measuring radar has received an echo signal, and compare the actual energy with the preset theoretical energy to determine the difference between the actual energy and the theoretical energy, thereby completing the radar signal calibration. The echo signal is the radar signal after a delay.

6. A method for delayed transmission of radar signals, characterized in that, Performed by the radar signal delay transmission device according to any one of claims 1-4, comprising: The current radar signal receiving branch receives the current radar signal with the current polarization characteristics of the current band; The control module determines the current band and polarization characteristics of the current radar signal received by the current radar signal receiving branch at the current moment. Based on the current band and polarization characteristics, it provides band switching instructions and delay instructions to the delay line module, and provides polarization switch trigger instructions to the polarization switch module. The delay line module switches the band it is in to the current band according to the band switching command, and delays the transmission of the current radar signal according to the delay command. After the delay line module completes the delay control of the current radar signal, the polarization switch module switches the polarization characteristics of the current band polarization switch to the current polarization characteristics according to the polarization switch trigger command, so as to transmit the current radar signal.

7. A radar signal calibration method, characterized in that, Performed by the radar signal calibration system of claim 5, comprising: The measuring radar sends radar signals to the radar signal delay transmission device, wherein the radar signals transmitted by the measuring radar at two adjacent transmission times correspond to different wavebands and / or polarization characteristics. The radar signal delay transmission device is used to receive radar signals and forward the radar signals to the measuring radar after a delay; After detecting that the measurement radar has received an echo signal, the radar signal calibration module determines the actual energy of the echo signal and compares the actual energy with the preset theoretical energy to determine the difference between the actual energy and the theoretical energy, thus completing the radar signal calibration. The echo signal is the radar signal after a delay.

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