Inherent time delay compensation method and system

Abstract

The invention provides an inherent time delay compensation method and system, and belongs to the cross technical field of wireless communication and sensing systems.The method comprises the steps that a baseband sensing signal is obtained, parameters of the baseband sensing signal are analyzed, and the signal type of the baseband sensing signal is determined; in response to determining that the signal type is a periodic signal, performing inherent time delay compensation on the baseband sensing signal by adopting a phase compensation method; and in response to determining that the signal type is a non-periodic signal, performing inherent time delay compensation on the baseband sensing signal by adopting a target echo construction method. According to the method, a hardware structure does not need to be changed, and the method is suitable for all short-distance target simulation scenes of periodic sensing waveforms.

Description

Technical Field

[0001] The present application belongs to the interdisciplinary technical field of wireless communications and sensing systems, and specifically relates to an inherent delay compensation method and system. Background Art

[0002] The core of radar technology is that it can accurately detect the distance, speed, direction and other information of the target object by emitting electromagnetic waves and receiving their reflected waves. Synaesthesia integration refers to the technology that integrates multiple functions such as communication, perception, and navigation. Under the framework of synaesthesia integration, radar technology is combined with other electronic technologies such as wireless communication to form a multifunctional and efficient electronic system, which is applied to various application scenarios of 5G and future 6G, such as low-altitude economy and smart car networking. This integration not only improves the resource utilization of the system, but also enhances the system's environmental adaptability and information processing capabilities.

[0003] However, due to the hardware characteristics of the perception target simulator, most of its internal circuits are in the form of digital circuits. The input and output of the perception signal need to go through analog-to-digital conversion and digital-to-analog conversion. Digital sampling and processing consumes a lot of time, which can reach hundreds of nanoseconds or even microseconds. Although the solution using optical fiber delay lines can achieve a small processing delay, there are huge limitations on step accuracy, number of targets, and upper limit of test distance, and it cannot become mainstream.

[0004] The large processing delay of the digital target perception simulator increases the minimum simulation perception distance, which severely limits the minimum distance simulation capability of the target perception simulator. For the testing of military radars and civil aviation radars, they often focus more on long-distance detection effects, so the impact is not significant. However, for future inter-sensory integrated base stations and vehicle-mounted radars, the target perception distance is concentrated within 1 km, so this limitation is very serious and needs to be addressed urgently. Summary of the invention

[0005] In response to the above technical problems, the present application proposes a method and system for compensating for inherent delay.

[0006] In a first aspect, the present application proposes an inherent delay compensation method, comprising: Acquire baseband sensing signals; Analyze the parameters of the baseband sensing signal to determine the signal type of the baseband sensing signal; In response to determining that the signal type is a periodic signal, using a phase compensation method to compensate for the inherent delay of the baseband sensing signal; In response to determining that the signal type is a non-periodic signal, a target echo construction method is used to compensate for the inherent delay of the baseband perception signal.

[0007] The obtaining of the baseband sensing signal comprises: receiving simulated sensory signals; Performing analog-to-digital conversion on the simulated perception signal to obtain a baseband perception signal; The baseband sensing signal is orthogonally sampled to obtain orthogonal sampling data.

[0008] The parsing of the parameters of the baseband sensing signal to determine the signal type of the baseband sensing signal includes: Perform waveform analysis on the orthogonal sampling data to obtain parameters of the baseband sensing signal; A signal type of the baseband sensing signal is determined according to a parameter of the baseband sensing signal.

[0009] The parameters of the baseband sensing signal include: period, bandwidth, amplitude or duty cycle.

[0010] The phase compensation method comprises: Acquire an actual echo of the sensing target simulator for the baseband sensing signal; The phase compensation amount is calculated based on the initial phase difference between the theoretical echo and the actual echo and the fixed Doppler frequency difference; The baseband sensing signal is adjusted according to the phase compensation amount to obtain a compensated echo signal.

[0011] The initial phase difference between the theoretical echo and the actual echo of the baseband perception signal includes the initial phase difference in the up-conversion stage and the initial phase difference in the down-conversion stage. The initial phase difference in the up-conversion stage is calculated based on the theoretically received echo, the actual echo, the inherent delay and the target set delay under the condition of zero inherent delay; the initial phase difference in the down-conversion stage is calculated based on the theoretically received echo, the actual echo, the period of the baseband perception signal and the target set delay under the condition of zero inherent delay.

[0012] The fixed Doppler frequency difference between the theoretical echo and the actual echo of the baseband perception signal includes a fixed Doppler frequency difference in the up-conversion stage and a fixed Doppler frequency difference in the down-conversion stage. The fixed Doppler frequency difference in the up-conversion stage is obtained by multiplying the inherent time delay with the frequency modulation slope of the periodic signal; the fixed Doppler frequency difference in the down-conversion stage is obtained by calculating the difference between the inherent time delay and the period of the baseband perception signal, and multiplying the difference with the frequency modulation slope of the periodic signal.

[0013] The target echo construction method includes: a first strategy or a second strategy; The first strategy includes: Adjust all devices to run under the same synchronized clock; Saving baseband sensing signals within a preset time period; According to the saved baseband sensing signal, the inherent delay, Doppler frequency deviation and radar cross-sectional area of ​​the target echo are constructed; The constructed target echo is sent to the receiver of the sensing device.

[0014] The second strategy includes: Adjust all devices to run under the same synchronized clock; The waveform format of the target echo and the target construction algorithm are defined in the user-defined signal editing function interface of the communication test instrument; The defined target echo is sent to the receiver of the sensing device.

[0015] In a second aspect, the present application proposes an inherent delay compensation system for implementing the method described in the first aspect, including: An acquisition module, used for acquiring a baseband sensing signal; A determination module, used to parse the parameters of the baseband perception signal and determine the signal type of the baseband perception signal according to the parsing result; Generate a model to compensate for the inherent delay of baseband sensing signals.

[0016] The third aspect: The present application also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect of the present application.

[0017] Fourth aspect: The present application also proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect of the present application when executing the computer program. This application proposes a method and system for compensating for inherent delay, which adopts a phase compensation method or a target echo construction method to realize the compensation of the inherent delay of the sensing target simulation device under the prevailing digital link and logic structure, thereby broadening the signal simulation range of the sensing instrument. The method of this application does not require changing the hardware structure and is applicable to all short-range target simulation scenarios of periodic sensing waveforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A flow chart of an inherent delay compensation method according to an embodiment of the present application; Figure 2 Schematic diagram of the perception target simulator test in an embodiment of the present application; Figure 3 Typical periodic sensing waveforms of the embodiments of the present application, (1) FSK waveform, (2) FMCW waveform, (3) MFSK waveform, (4) LFM waveform; Figure 4 The test system structure of the embodiment of the present application; Figure 5Schematic diagram of the inherent delay compensation of the FMCW waveform in an embodiment of the present application; Figure 6 Schematic diagram of inherent delay compensation in an embodiment of the present application; Figure 7 The inherent delay compensation simulation time domain waveform of the embodiment of the present application; Figure 8 The inherent delay compensation test system structure of the embodiment of the present application; Fig. 9 The two-cycle time domain waveform of the inherent delay compensation test in the embodiment of the present application; Fig.10 Schematic diagram of LFM pulse inherent delay compensation in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The specific implementation of the present application is further described in detail below in conjunction with the drawings and examples.

[0020] During the production, testing, and development of communication sensing equipment products, the performance evaluation is carried out throughout. Perception target simulation equipment such as radar target simulators, as core equipment for perception performance evaluation, can simulate targets of specific quantity, distance, angle, speed, and radar cross section (RCS) in the laboratory, and thus accurately evaluate the target perception accuracy and perception capability of the test object. The structure of the test system is generally as follows: Figure 2 As shown, the synaesthesia base station or radar is placed in a dark room and connected to the perception target simulator by air interface or conduction. Its perception waves are processed by the target simulator and given specific target number, distance, speed, and RCS information. If multiple perception target simulators are used in conjunction with arc slides and antenna probes, the angle information of the target can also be simulated, thereby realizing the perception capability evaluation in the laboratory.

[0021] This application is based on the demand for close-range perception target simulation testing introduced in the field of synaesthesia fusion, and focuses on solving the pain point that the traditional test scheme has a large inherent delay in the perception target simulator, which cannot meet the requirements of close-range perception target simulation. A delay compensation method for perception target simulation equipment is proposed. According to different radar perception waveforms and analysis principles, a blind signal detection is first performed to obtain relevant information such as its sequence bandwidth and period, and then two strategies, phase compensation or target echo signal construction, are adopted. Under the prevailing digital link and logical structure, the compensation for the inherent delay of the perception target simulation equipment is realized, thereby broadening the signal simulation range of the perception instrument.

[0022] Embodiment 1: This embodiment proposes a method for compensating for inherent delay of a surface, such as Figure 1 As shown, including: Step S1: obtaining a baseband sensing signal, specifically comprising: Step S1.1: receiving a simulated sensory signal; Step S1.2: performing analog-to-digital conversion on the simulated perception signal to obtain a baseband perception signal.

[0023] In this embodiment, first, an instrument is used to receive the perception signal, perform digital-to-analog conversion, and obtain the baseband perception signal. Specifically, the perception signal reaches the digital baseband through an analog-to-digital converter (ADC), and the digital baseband signal is subjected to I / Q quadrature sampling (In-phase / Quadrature Sampling) to obtain I / Q data, and its time-amplitude distribution diagram, frequency-amplitude distribution diagram, and time-frequency distribution diagram are drawn according to the I / Q data.

[0024] Step S2: parsing the parameters of the baseband sensing signal to determine the signal type of the baseband sensing signal; In this embodiment, the I / Q data is uploaded to the host computer for waveform analysis, mainly analyzing its period, bandwidth, amplitude, duty cycle and other information, and storing one to two cycles of the signal in the device DDR (Double Data Rate) and other caches.

[0025] Step S3: In response to determining that the signal type is a periodic signal, using a phase compensation method to perform inherent delay compensation on the baseband sensing signal; In this embodiment, different delay compensation strategies are selected according to the signal type. For periodic signals that are simultaneously widened in the time and frequency domains and have one-to-one correspondence, such as FSK (Frequency-Shift Keying), MFSK (Multi-Frequency ShiftKeying), FMCW (Frequency Modulated Continuous Wave), LFM (Linear Frequency Modulation) pulses, etc., as shown in Figure 3, phase difference compensation is used to perform delay compensation.

[0026] For periodic signals, taking FMCW waveform as an example, a channel simulator or other device with amplitude, phase and delay adjustment functions is usually used as a typical sensing target simulation device. Its phase compensation processing method is as follows: Figure 4 As shown: First of all, it is necessary to clarify the effect and goal of compensation, that is, under the premise of ensuring the set perception delay, follow the physical laws of signal arrival and compensate the target echo to be consistent with the theoretical echo as much as possible.

[0027] In this scenario, there are two time parameters to consider. One is the inherent delay of the instrument. , which is also the part that needs to be compensated; the other is the target setting delay that needs to be simulated , this is the effect that needs to be perceived and simulated, and should be presented as it is. Figure 5 As shown by Figure 5 It can be seen that the theoretical echo should be offset backwards compared to the incoming wave. time, and due to the inherent time delay of the instrument, the actual echo is shifted backwards Therefore, we need to construct the compensated target signal (the bottom curve) based on the actual echo, so that the compensated signal is consistent with the waveform of the theoretical echo. It is worth noting that ~ The time period cannot be compensated because at this time, due to the inherent time delay, no signal reaches the receiver at the physical propagation level, so the signal in this section is zero.

[0028] Phase compensation is performed on the basis of the actual echo, so that it can achieve the effect of the theoretical echo in the time-frequency domain. Therefore, it is necessary to use the theoretical echo and the actual echo to calculate the initial phase difference and the constant Doppler phase difference. The principle is as follows Figure 6 As shown, let the time width (period) of the FMCW waveform be T, the bandwidth be BW, and the slope be It can be seen that in one cycle, the compensation of the actual echo compared to the theoretical echo can be divided into two parts, the first part needs to be frequency-increased, and the second part needs to be frequency-reduced. The frequency difference in each part is fixed, and the sum of the absolute values ​​of the frequency differences of the two parts is equal to the bandwidth BW. The compensation formula can be written as:

[0029] in, is the echo signal after compensation, To perceive the signal actually received by the target simulator or channel simulator, is the initial phase difference, The fixed Doppler frequency difference increases steadily over time. In this embodiment, the actual echo of the sensing target simulator or the channel simulator for the baseband sensing signal is obtained; the phase compensation amount is calculated according to the initial phase difference between the theoretical echo and the actual echo and the fixed Doppler frequency difference; the baseband sensing signal is adjusted according to the phase compensation amount to obtain a compensated echo signal.

[0030] and The calculation is as follows:

[0031]

[0032]

[0033]

[0034] in, is the theoretically received echo under the ideal zero intrinsic delay condition. In this embodiment, the initial phase difference includes the initial phase difference in the frequency upscaling stage. The difference from the initial phase of the frequency reduction stage , the initial phase difference in the frequency upscaling stage , according to the theoretical received echo under zero intrinsic delay , Actual echo , inherent delay and target setting delay Calculated; the initial phase difference of the frequency reduction stage is calculated based on the theoretically received echo under zero inherent delay , Actual echo , the period of baseband sensing signal T and target setting delay Calculated. Fixed Doppler frequency difference, including fixed Doppler frequency difference in the upconversion stage And the fixed Doppler frequency difference in the frequency reduction stage , fixed Doppler frequency difference in the upconversion phase , according to the inherent delay Multiply it with the frequency modulation slope K of the periodic signal to get; the fixed Doppler frequency difference in the frequency reduction stage , calculate the inherent delay The difference between the period T of the baseband perception signal and the period T of the periodic signal is obtained by multiplying the difference by the frequency modulation slope K of the periodic signal.

[0035] Since this type of perception waveform is a periodic extension, the general formula of the compensation formula is:

[0036]

[0037] Where n≥0. Set the center frequency of the FMCW wave = 2GHz, bandwidth BW = 50MHz, time width T = 25us, set the target delay τ = 2us. At the same time, the vector network analyzer is used to measure the inherent delay τ0 = 3.22us of the sensing device (channel simulator) involved in the test. The simulation results are as follows Figure 7 As shown in the figure, it can be seen from the simulation results that the compensated target signal is consistent with the theoretical echo waveform, which effectively compensates for the inherent delay of the system.

[0038] In addition to theoretical simulation, this embodiment also conducts hardware testing, using air interface or conduction to connect to the telepathic base station or the radar under test, conduct close-range testing, and verify its close-range target simulation performance. The edited perception waveform is sent in the form of a signal source ARB (Arbitrary Waveform Generator), and the I / Q signal received by the spectrum analyzer is collected by the channel simulator. The receiving end then imports the I / Q signal into the host computer for analysis. The clocks of each instrument are strictly synchronized, and the specific parameters of the phase compensation algorithm are placed in the channel simulator. The test system is as follows: Figure 8 As shown in the figure, no additional target simulation delay is added in the actual measurement, and only the inherent delay of the instrument is compensated and analyzed. The results are as follows Fig. 9 As shown, Fig. 9 As shown in the upper part, after the theoretically sensed incoming wave passes through the channel simulator, if the delay is set to 0, the theoretical echo is equal to the incoming wave, and its time domain waveform does not change. After using the inherent delay compensation, the spectrum analyzer receives the signal waveform as shown below: Fig. 9 As shown in the lower part, due to physical reality, the 3.22us at the beginning of the first cycle cannot receive a valid signal, but the signal after 3.22us is consistent with the incoming signal, including the subsequent cycles. After the matched filter analysis algorithm, the perceived delay is 0, which achieves compensation for the inherent delay and verifies the effectiveness of the algorithm.

[0039] For LFM pulse signals, the principle is the same, and compensation is also performed based on the phase difference between the theoretical echo and the actual echo. It should be noted that since the pulse signal has a duty cycle and no actual signal is sent during the idle time, the theoretical echo used to calculate the phase difference needs to be virtually "cycle extended" so that there is data to participate in the calculation. Fig.10 As shown, in summary, the method of this embodiment can be used for compensation when the sensing signal period is greater than the inherent delay of the instrument. If the signal period is less than the inherent delay, it cannot be applied, and the target echo construction method is recommended.

[0040] It is worth noting that when the target setting delay is greater than the inherent delay, the instrument does not need to perform inherent delay compensation. It can directly add the time difference between the target setting delay and the inherent delay as the instrument setting value, and the set target setting delay can naturally be achieved.

[0041] Step S4: In response to determining that the signal type is a non-periodic signal, a target echo construction method is used to perform inherent delay compensation on the baseband perception signal.

[0042] In this embodiment, the target echo construction method, taking into account the capabilities of the hardware instrument and the actual situation and requirements of the test party, can adopt the following two strategies to achieve the effect of overcoming the inherent delay of the instrument and simulating the close-range perception of the target: The first strategy includes: Adjust all devices to run under the same synchronized clock; Saving baseband sensing signals within a preset time period; According to the saved baseband sensing signal, the inherent delay, Doppler frequency deviation (movement speed), and radar cross-sectional area of ​​the target echo are constructed; The constructed target echo is sent to the receiver of the sensing device.

[0043] Specifically, this solution first receives the incoming wave signals for a long period of time and stores them in the digital baseband storage unit of the instrument, such as DDR, SSD and other modules, and then constructs the target's delay, Doppler, RCS and other characteristics, and then forwards them to the receiver of the sensing device. This solution has strong universality, but it should be noted that the relevant instruments need to be strictly synchronized with the device under test. In addition, long-term data storage also places higher requirements on the storage capacity of hardware devices.

[0044] The second strategy includes: Adjust all devices to run under the same synchronized clock; The waveform format of the target echo and the target construction algorithm are defined in the user-defined signal editing function interface of the communication test instrument; The defined target echo is sent to the receiver of the sensing device.

[0045] Specifically: Traditional communication test instruments such as signal sources and channel simulators all have the function and interface of user-defined signal editing, and their internal digital logic is coherent and smooth. Therefore, this authority can be provided to the test party to define the waveform format, and the user can input the incoming wave signal, and with the algorithm constructed by the internal target, the echo signal editing with arbitrary delay can be realized. This solution saves hardware resources compared to the data storage and forwarding method, but it also requires strict clock synchronization and requires deep user participation, and the degree of automation is relatively weakened.

[0046] The present embodiment proposes an inherent delay compensation method, which compensates for the inherent delay of the instrument of the simulated perception target generation device in the laboratory during the test of the radar or synaesthesia integrated base station. Thereby breaking through the limitation of the instrument target simulation distance, the simulation of the close-range perception target is realized. This method targets different radar perception waveforms and analysis principles, firstly performs blind detection of the signal, obtains relevant information such as its sequence bandwidth and period, and then adopts two strategies of phase compensation or perception target echo construction to realize the compensation of the inherent delay of the perception target simulation device. This method only realizes optimization compensation at the software algorithm level, without introducing additional hardware costs, and is suitable for the simulation of close-range targets of all periodic and non-periodic perception waveforms, and has unique advantages in the close-range target perception test in the research field of synaesthesia integration.

[0047] Embodiment 2: This embodiment provides an inherent delay compensation system, including: an acquisition module, a determination module, and a generation module, wherein the acquisition module is connected to the determination module, and the determination module is connected to the generation module; An acquisition module, used for acquiring a baseband sensing signal; In this embodiment, the acquisition module is used to receive an analog perception signal from a radar or a telepathic base station. The analog perception signal is converted into a digital baseband perception signal via an analog-to-digital converter. The digital baseband perception signal is subjected to I / Q orthogonal sampling to obtain I / Q data. Based on the I / Q data, a time-amplitude distribution diagram, a frequency-amplitude distribution diagram, and a time-frequency distribution diagram are drawn.

[0048] A determination module, used to parse the parameters of the baseband perception signal and determine the signal type of the baseband perception signal according to the parsing result; In this embodiment, the I / Q data is uploaded to the host computer for waveform analysis, and its period, bandwidth, amplitude, duty cycle and other information are parsed, and one to two cycles of the signal are stored in the device DDR and other caches.

[0049] The generation module is used to compensate for the inherent delay of the baseband sensing signal.

[0050] In this embodiment, the generating module may be a channel simulator or a perception target simulator.

[0051] The present invention provides an inherent delay compensation method for a simulated sensing target generation device. By detecting the sensing signal, obtaining relevant information such as its sequence bandwidth and period, and adopting two strategies, phase difference calibration or target echo construction, the inherent delay of the sensing target simulation device can be compensated, and the actual effect of "zero inherent delay" can be achieved at the receiver, thereby completing the accurate simulation of the close-range sensing target. This solution mainly realizes optimization compensation at the software algorithm level, without changing the hardware structure, and is suitable for all close-range target simulation scenarios with periodic sensing waveforms.

[0052] Embodiment 3: It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0053] Therefore, the present application also proposes a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method described in any embodiment of the present application is implemented. The computer-readable storage medium can be configured in any device of the present application.

[0054] Embodiment 4: Furthermore, this embodiment also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any embodiment of the present application when executing the computer program. The method is included in the above functional descriptions and will not be repeated here.

[0055] For example, it includes: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method provided in the embodiment of the present application. The method is included in the above functional descriptions and will not be repeated here.

[0056] The electronic device also includes an input device and an output device; the processor, storage device, input device and output device in the electronic device can be connected via a bus or other means.

[0057] As a computer-readable storage medium, the storage device can be used to store software programs, computer executable programs and module units, such as program instructions corresponding to the method in the embodiment of the present application. The storage device may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application required for a function; the storage data area may store data created according to the use of the terminal, etc. In addition, the storage device may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the storage device may further include a memory remotely arranged relative to the processor, and these remote memories may be connected via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof. The various embodiments in the present application are described in a progressive manner, and the same and similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments.

[0058] The protection scope of the present application is not limited to the above-mentioned embodiments. Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the scope and spirit of the present disclosure. If these changes and modifications fall within the scope of the claims of the present disclosure and their equivalents, the intention of the present disclosure also includes these changes and modifications.

Claims

1. A method for compensating for inherent delay, characterized in that: include: Acquire baseband sensing signals; Analyze the parameters of the baseband sensing signal to determine the signal type of the baseband sensing signal; In response to determining that the signal type is a periodic signal, using a phase compensation method to compensate for the inherent delay of the baseband sensing signal; In response to determining that the signal type is a non-periodic signal, a target echo construction method is used to compensate for the inherent delay of the baseband perception signal.

2. The inherent delay compensation method according to claim 1, characterized in that: The obtaining of the baseband sensing signal comprises: receiving simulated sensory signals; Performing analog-to-digital conversion on the simulated perception signal to obtain a baseband perception signal; The baseband sensing signal is orthogonally sampled to obtain orthogonal sampling data.

3. The inherent delay compensation method according to claim 1, characterized in that: The parsing of the parameters of the baseband sensing signal to determine the signal type of the baseband sensing signal includes: Perform waveform analysis on the orthogonal sampling data to obtain parameters of the baseband sensing signal; A signal type of the baseband sensing signal is determined according to a parameter of the baseband sensing signal.

4. The inherent delay compensation method according to claim 1, characterized in that: The parameters of the baseband sensing signal include: period, bandwidth, amplitude or duty cycle.

5. The inherent delay compensation method according to claim 1, characterized in that: The phase compensation method comprises: Acquire an actual echo of the sensing target simulator for the baseband sensing signal; The phase compensation amount is calculated based on the initial phase difference between the theoretical echo and the actual echo and the fixed Doppler frequency difference; The baseband sensing signal is adjusted according to the phase compensation amount to obtain a compensated echo signal.

6. The inherent delay compensation method according to claim 1, characterized in that: An initial phase difference between a theoretical echo and an actual echo of the baseband sensing signal includes an initial phase difference in a frequency up-conversion phase and an initial phase difference in a frequency down-conversion phase, wherein the initial phase difference in the frequency up-conversion phase is calculated based on a theoretically received echo, an actual echo, an inherent delay, and a target set delay under a zero inherent delay condition; The initial phase difference in the frequency reduction stage is calculated based on the theoretically received echo, the actual echo, the period of the baseband sensing signal and the target setting delay under zero inherent delay.

7. The inherent delay compensation method according to claim 1, characterized in that: The fixed Doppler frequency difference between the theoretical echo and the actual echo of the baseband perception signal includes a fixed Doppler frequency difference in the up-conversion stage and a fixed Doppler frequency difference in the down-conversion stage. The fixed Doppler frequency difference in the up-conversion stage is obtained by multiplying the inherent time delay with the frequency modulation slope of the periodic signal; the fixed Doppler frequency difference in the down-conversion stage is obtained by calculating the difference between the inherent time delay and the period of the baseband perception signal, and multiplying the difference with the frequency modulation slope of the periodic signal.

8. The inherent delay compensation method according to claim 1, characterized in that: The target echo construction method includes: a first strategy or a second strategy; The first strategy includes: Adjust all devices to run under the same synchronized clock; Saving baseband sensing signals within a preset time period; According to the saved baseband sensing signal, the inherent delay, Doppler frequency deviation and radar cross-sectional area of ​​the target echo are constructed; sending the constructed target echo to a receiver of the sensing device; The second strategy includes: Adjust all devices to run under the same synchronized clock; Define the waveform format of the target echo and the target construction algorithm in the user-defined signal editing function interface; The defined target echo is sent to the receiver of the sensing device.

9. An inherent delay compensation system, used to implement the method according to any one of claims 1 to 8, characterized in that: include: An acquisition module, used for acquiring a baseband sensing signal; A determination module, used to parse the parameters of the baseband perception signal and determine the signal type of the baseband perception signal according to the parsing result; A generation module is used to compensate for the inherent delay of the baseband sensing signal.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the inherent delay compensation method as described in any one of claims 1 to 8 is implemented.

11. An electronic device, characterized in that: It includes a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the inherent delay compensation method as claimed in any one of claims 1 to 8 is implemented.

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