Ultra-wideband radio communication signal processing method based on motion error compensation

Abstract

The invention discloses an ultra-wideband radio communication signal processing method based on motion error compensation, which relates to the technical field of communication signal processing, and comprises the following steps: establishing a continuous time chain for an area where the motion speed of a target changes suddenly in a dynamic propagation scene, and calibrating an energy peak transition point in a continuous time chain based on a time sequence of signal energy distribution, and extracting a kick starting point through time segmentation. By establishing a continuous time chain and introducing energy peak transition point calibration, time sequence continuity and energy smooth transition of a propagation path during speed sudden change are realized, and time drift caused by path index disorder is effectively avoided; and meanwhile, self-adaptive adjustment of the anchor point spacing is realized through breathing type time anchor scheduling, so that the path index keeps convergence in a high-dynamic environment, and the space-time consistency and the positioning precision of the ultra-wideband signal are improved.

Description

Technical Field

[0001] This invention relates to the field of communication signal processing technology, and more specifically to an ultra-wideband radio communication signal processing method based on motion error compensation. Background Technology

[0002] Ultra-wideband (UWB) radio communication signal processing refers to a technical system that performs high time-frequency resolution processing and robust identification in multipath environments for radio signals with extremely wide bandwidth and extremely short pulse characteristics during propagation, reception, and decoding. These signals are highly susceptible to non-line-of-sight (NLOS) effects in complex propagation environments, leading to shifts in time of arrival (ToA), received power, and phase characteristics. Therefore, a processing mechanism based on NLOS identification and error compensation models is needed. Specifically, firstly, NLOS distortion characteristics caused by obstruction and reflection in the signal waveform are identified through joint time-domain and frequency-domain analysis, establishing an arrival path classification matrix. Secondly, statistical learning or deep estimation models are used to quantize and separate NLOS error components. Then, an error compensation model is used to adaptively correct propagation delay, phase drift, and power attenuation to restore the true channel response. Finally, signal synchronization, frame reconstruction, and multi-user detection are performed based on the corrected channel parameters. Through this embedded signal processing method of NLOS identification and error compensation, UWB communication systems can maintain high-precision positioning capabilities and high-speed, stable communication performance in complex indoor, urban canyon, or underground spaces with strong multipath effects.

[0003] The existing technology has the following shortcomings: In dynamic propagation scenarios where the target's movement speed changes abruptly, the temporal characteristics and energy distribution of the signal propagation path exhibit nonlinear jumps, leading to reverse index rollback during the path tracking sequence update process. In this situation, the error compensation model may misidentify expired paths from historical sampling periods as currently valid propagation paths during the path matching phase. This causes the distance estimation process to be executed based on an incorrect time anchor chain, resulting in spurious propagation distance calculations. This bias accumulates between consecutive frames, causing a gradual drift in the positioning reference, ultimately leading to significant shifts or even reverse biases in the spatial positioning results, severely disrupting the spatiotemporal consistency and propagation path continuity of the ultra-wideband signal.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide an ultra-wideband radio communication signal processing method based on motion error compensation to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for processing ultra-wideband radio communication signals based on motion error compensation, comprising the following steps: Step 1: For regions where the target’s speed changes abruptly in a dynamic propagation scenario, establish a continuous time chain and calibrate the energy peak transition points based on the time series of signal energy distribution within the continuous time chain. Extract the jump start point through time segmentation to form a reference time for subsequent propagation path index stability. Step 2: Taking the energy peak transition point as the starting region, set a reverse delay detection window on the continuous time chain, identify the rollback section of the propagation path through delay difference analysis, and determine the starting position of the time reverse offset within the detection window to form a path index truncation boundary, which is used to limit the time range of abnormal paths. Step 3: Within the range defined by the path index truncation boundary, perform a one-way time extension operation on the propagation path tracing sequence. Rearrange the energy peak sequence of the reverse delay region identified in the reverse delay detection window in forward time order to generate a rearranged time chain, so as to maintain the continuous evolution characteristics of the propagation path time sequence. Step 4: Based on the rearranged time chain, establish a dynamic equilibrium band, and redistribute the weights of each energy peak in the dynamic equilibrium band according to the connection relationship between adjacent time slices, so as to achieve a smooth transition of path energy during the velocity change phase and maintain the energy continuity of the propagation path in dynamic scenarios. Step 5: Based on the continuous time chain in the dynamic balance band, implement breathing time anchor scheduling, and adaptively adjust the anchor spacing according to the instantaneous change of propagation delay, so that the path index can achieve adaptive convergence under high dynamic propagation conditions and maintain the time consistency and timing stability of the ultra-wideband signal propagation path.

[0007] Preferably, the step of establishing a continuous time chain for regions where the target's motion velocity changes abruptly in a dynamic propagation scenario includes: The time interval during which the target moves continuously along the propagation path is selected as the starting segment of the analysis, and a continuous time chain is established according to the natural order of signal arrival times so that the continuous time chain covers the complete propagation process before and after the sudden change in the target velocity. Extract the signal energy value, peak position and energy distribution width corresponding to each time node in the continuous time chain to form an energy distribution sequence, and identify the position where the energy change rate suddenly increases and mark it as the energy peak transition point; Using the energy peak transition point as the time boundary, the continuous time chain is segmented into time segments, and the turning point of the energy curve is identified in the energy change section. This turning point is defined as the start of the jump. The jump start point and the corresponding energy peak transition point are matched in a continuous time chain to form a unified reference time, which is used for time alignment and stabilization of subsequent propagation path indexes.

[0008] Preferably, the step of setting the reverse delay detection window with the energy peak transition point as the starting region includes: Using the time interval where the energy peak transition point is located as the central region, the start and end time ranges in the continuous time chain are determined, and a fixed time range is defined in the time direction before the energy peak transition point to construct a reverse delay detection window; Using the energy peak transition point as a time reference, the propagation delay information corresponding to each time position within the detection window is extracted along the reverse direction of the continuous time chain, and the rollback section with reverse offset in the propagation path delay change trend is identified. For the location where the delay change first shows a reverse trend within the detection window, this time coordinate is determined as the starting position of the time reverse offset, and a bidirectional time interval with this position as the dividing point is formed within the detection window. Using the starting position of the time reverse offset as the core, a path index truncation boundary is established on the continuous time chain to separate the rollback segment from the normal propagation segment in time, thereby limiting the time range of the abnormal path.

[0009] Preferably, the length of the reverse delay detection window is determined based on the time span of the propagation signal and the dynamic characteristics of the target motion, so that the detection window covers the time reversal interval that may occur before and after the energy peak transition point, and when forming the path index truncation boundary, the normal propagation section and the rollback section within the detection window are clearly demarcated on the time chain based on the starting position of the time reverse offset.

[0010] Preferably, the step of performing a unidirectional time-stretching operation on the propagation path tracing sequence within the range defined by the path index truncation boundary includes: Within the range defined by the path index truncation boundary, all propagation path tracing sequences are obtained, and the temporal structure of the propagation path is rearranged along the forward time direction with the time reverse offset starting position as a reference, so that the rollback section is incorporated into the continuous forward time frame. For the reverse delay region identified within the reverse delay detection window, the energy peak sequence is extracted and rearranged in forward time order while keeping the energy value unchanged, so that the distribution trend of the energy peaks is consistent with the forward sequence of the time chain. The rearranged energy peak sequence is time-connected with the normal propagation path tracing sequence within the path index truncation boundary, so that the propagation delay change trend and the energy peak change trend at the connection point maintain a continuous transition. Using the forward evolution direction of the time chain as the only time advancement path, a unidirectional time extension operation is performed on the rearranged time chain to ensure that the propagation path maintains a continuous extension relationship on the time axis and forms a complete time chain covering the velocity mutation interval.

[0011] Preferably, in the unidirectional time extension operation, when the rearranged time chain is extended, the time interval between each energy peak is kept consistent with the original propagation time delay variation law, and the order of energy peaks is kept stable during the extension of the time chain, so that the propagation path maintains continuous distribution and temporal consistency on the extended time axis, thereby ensuring the continuous evolution characteristics of the propagation path covering the velocity change interval in the time dimension.

[0012] Preferably, the steps for establishing a dynamic equilibrium band based on the rearranged time chain include: After completing the unidirectional time extension of the propagation path tracing sequence, the rearranged time chain is analyzed to determine the time range of the target motion speed change region, and a dynamic equilibrium zone is established with the energy peak transition point and the time slice of energy recovery stabilization as the boundary. The energy peak distribution corresponding to each time slice is extracted in the dynamic equilibrium band, and the connection relationship between adjacent time slices is determined based on the rearranged time chain structure in order to identify the transition segment where the energy distribution changes drastically. Based on the energy difference between adjacent time slices, the weights of the energy peaks are redistributed so that the energy distribution forms a continuous transition in the time dimension and the relative positions of the energy peaks remain unchanged. The redistributed energy peaks are mapped back into the rearranged time chain to form a propagation path energy chain with continuous energy distribution characteristics, so as to maintain the energy continuity and smooth transition of the propagation path during the velocity change phase.

[0013] Preferably, when redistributing the weights of the energy peaks, the total energy is kept constant within the dynamic equilibrium zone, and the energy peaks are adjusted according to the connection relationship between adjacent time slices, so that the energy can achieve a continuous transition between time slices. In the rearranged time chain, the time order of the energy peaks is kept consistent with the time order of the propagation path, so as to ensure the stability and continuity of the energy distribution of the propagation path.

[0014] Preferably, the steps for implementing breathing-style time-anchor scheduling based on continuous time chains within a dynamic equilibrium zone include: After establishing the dynamic equilibrium band and redistributing the energy weights, based on the continuous time chain in the dynamic equilibrium band, the center time of the energy peak in each time slice is set as the candidate anchor point position, and time anchor points are arranged sequentially on the time chain to form an initial anchor point sequence. Based on the changes in propagation delay in each time slice within the dynamic equilibrium band, the spacing between adjacent time anchor points is adjusted. When the propagation delay increases, the spacing is expanded; when the propagation delay decreases, the spacing is reduced, in order to maintain the synchronous correspondence between the time chain and the propagation path. Establish temporal constraint relationships between anchor points during the adjustment of time anchor point spacing to ensure that the time distribution of anchor points before and after the adjustment is balanced and to prevent stacking or sparseness in local time periods. The adjusted time anchor distribution is remapped into a continuous time chain, enabling the path index to achieve adaptive convergence in the time dimension and maintain the temporal consistency and timing stability of the propagation path.

[0015] Preferably, during the adjustment of the time anchor point spacing, the adjustment direction is determined by the trend of the propagation delay change of adjacent time slices within the dynamic balance band, and the temporal correlation of adjacent time anchor points is used as a constraint condition to ensure that each time anchor point remains continuously distributed after the expansion and contraction adjustment, thereby ensuring the temporal connection of the time chain and the uniform transition of the anchor point spacing during the change of the propagation path.

[0016] The technical effects and advantages provided by the present invention in the above technical solution are as follows: This invention establishes a continuous time chain within the region of abrupt change in the target motion velocity and combines this with the calibration of energy peak transition points to achieve continuous correlation of the propagation path in the time dimension. This maintains the integrity of the temporal evolution even when the signal propagation path experiences rollback or sudden delays. By truncating the path index, rearranging the time chain, and constructing a dynamic balance band, the propagation path maintains a smooth transition in time and energy during nonlinear changes, effectively avoiding time drift caused by path index disorder, thereby ensuring the temporal stability and propagation continuity of the signal under complex dynamic propagation conditions.

[0017] This invention utilizes a breathing-style time anchor scheduling based on a continuous time chain within a dynamic balance band. This allows the spacing between time anchor points to adaptively adjust according to instantaneous changes in propagation delay, forming a flexible time scheduling mechanism in highly dynamic propagation environments. Through this adaptive anchor point adjustment method, the path index maintains stable convergence under rapidly changing conditions, avoiding positioning offsets and time reference drift caused by error accumulation. This improves the spatiotemporal consistency and positioning accuracy of ultra-wideband signals in complex multipath scenarios. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1This is a flowchart of an ultra-wideband radio communication signal processing method based on motion error compensation according to the present invention. Detailed Implementation

[0020] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the description of this disclosure will be more complete and fully convey the concept of the exemplary embodiments to those skilled in the art.

[0021] This invention provides, for example Figure 1 The method for processing ultra-wideband radio communication signals based on motion error compensation, as shown, includes the following steps: Step 1: For regions where the target’s speed changes abruptly in a dynamic propagation scenario, establish a continuous time chain and calibrate the energy peak transition points based on the time series of signal energy distribution within the continuous time chain. Extract the jump start point through time segmentation to form a reference time for subsequent propagation path index stability. The specific implementation method for this step is as follows: In dynamic propagation scenarios, when a target is in motion and its velocity exhibits a sudden change trend, the time interval of continuous movement of the target along the propagation path is selected as the starting segment for analysis. Based on the target's trajectory in space, the corresponding reception times during signal propagation are arranged sequentially, forming a time series covering the entire process before and after the velocity change. To ensure the integrity of the time series, signal samples from each moment along the propagation path are continuously extracted, and a continuous time chain is established according to the natural order of signal arrival times. Each time point in the continuous time chain matches the corresponding signal reception time, ensuring that the time chain can completely record the signal propagation changes during the target's motion. This continuous time chain not only includes the stable segment before the velocity change and the transition segment after the change, but also covers all propagation characteristics generated during the velocity change, making the entire propagation process continuous in the time dimension. To avoid discontinuities or distortions in the time chain, the construction of the continuous time chain should cover appropriate buffer time periods before and after the velocity change interval to ensure that the time chain contains complete signal change transition information.

[0022] After establishing a continuous time chain, the signal energy corresponding to each time node in the continuous time chain is analyzed. At each time node, the received energy value, peak position, and energy distribution width of the target signal at that moment are extracted, forming an energy distribution sequence that changes over time. For this energy distribution sequence, the energy change trend is analyzed point by point from the start point to the end point of the time chain. Since the reflection, refraction, and blocking states of the signal propagation path will change significantly in the region of abrupt change in target velocity, the energy peak will jump abruptly on the time axis. Therefore, the time points in the energy distribution sequence where the rate of energy change increases significantly are identified, and the time positions of these abrupt increases in the rate of energy change are marked as energy peak transition points. To ensure the accuracy of the energy peak transition points, the calibration process should continuously examine the rising and falling trends of energy change, so that the transition points can reflect the true moment when the energy peak changes from a stable state to a rapidly changing state. Each energy peak transition point represents the specific moment when the change in target velocity affects signal propagation, providing a precise time anchoring basis for subsequent time segmentation.

[0023] After obtaining the energy peak transition points, the continuous time chain is segmented using each energy peak transition point as a time boundary. During segmentation, the time interval before the energy peak transition point is defined as a relatively stable sub-segment of signal energy, and the time interval after the energy peak transition point is defined as an energy abrupt change segment. To maintain the overall continuity of the time chain during segmentation, the end time of each sub-segment should seamlessly connect with the start time of the next sub-segment. Then, within each energy abrupt change segment, the initial trend of energy change is gradually traced along the time axis to identify the first turning point in the energy curve from slow change to rapid rise, and this turning point is defined as the abrupt change initiation point. The abrupt change initiation point represents the beginning of the transition of signal energy from a stable state to an abrupt change state, and is the initial boundary of energy change in the time chain. By identifying the abrupt change initiation point, the temporal origin of signal energy change can be clearly identified, thus providing a time reference for the time alignment of subsequent propagation path indexing. The extraction of the jump start point should be completed within a small time range near the energy peak transition point, so that the jump start point corresponds to the energy peak transition point in time, and ensures that the time chain has accurate time markers at both ends of the change interval.

[0024] After extracting the jump start point, the jump start point and its corresponding energy peak transition point are matched one-to-one in a continuous time chain to establish a unified time reference system. In this system, the jump start point serves as the starting point of a time segment, and the energy peak transition point as the ending point. The time interval between these segments is defined as the transition interval for energy change. By connecting all transition intervals sequentially, multiple interconnected reference time segments are formed along the entire continuous time chain. Subsequently, the time sequence formed by all jump start points is used as the main thread, running through the entire target velocity mutation region to form a continuous reference time reference. This reference time reference accurately reflects the entire process of signal energy change from stable to abrupt and back to stable in the time dimension, ensuring stable alignment of the propagation path's time index under its constraints. During subsequent propagation path tracking and index updates, all time parameters use this reference time reference as a unified time anchor point, thus avoiding path misalignment and index drift caused by velocity mutations. The establishment of a reference time not only ensures the integrity and continuity of the time chain, but also provides a stable time basis for time matching and delay correction of subsequent propagation path indexes, enabling ultra-wideband signals to maintain the characteristics of continuous time evolution in dynamic propagation environments.

[0025] Through the specific implementation of the above steps, a time chain with continuous time and traceable energy changes can be established within the region of sudden change in the target's motion velocity. Energy peak transition points can be precisely marked on this time chain, and the starting point of the energy mutation can be extracted. The correlation between these two points forms a reference time for stabilizing the propagation path index. The entire process, through continuous tracking of the signal in the time dimension and detailed analysis of energy characteristics, ensures that the temporal evolution of the signal propagation path remains orderly and continuous under conditions of sudden change in the target's motion velocity.

[0026] Step 2: Taking the energy peak transition point as the starting region, set a reverse delay detection window on the continuous time chain, identify the rollback section of the propagation path through delay difference analysis, and determine the starting position of the time reverse offset within the detection window to form a path index truncation boundary, which is used to limit the time range of abnormal paths. The specific implementation method for this step is as follows: Based on the aforementioned continuous time chain and the time reference established by the energy peak transition point, the starting and ending time ranges of this region within the continuous time chain are determined, with the time interval where the energy peak transition point is located as the central region. Since the energy peak transition point reflects the moment when the signal energy transitions from a stable state to a sudden change during propagation, this region typically corresponds to the time period where discontinuous changes or energy jumps occur in the propagation path. To capture the time reversal characteristics after such changes, a fixed time range is defined in the continuous time chain, using the time position of the energy peak transition point as the starting reference, and constructing a reverse delay detection window in the time direction preceding it. The length of this detection window is determined based on the time span of the propagating signal and the dynamic characteristics of the target motion, ensuring it covers the possible time reversal intervals before and after the energy transition. The reverse delay detection window provides an observation window in the time reversal dimension of the continuous time chain, enabling the identification and extraction of changes in the signal propagation path within the time reversal range.

[0027] After setting the reverse delay detection window, using the energy peak transition point as a time reference, the propagation delay information corresponding to each time position within the detection window is extracted step by step along the reverse direction of the continuous time chain. Each time position corresponds to the arrival time of a specific signal propagation path, reflecting the transmission history of the signal in the propagation medium. Since the propagation path may experience regression or delay jumps within a certain time range after a sudden change in the target's velocity, comparing the propagation delay change trend of adjacent time positions hour by hour along the reverse direction within the detection window allows observation of the continuity and anomalies of the delay information in the reverse time direction. When a propagation path exhibits a rollback phenomenon, the order of delay changes will show a reverse shift characteristic; that is, the propagation delay of adjacent time positions no longer changes according to the time-incrementing law, but instead shows a reverse delay order. By step-by-step extracting the propagation delay change trend of continuous time positions within the detection window, the rollback segment of the propagation path can be clearly identified in the reverse direction of the time chain, thus providing a basis for determining the starting position of the time reverse shift.

[0028] After identifying the rewind section of the propagation path, the specific time coordinate of the location where the delay change first shows a reverse trend within the detection window is determined in the continuous time chain. This time coordinate is used as the starting position of the time reverse offset. This starting position of the time reverse offset represents the critical moment when the signal propagation path changes from forward extension to reverse rewind in the time chain, marking the starting point of the propagation path anomaly in the time dimension. To ensure the accuracy of the starting position of the time reverse offset, the continuity of propagation delay and the energy change trend of adjacent time nodes before and after this position should be comprehensively considered, so that the determined starting position can accurately reflect the time boundary of the propagation path transitioning from the normal propagation state to the abnormal rewind state. After obtaining the starting position of the time reverse offset, a bidirectional time interval is formed within the detection window with this position as the dividing point. The first half of this interval represents the delay distribution of the normal propagation path, and the second half corresponds to the reverse delay distribution of the rewind section, providing a clear time interval for defining the boundaries of the subsequent path index.

[0029] After determining the starting position of the time reverse offset, a path index truncation boundary is established on the continuous time chain, using this position as the core. This path index truncation boundary uses the starting position of the time reverse offset as the time reference, separating the identified rollback segments from the normal propagation segments within the detection window. In forming the path index truncation boundary, the time interval before the starting position of the reverse offset is defined as the time range of the effective propagation path, and the time interval after it is defined as the time range of the abnormal path, with a clear boundary distinguishing the two on the time chain. In this way, the path index truncation boundary effectively limits the influence range of abnormal propagation paths in the time dimension, ensuring that the influence of abnormal paths does not extend into the normal propagation time period during subsequent path tracing. Simultaneously, the formation of the path index truncation boundary also provides time boundary constraints for subsequent path rearrangement and delay correction, allowing signal path index updates to be performed within the boundary limits in a dynamic propagation environment, thereby avoiding the disordered extension of the path index and the continuous accumulation of rollback propagation phenomena.

[0030] Through the above steps, a reverse delay detection window is set up with the energy peak transition point as the starting region. Within the detection window, the rollback segment of the propagation path is identified through delay change trend analysis, further determining the starting position of the time reverse offset. Finally, a path index truncation boundary is formed on the continuous time chain, thereby limiting the temporal range of influence of the abnormal propagation path. This process, through delay analysis and time boundary establishment in the reverse direction of the time chain, enables the precise separation of the propagation path of the ultra-wideband signal when the target's motion velocity changes abruptly, clearly distinguishing the temporal distribution of the normal path and the abnormal path.

[0031] Step 3: Within the range defined by the path index truncation boundary, perform a one-way time extension operation on the propagation path tracing sequence. Rearrange the energy peak sequence of the reverse delay region identified in the reverse delay detection window in forward time order to generate a rearranged time chain, so as to maintain the continuous evolution characteristics of the propagation path time sequence. The specific implementation method for this step is as follows: Within the defined path index truncation boundary, all propagation path tracing sequences within this boundary are acquired. Each propagation path tracing sequence consists of the corresponding energy peak point, propagation delay, and signal arrival order in a continuous time chain. Since the path index truncation boundary includes both normal propagation segments and reverse delay segments, some energy peak time sequences within this range exhibit inconsistencies between their temporal order and the actual propagation time direction. To restore the natural evolution of the propagation path in the time dimension, all path tracing sequences within this range undergo temporal extension processing. The extension operation begins with a reference to the starting position of the time reverse offset of the path index truncation boundary. From this position, the temporal structure of all propagation paths is rearranged along the forward time direction, allowing segments that previously exhibited rollback in the time chain to be reintegrated into a continuous forward propagation time frame.

[0032] Within the path index truncation boundary, all energy peak sequences within the identified reverse delay region of the reverse delay detection window are extracted. An energy peak sequence refers to the set of energy peak points corresponding to each propagation path, recorded in chronological order within a continuous time chain. Since the energy peak sequences in the reverse delay region exhibit a reverse temporal distribution, they must be rearranged in forward chronological order after extraction, while maintaining the original energy values. To ensure the continuity of the rearrangement, the propagation path identifier corresponding to each energy peak and its relative position in the original time chain are recorded, ensuring that the paths maintain their corresponding physical associations after rearrangement. In this way, the rearranged energy peak sequences achieve a temporal transition from reverse to forward order, allowing the propagation paths within the reverse delay region to re-align with the forward time sequence of the time chain. This rearrangement process ensures the uniqueness of the temporal order, allowing the distribution trend of the energy peaks to reflect the natural transition characteristics of the propagation paths on a continuous time axis.

[0033] After the forward temporal rearrangement of the energy peak sequence in the reverse delay region is completed, the rearranged result is temporally joined with the normal propagation path tracing sequence within the path index truncation boundary. The joining method uses the termination time of the path index truncation boundary as the access point, sequentially connecting the rearranged energy peak sequence to the end of the normal propagation path tracing sequence, thus reconstructing a continuous propagation path from the two path tracing information segments that were separated due to rollback. To ensure the continuity of the rearranged time chain, the propagation delay change trend and the energy peak change trend at the joining point should maintain a continuous transition in time, so that the path delay curve and energy distribution present a natural connection at the joining point. Through this joining process, the rearranged time chain not only restores the continuous structure of the propagation path in the temporal dimension but also repairs the path splitting problem caused by abrupt velocity changes, ensuring that the entire propagation process maintains unidirectional evolution characteristics in the time chain, and eliminating time rollback or path overlap.

[0034] After rearrangement and connection, a unidirectional time extension operation is performed on the entire rearranged time chain, using the forward evolution direction of the time chain as the sole time progression path. The unidirectional time extension process refers to progressively advancing the propagation path tracing sequence along the forward time direction within the range defined by the path index truncation boundary, extending the rearranged energy peak sequence time-by-time to subsequent moments in the time chain, ensuring a continuous extension relationship in the temporal distribution of the entire propagation path on the time axis. To ensure the continuity of the extension, the time interval between each energy peak must be maintained consistent with its original propagation delay variation pattern during the extension process, so that the extended time chain accurately reflects the evolution of the propagation path in different time slices. After the unidirectional time extension is completed, the energy peak sequence that previously exhibited rollback is completely incorporated into the forward structure of the time chain, forming a continuous propagation time chain covering the entire velocity abrupt change range. This time chain, in the time dimension, is a complete temporal structure starting from the energy peak transition point, passing through the reverse delay detection window, the path index truncation boundary, and then to the extended continuous propagation segment. It fully reflects the dynamic evolution process of the propagation path recovering from an abnormal state to a normal propagation state under the environment of sudden velocity changes.

[0035] Through the above steps, within the range defined by the path index truncation boundary, a unidirectional time-stretching operation is performed on the propagation path tracing sequence. This rearranges the energy peak sequences of the reverse delay region identified within the reverse delay detection window in forward time order, and then sequentially connects the rearranged sequence with the normal propagation path tracing sequence, ultimately generating a rearranged time chain. This rearranged time chain restores the continuous evolution characteristics of the propagation path in the time dimension, allowing the signal propagation path to re-enter the normal propagation sequence in the rollback section caused by abrupt velocity changes. This effectively maintains the temporal continuity and propagation timing stability of ultra-wideband signals in complex dynamic propagation environments.

[0036] Step 4: Based on the rearranged time chain, establish a dynamic equilibrium band, and redistribute the weights of each energy peak in the dynamic equilibrium band according to the connection relationship between adjacent time slices, so as to achieve a smooth transition of path energy during the velocity change phase and maintain the energy continuity of the propagation path in dynamic scenarios. The specific implementation method for this step is as follows: After completing the unidirectional time extension of the propagation path tracking sequence and generating the rearranged time chain, a comprehensive analysis of the continuous time slices in the time chain is performed to determine the distribution range of the target motion velocity change region on the time chain. Since the energy peaks in the propagation path typically exhibit amplitude changes, time drift, or energy transfer between adjacent paths during the velocity change phase, a time band that can encompass the energy change transition is defined in the time chain to ensure smooth energy transition during propagation; this region is the dynamic equilibrium band. The dynamic equilibrium band uses time as the main axis and energy change trends as an auxiliary dimension, covering the entire process from the start of the velocity change to the energy stabilization phase. In its establishment, the time slice corresponding to the energy peak transition point in the time chain is first selected as the starting point of the dynamic equilibrium band, and the time slice where the energy distribution in the rearranged time chain stabilizes again is selected as the ending point. A time-continuous band structure is then established between the two. This dynamic equilibrium band completely coincides with the energy change process of the propagation path in time, allowing subsequent energy weight adjustment operations to be performed within this region without affecting the energy distribution of the stable propagation segment.

[0037] After establishing the dynamic equilibrium band, the energy peak distribution corresponding to each time slice within the band is extracted, and the connection relationship between adjacent time slices is determined based on the rearranged time chain structure. Each time slice represents a specific propagation moment, and its energy peak reflects the energy concentration of the propagation path at that moment. In the velocity abrupt change interval, the energy distribution between adjacent time slices often exhibits a non-uniform state, i.e., some time slices have excessively high energy peaks, while adjacent time slices experience excessively rapid energy decay, resulting in discontinuities or sudden drops in propagation path energy on the time axis. Therefore, within the dynamic equilibrium band, the continuity of energy peaks in time is analyzed based on the connection sequence of adjacent time slices in the time chain, identifying transitional segments where energy distribution changes drastically. In this way, the energy transition relationship between time slices can be clarified, providing a basis for subsequent weight redistribution. Each time slice in the dynamic equilibrium band forms a continuous energy transition chain with the time slices before and after it, ensuring that the temporal arrangement of energy peaks reflects the true energy evolution trajectory of the propagation path during velocity changes.

[0038] After determining the connection relationship between adjacent time slices in the dynamic equilibrium band, the weights of each energy peak are redistributed based on the energy difference between each pair of adjacent time slices. The principle of redistribution is to ensure a continuous transition trend in the energy distribution between adjacent time slices without changing the total energy. Specifically, for time slices with excessively high energy peaks, their energy weights are appropriately reduced, and the reduced portion is allocated to adjacent time slices with lower energy; for time slices with sudden energy drops, their energy weights are appropriately increased to make the change in energy peak amplitude with the previous time slice more gradual. During the weight redistribution process, the relative position of the energy peaks in the time chain remains unchanged to ensure that the temporal order of the propagation path is not disrupted. Through this energy weight adjustment based on the connection relationship between adjacent time slices, the energy distribution within the dynamic equilibrium band can form a state of temporal continuity and smooth energy. After the weight redistribution, the energy difference between each energy peak and the preceding and following time slices is effectively reduced, thus preventing abrupt jumps in energy changes within the velocity change interval of the propagation path.

[0039] After the energy weights are redistributed within the dynamic balancing band, the adjusted energy peaks are remapped into the rearranged time chain, forming a propagation path energy chain with continuous energy distribution characteristics. This energy chain maintains consistency with the rearranged time chain in the time dimension and achieves a smooth transition in the energy dimension, allowing the path energy to exhibit a natural transition trend during velocity mutation phases. By embedding the redistributed energy peaks into the time chain, the energy distribution of the propagation path can exhibit a dynamic equilibrium state within the mutation region. That is, during periods of drastic energy peak changes, the energy continuity and temporal consistency of the overall propagation path are maintained through mutual compensation of energy from adjacent time slices. Simultaneously, the dynamic balancing band forms a stable energy buffer region within the propagation path energy chain, preventing energy gaps or discontinuous jumps in signal propagation during velocity mutation processes. After the dynamic balancing band, the overall energy distribution of the rearranged time chain tends to be smooth, and the propagation path achieves a transition from energy jumps to energy equilibrium during velocity mutation phases, providing a balanced energy foundation for subsequent time anchor scheduling.

[0040] Through the above steps, a dynamic balancing band is established based on the rearranged time chain. Within this dynamic balancing band, the weights of energy peaks are redistributed according to the connection relationship between adjacent time slices, achieving a smooth transition of propagation path energy during rapid velocity changes and maintaining energy continuity in dynamic propagation scenarios. This process not only ensures the extension of the propagation path in the time dimension but also achieves continuous distribution in the energy dimension, enabling ultra-wideband signals to maintain stable energy transfer in highly dynamic propagation environments.

[0041] Step 5: Based on the continuous time chain in the dynamic balance band, implement breathing time anchor scheduling, and adaptively adjust the anchor spacing according to the instantaneous change of propagation delay, so that the path index can achieve adaptive convergence under high dynamic propagation conditions and maintain the time consistency and timing stability of the ultra-wideband signal propagation path. The specific implementation method for this step is as follows: After establishing the dynamic equilibrium zone and redistributing energy weights, the overall distribution of the propagation path in the time dimension is segmented and anchored based on the continuous time chain formed within the dynamic equilibrium zone. The continuous time chain, having achieved energy balance and temporal continuity at this stage, can serve as the basic framework for deploying time anchors. The implementation of the breathing-style time anchor scheduling uses each time slice in the time chain as a reference, taking the center moment of the energy peak in each time slice as the candidate anchor position, and sequentially deploying multiple time anchors on the time chain according to the target's motion state and the trend of propagation delay changes. Each time anchor represents a temporal positioning reference for a propagation path at a specific moment. These anchors are arranged sequentially in the time chain according to the propagation direction, forming the initial anchor sequence. To cope with the propagation delay changes caused by sudden changes in target motion speed, it is necessary to ensure that the distribution of these time anchors on the time axis can be flexibly adjusted according to the delay changes. Therefore, during the initial deployment, a retractable time interval is reserved between each anchor, ensuring that the spacing of the time anchors is both flexible and maintains temporal continuity.

[0042] After initial time anchor point placement, the spacing between time anchor points is preliminarily adjusted based on the propagation delay changes in each time slice within the dynamic equilibrium band. In highly dynamic propagation environments, the target's motion often exhibits nonlinear changes, and the propagation path delay fluctuates irregularly over time. Therefore, the increment or decrement of propagation delay may differ between different time slices. To ensure the path index remains consistent with propagation delay changes in the time dimension, delay differences between time anchor points are detected along the continuous time chain, and the spacing between adjacent anchor points is adjusted based on these differences. When propagation delay increases, it indicates that the signal propagation path is spatially stretched. In this case, by expanding the time spacing between adjacent time anchor points, the temporal distribution of the time chain within that interval is extended. Conversely, when propagation delay decreases, it indicates that the propagation path is compressed in the time dimension. In this case, by reducing the spacing between adjacent time anchor points, the temporal distribution of the time chain within that region converges. Through this adaptive scaling adjustment based on instantaneous changes in propagation delay, the time chain within the dynamic equilibrium band can continuously maintain a synchronous correspondence with the actual propagation path, ensuring that the distribution of time anchor points always closely matches the true changing trend of the propagation path.

[0043] To prevent anchor point stacking or excessive sparsity caused by local time contraction or expansion during the adjustment of time anchor point spacing, a temporal constraint relationship between anchor points is introduced within the dynamic equilibrium zone. This constraint relationship is achieved through the temporal connection between preceding and following anchor points, ensuring that the adjustment of any time anchor point considers the temporal state of its adjacent anchor points. In specific implementation, when a time anchor point needs to contract forward due to changes in propagation delay, the time positions of its subsequent anchor points are simultaneously adjusted slightly to maintain the overall balance of the time chain; when a time anchor point needs to extend backward due to changes in propagation delay, the time position of its preceding anchor point is adjusted accordingly to ensure that the time interval remains relatively uniformly distributed throughout the entire dynamic equilibrium zone. Through this anchor point spacing coordination mechanism based on preceding and following relationships, the breathing-style time anchor scheduling will not cause excessive concentration or sparsity in local time periods during the adjustment process, enabling the continuous time chain to maintain stable scalability and consistency in both spatial and temporal dimensions. Ultimately, through this process, the time anchor points in the dynamic equilibrium zone form a dynamic distribution structure that expands and contracts with changes in propagation delay, allowing the time chain to flexibly adapt to path changes under highly dynamic propagation conditions.

[0044] After adaptively adjusting the spacing between time anchor points, the adjusted distribution is remapped back into the rearranged continuous time chain, making it the core benchmark for updating the propagation path index. The time chain, processed by the breathing-style time anchor scheduling, has a dynamically adjusted distribution of time anchor points in each time slice, enabling the path index to achieve adaptive convergence in the time dimension. Specifically, when the target's speed changes drastically, the dynamic adjustment of the time anchor point spacing effectively absorbs the temporal disturbances caused by changes in propagation delay, allowing the path index update time sequence to converge rapidly within a local range. Conversely, when the motion becomes stable, the time anchor point spacing returns to its original interval, ensuring the path index remains evenly distributed across the time axis. Through this breathing-style time anchor scheduling mechanism, the propagation path achieves continuous temporal stability and consistency throughout the entire dynamic propagation process. Meanwhile, the continuous energy distribution in the dynamic equilibrium band and the dynamic coordination and interaction of the time anchor point enable the propagation path to maintain the continuity and overall consistency of the timing evolution even under conditions of sudden velocity changes, blockage changes, or reflection multipath, thereby ensuring the stability of the time reference of the ultra-wideband signal in complex propagation environments and providing reliable timing support for subsequent signal synchronization and error compensation.

[0045] Through the specific implementation of the above steps, relying on the continuous time chain in the dynamic balance band to implement breathing-style time anchor scheduling, the spacing between time anchor points can be adaptively adjusted according to the instantaneous changes in propagation delay, enabling the path index to achieve adaptive convergence under high-dynamic propagation conditions. This process not only maintains the consistency and stability of the ultra-wideband signal propagation path in the time dimension, but also gives the propagation path flexible time response capability in high-dynamic scenarios, thereby ensuring the time-series controllability and continuous time evolution characteristics of the entire signal propagation and processing process in complex time-varying environments.

[0046] This invention establishes a continuous time chain within the region of abrupt change in the target motion velocity and combines this with the calibration of energy peak transition points to achieve continuous correlation of the propagation path in the time dimension. This maintains the integrity of the temporal evolution even when the signal propagation path experiences rollback or sudden delays. By truncating the path index, rearranging the time chain, and constructing a dynamic balance band, the propagation path maintains a smooth transition in time and energy during nonlinear changes, effectively avoiding time drift caused by path index disorder, thereby ensuring the temporal stability and propagation continuity of the signal under complex dynamic propagation conditions.

[0047] This invention utilizes a breathing-style time anchor scheduling based on a continuous time chain within a dynamic balance band. This allows the spacing between time anchor points to adaptively adjust according to instantaneous changes in propagation delay, forming a flexible time scheduling mechanism in highly dynamic propagation environments. Through this adaptive anchor point adjustment method, the path index maintains stable convergence under rapidly changing conditions, avoiding positioning offsets and time reference drift caused by error accumulation. This improves the spatiotemporal consistency and positioning accuracy of ultra-wideband signals in complex multipath scenarios.

[0048] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A method for processing ultra-wideband radio communication signals based on motion error compensation, characterized in that, Includes the following steps: Step 1: For regions where the target’s speed changes abruptly in a dynamic propagation scenario, establish a continuous time chain, and within the continuous time chain, calibrate the energy peak transition points based on the time series of signal energy distribution, and extract the jump start point through time segmentation. Step 2: Taking the energy peak transition point as the starting region, set a reverse delay detection window on the continuous time chain, identify the rollback section of the propagation path through delay difference analysis, and determine the starting position of the time reverse offset within the detection window to form the path index truncation boundary. Step 3: Within the range defined by the path index truncation boundary, perform a one-way time extension operation on the propagation path tracing sequence, rearrange the energy peak sequence of the reverse delay region identified in the reverse delay detection window in forward time order, and generate the rearranged time chain. Step 4: Based on the rearranged time chain, establish a dynamic equilibrium band, and redistribute the weights of each energy peak in the dynamic equilibrium band according to the connection relationship between adjacent time slices; Step 5: Based on the continuous time chain in the dynamic balance zone, implement breathing-style time anchor scheduling, and adaptively adjust the anchor spacing according to the instantaneous changes in propagation delay.

2. The ultra-wideband radio communication signal processing method based on motion error compensation according to claim 1, characterized in that, The steps for establishing a continuous time chain for regions where the target's velocity changes abruptly in a dynamic propagation scenario include: The time interval during which the target moves continuously along the propagation path is selected as the starting segment of the analysis, and a continuous time chain is established according to the natural order of signal arrival times. Extract the signal energy value, peak position and energy distribution width corresponding to each time node in the continuous time chain to form an energy distribution sequence, and identify the position where the energy change rate suddenly increases and mark it as the energy peak transition point; Using the energy peak transition point as the time boundary, the continuous time chain is segmented into time segments, and the turning point of the energy curve is identified in the energy change section. This turning point is defined as the start of the jump. The jump start point and the corresponding energy peak transition point are matched in a continuous time chain to form a unified reference time.

3. The ultra-wideband radio communication signal processing method based on motion error compensation according to claim 2, characterized in that, The steps for setting a reverse delay detection window starting from the energy peak transition point include: Using the time interval where the energy peak transition point is located as the central region, the start and end time ranges in the continuous time chain are determined, and a fixed time range is defined in the time direction before the energy peak transition point to construct a reverse delay detection window; Using the energy peak transition point as a time reference, the propagation delay information corresponding to each time position within the detection window is extracted along the reverse direction of the continuous time chain, and the rollback section with reverse offset in the propagation path delay change trend is identified. For the location where the delay change first shows a reverse trend within the detection window, this time coordinate is determined as the starting position of the time reverse offset, and a bidirectional time interval with this position as the dividing point is formed within the detection window. Using the starting position of the time reverse offset as the core, a path index truncation boundary is established on the continuous time chain to separate the rollback segment from the normal propagation segment in time, thus limiting the time range of the abnormal path.

4. The ultra-wideband radio communication signal processing method based on motion error compensation according to claim 3, characterized in that, The length of the reverse delay detection window is determined based on the time span of the propagating signal and the dynamic characteristics of the target motion. This ensures that the detection window covers the time reversal interval before and after the energy peak transition point. When forming the path index truncation boundary, the normal propagation section and the rollback section within the detection window are clearly demarcated on the time chain, with the starting position of the time reverse offset as the reference.

5. The ultra-wideband radio communication signal processing method based on motion error compensation according to claim 3, characterized in that, The steps for performing a unidirectional time-stretch operation on the propagation path tracing sequence within the scope defined by the path index truncation boundary include: Within the range defined by the path index truncation boundary, all propagation path tracing sequences are obtained, and the temporal structure of the propagation path is rearranged along the forward time direction with the time reverse offset starting position as a reference, so that the rollback section is incorporated into the continuous forward time frame. For the reverse delay region identified within the reverse delay detection window, the energy peak sequence is extracted and rearranged in forward time order while keeping the energy value unchanged, so that the distribution trend of the energy peaks is consistent with the forward sequence of the time chain. The rearranged energy peak sequence is time-connected with the normal propagation path tracing sequence within the path index truncation boundary, so that the propagation delay change trend and the energy peak change trend at the connection point maintain a continuous transition. Using the forward evolution direction of the time chain as the only time advancement path, a unidirectional time extension operation is performed on the rearranged time chain to ensure that the propagation path maintains a continuous extension relationship on the time axis and forms a complete time chain covering the velocity mutation interval.

6. The ultra-wideband radio communication signal processing method based on motion error compensation according to claim 5, characterized in that, In the unidirectional time extension operation, the time interval between each energy peak is kept consistent with the original propagation time delay variation law when the rearranged time chain is extended, and the order of energy peaks is kept stable during the extension process of the time chain, so that the propagation path maintains continuous distribution and temporal consistency on the extended time axis.

7. The ultra-wideband radio communication signal processing method based on motion error compensation according to claim 5, characterized in that, The steps for establishing a dynamic equilibrium band based on the rearranged time chain include: After completing the unidirectional time extension of the propagation path tracing sequence, the rearranged time chain is analyzed to determine the time range of the target motion speed change region, and a dynamic equilibrium zone is established with the energy peak transition point and the time slice of energy recovery stabilization as the boundary. Extract the energy peak distribution corresponding to each time slice in the dynamic equilibrium band, and determine the connection relationship between adjacent time slices based on the rearranged time chain structure to identify the transition segment where the energy distribution changes drastically. Based on the energy difference between adjacent time slices, the weights of the energy peaks are redistributed so that the energy distribution forms a continuous transition in the time dimension and the relative positions of the energy peaks remain unchanged. The redistributed energy peaks are mapped back into the rearranged time chain to form a propagation path energy chain with continuous energy distribution characteristics.

8. The ultra-wideband radio communication signal processing method based on motion error compensation according to claim 7, characterized in that, When redistributing the weights of energy peaks, the total energy is kept constant within the dynamic equilibrium zone, and the energy peaks are adjusted according to the connection relationship between adjacent time slices, so that the energy can transition continuously between time slices, and the time order of energy peaks is kept consistent with the time order of propagation path in the rearranged time chain.

9. The ultra-wideband radio communication signal processing method based on motion error compensation according to claim 7, characterized in that, The steps for implementing breathing-style time-anchor scheduling based on continuous time chains in a dynamic equilibrium zone include: After establishing the dynamic equilibrium band and redistributing the energy weights, based on the continuous time chain in the dynamic equilibrium band, the center time of the energy peak in each time slice is set as the candidate anchor point position, and time anchor points are arranged sequentially on the time chain to form an initial anchor point sequence. Based on the changes in propagation delay in each time slice within the dynamic equilibrium band, the spacing between adjacent time anchor points is adjusted: the spacing is expanded when the propagation delay increases and reduced when the propagation delay decreases. Establish temporal constraint relationships between anchor points during the adjustment of time anchor point spacing to ensure that the time distribution of anchor points before and after adjustment remains balanced. The adjusted time anchor distribution is remapped into a continuous time chain, enabling the path index to achieve adaptive convergence in the time dimension.

10. The ultra-wideband radio communication signal processing method based on motion error compensation according to claim 9, characterized in that, During the adjustment of the time anchor point spacing, the adjustment direction is determined by the propagation delay change trend of adjacent time slices within the dynamic balance band, and the temporal correlation of adjacent time anchor points is used as a constraint condition to ensure that each time anchor point maintains a continuous distribution after the expansion and contraction adjustment.

Images