Inherent time delay compensation method and system

Abstract

The present application relates to the cross technical field of wireless communication and sensing systems, and provides an inherent time delay compensation method and system. The method comprises: acquiring a baseband sensing signal; parsing parameters of the baseband sensing signal, and determining the signal type of the baseband sensing signal; in response to determining that the signal type is a periodic signal, performing inherent time delay compensation on the baseband sensing signal by using 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 using a target echo construction method. The method of the present application does not require any changes to the hardware structure, and is applicable to close-range target simulation scenarios for all periodic sensing waveforms.

Description

An Inherent Delay Compensation Method and System

[0001] This application claims priority to Chinese Patent Application No. 202411637546.8, filed on November 15, 2024, entitled "An Inherent Delay Compensation Method and System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application belongs to the interdisciplinary field of wireless communication and sensing systems, and specifically relates to an inherent time delay compensation method and system. Background Technology

[0003] The core of radar technology lies in its ability to accurately detect the distance, speed, and orientation of target objects by emitting electromagnetic waves and receiving their reflected waves. Sensor-communication integration refers to a technology that integrates multiple functions such as communication, sensing, and navigation. Within this framework, radar technology combines with other electronic technologies, such as wireless communication, to form a multifunctional and highly efficient electronic system. This system is applied in various 5G and future 6G scenarios, such as low-altitude economy and intelligent vehicle-to-everything (V2X) connectivity. This integration not only improves the system's resource utilization but also enhances its environmental adaptability and information processing capabilities.

[0004] However, due to the hardware characteristics of target sensing simulators, which are mostly composed of digital circuits, the input and output of sensing signals require analog-to-digital conversion and digital-to-analog conversion. Digital sampling and processing consume a significant amount of time, reaching hundreds of nanoseconds or even microseconds. Although the fiber optic delay line solution can achieve low processing latency, it has significant limitations in terms of step accuracy, the number of targets, and the upper limit of the test distance, preventing it from becoming mainstream.

[0005] The significant processing latency of digital target sensing simulators increases the minimum simulated sensing distance, severely limiting the lower limit of their minimum range simulation capability. For military and civilian radar testing, which often focuses on long-range detection, this impact is relatively minor. However, for future integrated sensing base stations and vehicle-mounted radars, where target sensing distances are concentrated within 1km, this limitation becomes extremely serious and urgently needs to be addressed. Summary of the Invention

[0006] To address the aforementioned technical problems, this application proposes an inherent time delay compensation method and system.

[0007] Firstly, this application proposes an inherent time delay compensation method, including:

[0008] Acquire baseband sensing signals;

[0009] The parameters of the baseband sensing signal are analyzed to determine the signal type of the baseband sensing signal;

[0010] In response to the determination that the signal type is a periodic signal, a phase compensation method is used to compensate for the inherent time delay of the baseband sensing signal;

[0011] In response to the determination that the signal type is a non-periodic signal, the baseband sensing signal is compensated for its inherent time delay using a target echo construction method.

[0012] The acquisition of the baseband sensing signal includes:

[0013] Receives analog sensing signals;

[0014] The simulated sensing signal is converted from analog to digital to obtain the baseband sensing signal;

[0015] Orthogonal sampling is performed on the baseband sensing signal to obtain orthogonal sampling data.

[0016] The process of parsing the parameters of the baseband sensing signal to determine the signal type of the baseband sensing signal includes:

[0017] Waveform analysis is performed on the orthogonal sampling data to obtain the parameters of the baseband sensing signal;

[0018] The signal type of the baseband sensing signal is determined based on the parameters of the baseband sensing signal.

[0019] The parameters of the baseband sensing signal include: period, bandwidth, amplitude, or duty cycle.

[0020] The phase compensation method includes:

[0021] Acquire the actual echo of the baseband sensing signal from the sensing target simulator;

[0022] 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.

[0023] The baseband sensing signal is adjusted according to the phase compensation amount to obtain the compensated echo signal.

[0024] The initial phase difference between the theoretical echo and the actual echo of the baseband sensing signal includes the initial phase difference during the up-frequency stage and the initial phase difference during the down-frequency stage. The initial phase difference during the up-frequency stage is calculated based on the theoretically received echo, the actual echo, the inherent delay, and the target set delay under zero inherent delay conditions. The initial phase difference during the down-frequency stage is calculated based on the theoretically received echo, the actual echo, the period of the baseband sensing signal, and the target set delay under zero inherent delay conditions.

[0025] The fixed Doppler frequency difference between the theoretical echo and the actual echo of the baseband sensing signal includes the fixed Doppler frequency difference in the up-frequency stage and the fixed Doppler frequency difference in the down-frequency stage. The fixed Doppler frequency difference in the up-frequency stage is obtained by multiplying the inherent time delay by the frequency modulation slope of the periodic signal. The fixed Doppler frequency difference in the down-frequency stage is obtained by calculating the difference between the inherent time delay and the period of the baseband sensing signal, and then multiplying the difference by the frequency modulation slope of the periodic signal.

[0026] The method for constructing the target echo includes: a first strategy or a second strategy;

[0027] The first strategy includes:

[0028] Adjust all devices to operate under the same synchronous clock;

[0029] Save the baseband sensing signal within a preset time period;

[0030] Based on the stored baseband sensing signals, the inherent time delay, Doppler frequency offset, and radar cross section of the target echo are constructed.

[0031] The constructed target echo is sent to the receiver of the sensing device.

[0032] The second strategy includes:

[0033] Adjust all devices to operate under the same synchronous clock;

[0034] Define the waveform format of the target echo and the target construction algorithm in the user-defined signal editing function interface of the communication test instrument;

[0035] The defined target echo is sent to the receiver of the sensing device.

[0036] Secondly, this application proposes an inherent time delay compensation system for implementing the method described in the first aspect, comprising:

[0037] The acquisition module is used to acquire baseband sensing signals;

[0038] The determination module is used to analyze the parameters of the baseband sensing signal and determine the signal type of the baseband sensing signal based on the analysis results;

[0039] Generative models are used to compensate for the inherent time delay of baseband sensing signals.

[0040] Third aspect:

[0041] This application also proposes a computationally readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described in the first aspect of this application.

[0042] Fourth aspect:

[0043] This application 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, when executing the computer program, implements the method as described in the first aspect of this application.

[0044] Beneficial Effects: This application proposes an inherent time delay compensation method and system. Employing a phase compensation method or a target echo construction method, and within a standard digital link and logic structure, it compensates for the inherent time delay of the sensing target simulation device, thereby expanding the signal simulation range of the sensing instrument. The method of this application does not require changes to the hardware structure and is applicable to all near-range target simulation scenarios with periodic sensing waveforms. Attached Figure Description

[0045] Figure 1 is a flowchart of an inherent delay compensation method according to an embodiment of this application;

[0046] Figure 2 is a schematic diagram of the test principle of the perception target simulator according to an embodiment of this application;

[0047] Figure 3 shows typical periodic sensing waveforms of embodiments of this application, (1) FSK waveform, (2) FMCW waveform, (3) MFSK waveform, and (4) LFM waveform;

[0048] Figure 4 shows the test system structure of an embodiment of this application;

[0049] Figure 5 is a schematic diagram of inherent time delay compensation for the FMCW waveform in an embodiment of this application;

[0050] Figure 6 is a schematic diagram of the inherent delay compensation principle of an embodiment of this application;

[0051] Figure 7 shows the simulation time-domain waveform of inherent delay compensation in an embodiment of this application;

[0052] Figure 8 shows the structure of the inherent delay compensation test system according to an embodiment of this application;

[0053] Figure 9 shows the two-cycle time-domain waveforms of the inherent delay compensation test in this application embodiment;

[0054] Figure 10 is a schematic diagram of LFM pulse inherent time delay compensation according to an embodiment of this application. Detailed Implementation

[0055] The specific implementation methods of this application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0056] In the production, testing, and R&D of communication sensing equipment, performance evaluation is a continuous process. Sensing target simulation equipment, such as radar target simulators, serves as the core equipment for sensing performance evaluation. It can simulate targets of a specific number, distance, angle, velocity, and radar cross section (RCS) in the laboratory, thereby accurately evaluating the target sensing accuracy and capability of the device under test. The structure of the testing system is generally as shown in Figure 2. The sensing base station or radar is placed in an anechoic chamber and connected to the sensing target simulator via air interface or conductive means. The incoming waves are processed by the target simulator, which assigns specific target number, distance, velocity, and RCS information. If multiple sensing target simulators are used in conjunction with curved slide rails and antenna probes, the angle information of the targets can also be simulated, thus achieving a laboratory-based assessment of sensing capabilities.

[0057] This application addresses the need for near-range target sensing simulation testing introduced in the field of sensor fusion, focusing on resolving the pain point that traditional target sensing simulators have large inherent time delays, failing to meet the requirements for near-range target sensing simulation. It proposes a time delay compensation method for target sensing simulation equipment. For different radar sensing waveforms and analytical principles, blind detection of the signal is first performed to obtain relevant information such as its sequence bandwidth and period. Then, two strategies are adopted: phase compensation or target echo signal construction. Under the premise of a common digital link and logic structure, the inherent time delay of the target sensing simulation equipment is compensated, thereby expanding the signal simulation range of the sensing instrument.

[0058] Example 1:

[0059] This embodiment proposes a surface inherent time delay compensation method, as shown in Figure 1, including:

[0060] Step S1: Acquire baseband sensing signals, specifically including:

[0061] Step S1.1: Receive simulated sensing signals;

[0062] Step S1.2: Perform analog-to-digital conversion on the simulated sensing signal to obtain the baseband sensing signal.

[0063] In this embodiment, firstly, the sensing signal is received using an instrument, and digital-to-analog conversion is performed to obtain the baseband sensing signal. Specifically, the sensing signal reaches the digital baseband via an analog-to-digital converter (ADC). I / Q quadrature sampling is performed on the digital baseband signal to obtain I / Q data, and time-amplitude distribution, frequency-amplitude distribution, and time-frequency distribution are plotted based on the I / Q data.

[0064] Step S2: Analyze the parameters of the baseband sensing signal to determine the signal type of the baseband sensing signal;

[0065] In this embodiment, the I / Q data is uploaded to the host computer for waveform analysis, mainly focusing on the analysis of information such as period, bandwidth, amplitude, and duty cycle. At the same time, one or two cycles of the signal are stored in the device's DDR (Double Data Rate) cache.

[0066] Step S3: In response to determining that the signal type is a periodic signal, the inherent time delay of the baseband sensing signal is compensated using a phase compensation method;

[0067] In this embodiment, different time delay compensation strategies are selected according to the signal type. For periodic signals that are simultaneously broadened in the time and frequency domains and correspond one-to-one, such as FSK (Frequency-Shift Keying), MFSK (Multi-Frequency Shift Keying), FMCW (Frequency Modulated Continuous Wave), LFM (Linear Frequency Modulation) pulses, as shown in Figure 3, phase difference compensation is used to perform time delay compensation.

[0068] For periodic signals, taking FMCW waveforms as an example, devices with amplitude, phase, and time delay adjustment functions, such as channel simulators, are typically used as sensing target simulation devices. The phase compensation processing method is shown in Figure 4.

[0069] First, it is necessary to clarify the effect and goal of the 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.

[0070] In this scenario, two time parameters need to be considered: one is the instrument's inherent time delay τ, which needs to be compensated for; the other is the target setting time delay T that needs to be simulated. aim This is an effect that needs to be perceived and simulated, and should be presented in its original form. A schematic diagram is shown in Figure 5. As can be seen from Figure 5, the theoretical echo should be offset backward by T waves compared to the incoming wave. aim The actual echo is shifted backward by T due to the inherent time delay of the instrument. aim +τ is the time interval. Therefore, we need to construct the compensated target signal (bottom curve) based on the actual echo, ensuring that the compensated signal matches the waveform of the theoretical echo. It is worth noting that T in the compensated signal... aim ~T aimThe +τ time interval cannot be compensated because, due to the inherent time delay, no signal reaches the receiver at the physical propagation level, so the signal in this segment is zero.

[0071] Phase compensation is performed based on the actual echo to achieve the effect of the theoretical echo in the time-frequency domain. Therefore, it requires calculating the initial phase difference and constant Doppler phase difference between the theoretical and actual echoes. The principle is shown in Figure 6. Let the duration (period) of the FMCW waveform be T, the bandwidth be BW, and the slope be K = BW / T. It can be seen that within one period, the compensation between the actual and theoretical echoes can be divided into two parts: the first part requires frequency upscaling, and the second part requires frequency downscaling. The frequency difference in each part is fixed, and the sum of the absolute values ​​of the frequency differences in the two parts equals the bandwidth BW. The compensation formula can be written as: S RX_test =S RX_real *exp(2πj×(θ0+F d *t))

[0072] Among them, S RX_test For the compensated echo signal, S RC_real To sense the actual signal received by the target simulator or channel simulator, θ0 is the initial phase difference, F d To ensure a fixed Doppler frequency difference that steadily increases over time, this embodiment acquires the actual echo of the baseband sensing signal from a target simulator or channel simulator. Based on the initial phase difference between the theoretical and actual echoes and the fixed Doppler frequency difference, a phase compensation amount is calculated. The baseband sensing signal is then adjusted according to the phase compensation amount to obtain the compensated echo signal.

[0073] θ0 and F d The calculation method is as follows: F d_1 =τ*KF d_2 =(τ-T)*K

[0074] Among them, S RX_Theory This represents the theoretically received echo under ideal zero inherent time delay conditions. In this embodiment, the initial phase difference includes the initial phase difference θ during the upsampling stage. 0_1 The initial phase difference θ with the down-frequency phase 0_2 The initial phase difference θ during the up-frequency phase 0_1 According to the theoretically received echo S under the condition of zero inherent time delay RX_Theory Actual echo S RX_real Inherent delay τ and target setting delay T aim The initial phase difference of the frequency reduction phase is calculated based on the theoretically received echo S under the condition of zero inherent time delay. RX_Theory Actual echo S RX_real The period T of the baseband sensing signal and the target setting delay T aimCalculated. Fixed Doppler frequency difference, including the fixed Doppler frequency difference F during the up-frequency phase. d_1 and the fixed Doppler frequency difference F during the down-frequency phase d_2 The fixed Doppler frequency difference F during the up-frequency phase d_1 The fixed Doppler frequency difference F during the down-frequency phase is obtained by multiplying the inherent time delay τ by the frequency modulation slope K of the periodic signal. d_2 The difference between the inherent time delay τ and the period T of the baseband sensing signal is calculated, and the difference is obtained by multiplying the difference by the frequency modulation slope K of the periodic signal.

[0075] Since this type of sensing waveform is a periodic extension, the general formula for the compensation can be obtained as follows:

[0076] Where n≥0.

[0077] The center frequency of the FMCW wave was set to F0 = 2GHz, bandwidth BW = 50MHz, time width T = 25us, and target delay τ = 2us. Simultaneously, a vector network analyzer was used to measure the inherent delay τ0 of the sensing device (channel simulator) participating in the test, which was 3.22us. The simulation results are shown in Figure 7. The simulation results show that the compensated target signal is consistent with the theoretical echo waveform, effectively compensating for the system's inherent delay.

[0078] In addition to theoretical simulation, this embodiment also conducted hardware tests. The sensor base station or the radar under test was connected via air interface or conductive means to conduct close-range tests, verifying its close-range target simulation performance. The edited sensing waveform was transmitted via an Arbitrary Waveform Generator (ARB). The received I / Q signals were acquired by a spectrum analyzer through a channel simulator, and then the receiving end imported the I / Q signals into the host computer for analysis. The clocks of all instruments were strictly synchronized, and the specific parameters of the phase compensation algorithm were set into the channel simulator. The test system is shown in Figure 8. No additional target simulation delay was added during the actual test; only the inherent delay of the instruments was compensated and analyzed. The results are shown in Figure 9. As shown in the upper part of Figure 9, if the theoretical sensing wave is set to 0 after passing through the channel simulator, the theoretical echo is equal to the incoming wave, and its time-domain waveform remains unchanged. After applying inherent time delay compensation, the waveform of the signal received by the spectrum analyzer is shown in the lower half of Figure 9. Due to physical limitations, no valid signal can be received during the initial 3.22µs of the first cycle. The signal after 3.22µs is consistent with the incoming signal, and subsequent cycles are also completely consistent. Through the matched filtering analysis algorithm, the perceived time delay is 0, achieving compensation for the inherent time delay and verifying the effectiveness of the algorithm.

[0079] The principle is the same for LFM pulse signals, which also involves compensation based on the phase difference between the theoretical echo and the actual echo. It's important to note that because pulse signals have a duty cycle, no actual signal is transmitted during idle periods. Therefore, the theoretical echo used to calculate the phase difference needs to undergo a virtual "period extension" so that data can be used in the calculation. As shown in Figure 10, in summary, the method in this embodiment is effective for compensating when the period of the sensing signal is greater than the instrument's inherent time delay. If the signal period is less than the inherent time delay, it cannot be applied, and a target echo construction method is recommended.

[0080] It is worth noting that when the target set delay is greater than the inherent delay, the instrument does not need to compensate for the inherent delay. It can simply add the time difference between the target set delay and the inherent delay as the instrument setting value, and the target set delay can be achieved.

[0081] Step S4: In response to determining that the signal type is an aperiodic signal, the baseband sensing signal is compensated for its inherent time delay using the target echo construction method.

[0082] In this embodiment, considering the capabilities of the hardware instruments and the actual situation and needs of the tester, the target echo construction method can adopt the following two strategies to overcome the inherent time delay of the instruments and simulate the effect of near-range target perception:

[0083] The first strategy includes:

[0084] Adjust all devices to operate under the same synchronous clock;

[0085] Save the baseband sensing signal within a preset time period;

[0086] Based on the stored baseband sensing signals, the inherent time delay, Doppler frequency offset (movement velocity), and radar cross section of the target echo are constructed.

[0087] The constructed target echo is sent to the receiver of the sensing device.

[0088] Specifically, this scheme first receives a large amount of incoming wave signals and stores it in the instrument's digital baseband storage unit, such as DDR or SSD modules. Then, it constructs the target's time delay, Doppler, RCS, and other characteristics, and then forwards it to the receiver of the sensing device. This scheme has strong universality, but it should be noted that the relevant instruments need to be strictly clock-synchronized with the device under test. In addition, long-term data storage also places higher demands on the storage capacity of the hardware.

[0089] The second strategy includes:

[0090] Adjust all devices to operate under the same synchronous clock;

[0091] Define the waveform format of the target echo and the target construction algorithm in the user-defined signal editing function interface of the communication test instrument;

[0092] The defined target echo is sent to the receiver of the sensing device.

[0093] Specifically, traditional communication test instruments such as signal generators and channel simulators all have user-defined signal editing functions and interfaces, and their internal digital logic is coherent and uninterrupted. Therefore, this permission can be granted to the tester to define waveform formats, allowing the user to input incoming wave signals. Combined with the internal target construction algorithm, this enables the editing of echo signals with arbitrary time delays. This solution saves hardware resources compared to data storage and forwarding methods, but it still requires strict clock synchronization and deep user involvement, resulting in a relatively reduced level of automation.

[0094] This embodiment proposes an inherent time delay compensation method to compensate for the inherent time delay of instruments in laboratory-simulated target generation equipment during radar or integrated sensing base station testing. This overcomes the limitations of instrument-based target simulation distance and enables the simulation of near-range sensing targets. This method, tailored to different radar sensing waveforms and analytical principles, first performs blind detection of the signal to obtain relevant information such as its sequence bandwidth and period. Then, it employs two strategies—phase compensation or sensing target echo construction—to compensate for the inherent time delay of the sensing target simulation equipment. This method achieves optimization compensation solely through software algorithms, without introducing additional hardware costs. It is applicable to near-range target simulation of all periodic and non-periodic sensing waveforms and has unique advantages in near-range target sensing testing in research fields such as integrated sensing.

[0095] Example 2:

[0096] This embodiment proposes an inherent time 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;

[0097] The acquisition module is used to acquire baseband sensing signals;

[0098] In this embodiment, the acquisition module is used to receive analog sensing signals from radar or sensing base stations. The analog sensing signals are converted into digital baseband sensing signals by analog-to-digital converters. The digital baseband sensing signals are subjected to I / Q quadrature sampling to obtain I / Q data. Based on the I / Q data, time-amplitude distribution diagrams, frequency-amplitude distribution diagrams, and time-frequency distribution diagrams are plotted.

[0099] The determination module is used to analyze the parameters of the baseband sensing signal and determine the signal type of the baseband sensing signal based on the analysis results;

[0100] In this embodiment, the I / Q data is uploaded to the host computer for waveform analysis. Information such as its period, bandwidth, amplitude, and duty cycle are analyzed, and one or two cycles of the signal are stored in the device's DDR cache.

[0101] The generation module is used to compensate for the inherent time delay of the baseband sensing signal.

[0102] In this embodiment, the generation module can be a channel simulator or a sensing target simulator.

[0103] This invention provides a method for compensating the inherent time delay of a simulated sensing target generation device. By detecting the sensing signal and obtaining its sequence bandwidth and period, two strategies—phase difference calibration or target echo construction—are employed to compensate for the inherent time delay of the sensing target simulation device. This achieves a "zero inherent time delay" effect at the receiver, thereby enabling accurate simulation of near-range sensing targets. This scheme primarily optimizes compensation at the software algorithm level without requiring changes to the hardware structure and is applicable to all near-range target simulation scenarios with periodic sensing waveforms.

[0104] Example 3:

[0105] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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.

[0106] Therefore, this application also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods described in any embodiment of this application. The computer-readable storage medium can be configured in any device of this application.

[0107] Example 4:

[0108] Furthermore, this embodiment also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, it implements the method described in any embodiment of this application. The methods described are included in the functional descriptions above and will not be repeated here.

[0109] For example, it includes: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the method provided in the embodiments of this application. The methods described are included in the functional descriptions above and will not be repeated here.

[0110] The electronic device also includes input and output devices; the processor, storage device, input and output devices in the electronic device can be connected by a bus or other means.

[0111] A storage device, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and module units, such as program instructions corresponding to the methods in the embodiments of this application. The storage device may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the terminal, etc. Furthermore, the storage device may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the storage device may further include memory remotely located relative to the processor, and these remote memories can be connected via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The various embodiments in this application are described in a progressive manner; similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments.

[0112] The scope of protection of this application is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from the scope and spirit of this disclosure. If such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, then the intent of this disclosure also includes such modifications and variations.

Claims

1. An inherent time delay compensation method, characterized in that, include: Acquire baseband sensing signals; The parameters of the baseband sensing signal are analyzed to determine the signal type of the baseband sensing signal; In response to the determination that the signal type is a periodic signal, a phase compensation method is used to compensate for the inherent time delay of the baseband sensing signal; In response to the determination that the signal type is a non-periodic signal, the baseband sensing signal is compensated for its inherent time delay using a target echo construction method.

2. The inherent time delay compensation method according to claim 1, characterized in that, The acquisition of the baseband sensing signal includes: Receives analog sensing signals; The simulated sensing signal is converted from analog to digital to obtain the baseband sensing signal; Orthogonal sampling is performed on the baseband sensing signal to obtain orthogonal sampling data.

3. The inherent time delay compensation method according to claim 1, characterized in that, The process of parsing the parameters of the baseband sensing signal to determine the signal type of the baseband sensing signal includes: Waveform analysis is performed on the orthogonal sampling data to obtain the parameters of the baseband sensing signal; The signal type of the baseband sensing signal is determined based on the parameters of the baseband sensing signal.

4. The inherent time 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 time delay compensation method according to claim 1, characterized in that, The phase compensation method includes: Acquire the actual echo of the baseband sensing signal from the sensing target simulator; 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 the compensated echo signal.

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

7. The inherent time 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 sensing signal includes the fixed Doppler frequency difference in the up-frequency stage and the fixed Doppler frequency difference in the down-frequency stage. The fixed Doppler frequency difference in the up-frequency stage is obtained by multiplying the inherent time delay by the frequency modulation slope of the periodic signal. The fixed Doppler frequency difference in the down-frequency stage is obtained by calculating the difference between the inherent time delay and the period of the baseband sensing signal, and then multiplying the difference by the frequency modulation slope of the periodic signal.

8. The inherent time delay compensation method according to claim 1, characterized in that, The method for constructing the target echo includes: a first strategy or a second strategy; The first strategy includes: Adjust all devices to operate under the same synchronous clock; Save the baseband sensing signal within a preset time period; Based on the stored baseband sensing signals, the inherent time delay, Doppler frequency offset, and radar cross section of the target echo are constructed. The constructed target echo is sent to the receiver of the sensing device; The second strategy includes: Adjust all devices to operate under the same synchronous 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 time delay compensation system for implementing the method according to any one of claims 1 to 8, characterized in that, include: The acquisition module is used to acquire baseband sensing signals; The determination module is used to analyze the parameters of the baseband sensing signal and determine the signal type of the baseband sensing signal based on the analysis results; The generation module is used to compensate for the inherent time delay of the baseband sensing signal.

10. A computationally readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the inherent delay compensation method as described in any one of claims 1 to 8.

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 the processor, when executing the computer program, implements the inherent delay compensation method as described in any one of claims 1 to 8.

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