A device senses an environment by transmitting
radar pulses encoded with a known sequence, the
radar pulses having a pulse length as long as a maximum round-trip
delay time corresponding to a maximum
radar distance. Thereafter, a reflection of the pulse is received, where the reflection length is shorter than the pulse length. Generating a set of correlation results representing a correlation of the received radar reflection with differently delayed replicas of the radar pulse, where each of the differently delayed replicas has a corresponding
delay hypothesis selected from a set of
delay hypotheses, a range of the set of delay hypotheses is between a minimum delay
hypothesis associated with a minimum radar distance and a maximum delay
hypothesis associated with a maximum radar distance. A copy of the delay of the radar pulse that produces a target correlation result of the set of correlation results is found, and the delay assumption is used to estimate the distance of the sensed object in the environment.