CN109444891A - A kind of millimetre-wave radar antenna system and decoupling method - Google Patents
A kind of millimetre-wave radar antenna system and decoupling method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
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Abstract
The invention discloses a kind of millimetre-wave radar antenna system and decoupling methods, the antenna system includes aerial array, primary processor and baseband processing circuitry, the aerial array includes at least 2 transmitting antennas and at least 2 receiving antennas, the transmitting signal of primary processor is radiated to object by transmitting antenna, receiving antenna receives target echo, signal obtains each target component after primary processor is mixed to base band, by baseband processing circuitry analytical calculation.Compared with equal performance radar, the antenna system is using single processing integrated chip scheme, and cost is relatively low, and mainboard and antenna element are more compact.Using the decoupling method, target bearing and pitch angle can be calculated, and by the equivalent virtual array principle of MIMO, above-mentioned antenna system can fictionalize more receiving channels, improve azimuth determination resolution ratio.It using the monopulse antenna structure in the antenna system, can solve when receiving antenna interval is larger, main beam shapes the fuzzy problem of azimuth angle measurement.
Description
Technical field
The present invention relates to a kind of antenna system and decoupling method, in particular to a kind of millimetre-wave radar antenna system and decoupling
Method.
Background technique
Vehicle-mounted millimeter wave radar has become major vapour as a kind of active prevention apparatus for improving automotive safety coefficient
The emphasis of depot quotient and the majority of consumers' concern.Radar by the reflection signal of processing target object thus obtain the distance of object,
The information such as speed, angle.Cardinal principle is to generate a specific waveform first inside radar, wherein the beam signal of fraction
It is used as reference signal, and in addition most beam signal is gone out by aerial radiation.The signal being radiated is being propagated through
It encounters target in journey then to reflect, reflected signal is received antenna and receives and be mixed with reference signal, radar
Baseband circuit on plate can be handled this mixed frequency signal, obtain the relative velocity of Ben Che and other objects, azimuth,
The information such as distance.System judges these information, when system identification is dangerous, can be slowed down automatically, be braked, with
This protection ride safety of automobile.In vehicle travel process, for the trailer-mounted radar of no pitching angle measurement ability, can by some for
Driving safety is almost without in the traffic related compounds (such as pop can in road center, inspection well cover etc.) and normally travel road of influence
Tunnel, bridge opening etc., be considered as risk object, to take emergency braking measure, seriously affect driving experience and driver's life
Safety；Therefore, for vehicle-mounted millimeter wave radar in addition to azimuth determination, pitch angle angle measurement ability is also extremely important.
Currently, millimetre-wave radar antenna mainly in the form of micro-strip paster antenna based on, mostly use multiple-input multiple-output (MIMO) greatly
System, and multiple-input multiple-output system generate equivalent more receiving channels Signal-to-Noise although can be improved, to improve ranging
Angle measurement accuracy, but may have following deficiency:
1, when the interval between millimetre-wave radar adjacent reception antenna is larger, there are angle measurements to obscure for main beam forming results,
When being greater than 0.5 λ such as the interval between millimetre-wave radar adjacent reception antenna, radar bearing angle measurable angle range [- αmin,αmax] be less than
90 degree, when azimuth of target α is not within the scope of radar angle measurement, azimuth of target can be mapped as one within the scope of radar angle measurement
Angle [alpha]m, so that radar receiving end can not judge that the actual value of the angle is α or αm, i.e., there are ambiguities for angle measurement result
Problem；
2, in order to realize higher resolution ratio, integrated using multi-chip, cost is very high, and radar volume is also more huge；
3, when three traditional four acceptor systems of hair have pitch angle and azimuth determination function at the same time, the reception fictionalized is logical
Road is often less, causes azimuth resolution lower.
In view of this, the present inventor studies this, a kind of millimetre-wave radar antenna system and decoupling are specially developed
Thus method, this case generate.
Summary of the invention
The object of the present invention is to provide a kind of millimetre-wave radar antenna system and decoupling methods.
To achieve the goals above, solution of the invention is:
A kind of millimetre-wave radar antenna system, including aerial array, primary processor and baseband processing circuitry, the antenna array
Column include at least 2 transmitting antennas, and at least 2 receiving antennas, and the transmitting signal of primary processor is radiated by transmitting antenna
To object, receiving antenna is received by the reflected signal of object, and the signal is after primary processor is mixed, by base band
Processing circuit analytical calculation obtains each target component.
Preferably, every transmitting antenna includes at least one linear array；The every receiving antenna includes at least one
A linear array.
Preferably, the linear array includes several patches, the patch is the patch that width is weighted.By to every
The width of a patch is weighted, and changes the current strength of each patch, is then changed the overall current distribution of linear array, is reduced secondary
Valve, weighting scheme are distributed using Chebyshev, realize that the equal minor lobes of wave beam are distributed.
Preferably, the aerial array includes 3 transmitting antennas and 4 receiving antennas.
Preferably, the aerial array includes the first transmitting antenna set gradually, the second transmitting antenna, the first reception
Antenna, the second receiving antenna, third receiving antenna, the 4th receiving antenna and third transmitting antenna；Wherein, the first receiving antenna away from
It is d from the lateral separation at the second receiving antenna and third receiving antenna centerx3, wherein 3 λ≤dx3≤4.5λ；Second receives day
Lateral separation d between line, third receiving antennax4=0.5 λ, the 4th the second receiving antenna of receiving antenna distance and third receive
The lateral separation d of center of antennax5=dx3, lateral separation d between first transmitting antenna, the second transmitting antennax1=dx3/
2, longitudinal gap dy1=1.4 λ, the lateral separation d between the second transmitting antenna and third transmitting antennax2=3dx3, longitudinal gap
It is 0；Wherein the λ is carrier wavelength.
A kind of millimetre-wave radar antenna decoupling method, includes the following steps:
1) each transmitting antenna in aerial array emits signal simultaneously, with phase, and signal is after object reflects, by each
Receiving antenna receives；
2) equivalent virtually to obtain the virtual antenna arrays being made of N receiving antenna according to the equivalent virtual array principle of MIMO
Column, N are the product of practical receiving antenna quantity and number of transmission antennas；
3) phase value at each receiving antenna center in virtual antenna array is calculated according to formula (1):
Wherein n=1,2,3 ... N, dazFor the horizontal spacing between each receiving antenna of virtual antenna array, delFor virtual day
Longitudinal pitch between each receiving antenna of linear array, λ are carrier wavelength, and θ is azimuth of target, and φ is pitch angle, are obtained virtual
Total phase set of receiving antenna in aerial array
4) each phase value in total phase set is arranged to by several subsets, the subset packet according to function difference
Include main beam collectionFirst wavelet constrictionSecond wavelet constrictionWith pulse collectionIn wherein one or more；
5) to the main beam collectionPower estimation calculation is carried out, azimuth of target θ is obtained1；To the first beamletCollection carries out
Power estimation is calculated, and pitch angle φ is obtained；To the second wavelet constrictionPower estimation calculation is carried out, azimuth of target θ is obtained2, to the list
Pulse setUsing than phase algorithm, obtain without fuzzy azimuth.
Preferably, the main beam collection
Preferably, the first wavelet constrictionIncluding total phase setEach phase value of middle front half, i.e.,
Preferably, the second wavelet constrictionIncluding total phase setEach phase value when middle n is even number, i.e.,
Preferably, the pulse collectionIncluding being divided into each phase corresponding to the virtual receiving antenna of 0.5 λ between two
Place value.
Millimetre-wave radar antenna system of the present invention, using single master chip processor, cost is relatively low, is suitble to big rule
Modulus produces；It is compared simultaneously with equal performance radar, antenna element of the present invention is more compact, and dual-mode antenna is less, radar
Occupied space is smaller, helps to be mounted on narrow vehicle interior.Using the millimetre-wave radar antenna system of above-mentioned decoupling method,
Azimuth and the pitch angle of measurement target can be calculated, when receiving antenna interval is larger, carried out using 2 sub- beam formings
Angle measurement solves the problems, such as that main beam shapes angle measurement ambiguity；Moreover, have pitch angle, azimuth determination function it is same
When, more receiving channels can be fictionalized, azimuth determination resolution ratio is further increased.
Below in conjunction with drawings and the specific embodiments, the invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the millimetre-wave radar antenna system working principle diagram of the present embodiment；
Fig. 2 is the layout of the aerial array of the present embodiment；
Fig. 3 is the layout of the virtual antenna array of the present embodiment.
Specific embodiment
Millimetre-wave radar antenna system 2 described in the present embodiment, mountable front or side in vehicle 1, such as Fig. 1 institute
Show, the millimetre-wave radar antenna system 2 includes 3, primary processors 4 of aerial array and a Base-Band Processing of multiple-input multiple-output
Circuit 5, the present embodiment are described in detail with the aerial array that three hairs four are received.The aerial array 3 includes the be arranged successively
One transmitting antenna TX1, the second transmitting antenna TX2, the first receiving antenna RX1, the second receiving antenna RX2, third receiving antenna
RX3, the 4th receiving antenna RX4 and third transmitting antenna TX3.Each transmitting antenna and receiving antenna are micro-strip antenna array, work
Frequency is located at car radar regulation use scope (76~81GHz).
In the present embodiment, the first transmitting antenna TX1, the second transmitting antenna TX2, third transmitting antenna TX3 are
One linear array, can also be using the transmitting antenna of two linear arrays or three linear arrays.When there are 2 or more linear arrays, need diligent
Device is divided to be attached.The first receiving antenna RX1 and the 4th receiving antenna RX4 structure are identical, include power splitter, and string
Two linear arrays being associated on power splitter, the second receiving antenna RX2, third receiving antenna RX3 structure are identical, using a line
Battle array, wave beam is wider, and gain relative transmission antenna is more lower.It is connected between the two adjacent linear array on the same power splitter
Between be divided into 0.5 λ, the λ is carrier wavelength (i.e. operation wavelength), such as the free space wavelength at centre frequency 76.5GHz.
As shown in Fig. 2, lateral separation refers to interval along the x axis in X-Y coordinate, longitudinal gap refers to along Y-axis
The interval in direction, the lateral separation d between the first transmitting antenna TX1 and the second transmitting antenna TX2x1=1.5 λ, between longitudinal direction
Every dy1=1.4 λ, the lateral separation d between the second transmitting antenna TX2 and third transmitting antenna TX3x2=9 λ, longitudinal gap 0
(that is, in same level)；First receiving antenna RX1 distance the second receiving antenna RX2 and the center third receiving antenna RX3
Lateral separation is dx3=3 λ, the lateral separation between the second receiving antenna RX2, third receiving antenna RX3 are dx4=0.5 λ, the
The lateral separation at four receiving antenna RX4 distance the second receiving antenna RX2 and the center third receiving antenna RX3 is dx5=3 λ, first
Receiving antenna RX1, the second receiving antenna RX2, third receiving antenna RX3, the 4th receiving antenna RX4 longitudinal gap be 0 (that is,
In same level)；The longitudinal gap of described second transmitting antenna TX2 (or third transmitting antenna TX3) and each receiving antenna
For dy2, dy2Value can rationally be adjusted according to radar laying out pattern, do not influence calculated result.
The linear array of each transmitting antenna and receiving antenna includes 10 patches in the present embodiment, and the patch is width by adding
The patch of power, reduces minor lobe by the way of amplitude weighting along the y-axis direction.It is weighted by the width to each patch,
Change the current distribution of each patch, reduce minor lobe, weighting scheme is distributed using Chebyshev, realizes that the equal minor lobes of wave beam divide
Cloth.
General transmitting antenna patch is some more, and gain is larger, can be used for improving target detection range.And receiving antenna patch
Less, wave beam is wider, can be used for expanding target detection angle.In actual use, some does not need to test too far
Distance, and some need extension detection angles etc., can be depending on radar actual test demand.
The first transmitting antenna TX1, the second transmitting antenna TX2, third transmitting antenna of above-mentioned millimetre-wave radar antenna system 2
TX3 simultaneously goes out the signal radiation of primary processor 4, and electromagnetic wave encounters object 6 during spatial and by object 6
It is reflected back the first receiving antenna RX1, the second receiving antenna RX2, third receiving antenna RX3, the 4th for being arranged on different location
Receiving antenna RX4, then this high-frequency signal is mixed by primary processor 4 with local oscillation signal, is transmitted in baseband circuit 5 and is carried out
Processing, because having certain interval between adjacent 2 receiving antennas, this, which will lead to the signal that every receiving antenna receives, has
Certain phase difference.By handling this phase difference, multiple angle informations of object 6 can be obtained.
Three four acceptor millimetre-wave radar antenna systems of hair described in the present embodiment, using single master chip processor, at
This is lower, is suitble to scale of mass production；It is compared simultaneously with equal performance radar, antenna element of the present invention is more compact, receives
Hair antenna is less, and radar occupied space is smaller, helps to be mounted on narrow vehicle interior.
The decoupling method of millimetre-wave radar antenna system based on four acceptors of above-mentioned three hair, includes the following steps:
1) the first transmitting antenna TX1 in aerial array, the second transmitting antenna TX2, third transmitting antenna TX3 be simultaneously, together
Mutually transmitting signal, the signal launched is after the reflection of object 6, by the first receiving antenna RX1, the second receiving antenna RX2, third
Receiving antenna RX3, the 4th receiving antenna RX4 are received.
2) according to the equivalent virtual array principle of MIMO, it is equivalent virtually obtain being made of 12 (3*4) receiving antennas it is virtual
Aerial array, as shown in figure 3, its equivalent virtual receiving antenna array can indicate are as follows: { RX1, RX2, RX3+RX4, RX5+
RX6, RX7, RX8,0, RX9,0, RX10+RX11,0, RX12 }
Total phase set of corresponding virtual receiving antenna array are as follows:
3) phase value at each receiving antenna center in virtual antenna array is calculated according to formula (1):
Wherein n=1,2,3,4L 12, dazFor the horizontal spacing between each receiving antenna of virtual antenna array, delIt is virtual
Longitudinal pitch between each receiving antenna of aerial array, in the present embodiment, preferably daz=1.5 λ, del=1.4 λ, λ are carrier wave
Wavelength, θ are azimuth of target, and φ is pitch angle.
4) each phase value in total phase set of the virtual receiving antenna is arranged to by several according to function difference
Subset, each subset are respectively used to calculate different parameters, the quantity of subset according to actual needs depending on, in the present embodiment,
The subset includes main beam collection(Main-beamformer), the first wavelet constriction(Sub-beamformer1), second
Wavelet constriction(Sub-beamformer2) and pulse collection(Monopulse), wherein the main beam collectionIncluding total
Phase setIn all phase values, i.e.,The first wavelet constrictionIncluding
Total phase setIn before half phase value, i.e.,The second wavelet constriction
Including total phase setEach phase value when middle n is even number, i.e.,The pulse
CollectionIncluding being divided into each phase value corresponding to the virtual receiving antenna of 0.5 λ between two, i.e.,
5) to the main beam collectionEstimate to obtain frequency corresponding to azimuth of target using maximum- likelihood estimation,
To which estimation obtains azimuth angle theta1.Maximum- likelihood estimation calculation amount is larger, and the common algorithm that simplifies is Fourier transformation, obtains
The result obtained is the approximation of maximum likelihood algorithm result.In addition, super resolution algorithm such as MUSIC algorithm, ESPIRIT algorithm etc. because
It is widely used in angle estimation with higher angular resolution.By main beam collectionThe azimuth of target θ being calculated1,
Because of main beam collectionThe phase that FFT is participated in forming is most, and the accumulation gain of target bearing is maximum, thus has maximum noise
Than；Target bearing resolution capability under single goal scene is best；It is preferable for the multi-sources distinguishing ability with similar orientation angle；
6) to the first wavelet constrictionEstimate to obtain corresponding to target pitch angle using maximum- likelihood estimation
Frequency, so that estimation obtains pitch angle φ.Maximum- likelihood estimation calculation amount is larger, and the common algorithm that simplifies is Fourier's change
It changes, the result of acquisition is the approximation of maximum likelihood algorithm result.Fourier transformation obtain Liang Ge local peaking, the part
The ratio between peak value has specific mathematical relationship with pitch angle, calculates pitch angle according to this mathematical relationship.In addition, super resolution algorithm is such as
MUSIC algorithm, ESPIRIT algorithm etc. are widely used in pitch angle estimation due to higher angular resolution.
7) to the second wavelet constrictionEstimate to obtain corresponding to azimuth of target using maximum- likelihood estimation
Frequency, so that estimation obtains azimuth angle theta2.Maximum- likelihood estimation calculation amount is larger, and the common algorithm that simplifies is Fourier's change
It changes, the result of acquisition is the approximation of maximum likelihood algorithm result.In addition, super resolution algorithm such as MUSIC algorithm, ESPIRIT is calculated
Method etc. is widely used in orientation angles estimation due to higher angular resolution.Because the second wavelet beam shaping is not by pitching
Angle information influences, can accurate estimation orientation angle information.And azimuth angle measurement accuracy phase of the result under multiple target scene
To best, and there is relatively good multi-sources distinguishing ability.But, since the second beam subset antenna spacing is greater than λ/2, thunder
Up to azimuth measurable angle range [- αmin,αmax] less than 90 degree, when azimuth of target α is not within the scope of radar angle measurement, target bearing
Angle can be mapped as an angle [alpha] within the scope of radar angle measurementm, so that radar receiving end can not judge the actual value of the angle
It is α or αm, i.e., there are angle measurements to obscure for angle measurement result, for example, when being divided into 3 λ/2 between the second beamlet concentration respective antenna, angle measurement
Range is positive and negative 19.5 degree, then the azimuth spent for 41.8 degree or -41.8 can all be mapped as 0 degree, so working as radar receiving end
When measuring 0 degree of angle, can not judge it is 0 degree, it is fuzzy to have angle measurement for 41.8 degree of still -41.8 degree.
8) for the pulse collectionUsing than phase algorithm, obscured to solve angle measurement.Specifically,Three of set
Phase valueThree groups of Monopulse estimation structures are respectively corresponded, every group of angle measurement structure is by being divided into λ/2 between two
Antenna is constituted, and measurable angle range is positive and negative 90 degree.The phase difference that target echo causes two antennas certain, using can than phase algorithm
To obtain azimuth of target, to the azimuth of target weighted sum that three groups of phase values calculate separately, for improving angle measurement letter
It makes an uproar ratio.It is not present and is obscured using the azimuth that step 8 obtains, but precision is lower.As previously described, because step 7 second wave beam
It is high to collect the azimuth accuracy that measures, but that there are angle measurements is fuzzy, i.e., can not determine azimuthal specific value, and what step 8 obtained
Can to solve angle measurement fuzzy there is no fuzzy at azimuth, to obtain high Precision angle.For example, when there are 0, -41.8 for step 7
Degree, when the fuzzy angle such as 41.8 degree, it is 45 degree that pulse, which measures angle, although angle possibility precision is not high, is enough to solve survey
Angle mould paste determines that the azimuth of step 7 is 41.8 degree.
Using the decoupling method of the millimetre-wave radar antenna system of four acceptors of above-mentioned three hair, target bearing can be calculated
And pitch angle, and by the equivalent virtual array principle of MIMO, above-mentioned antenna system can fictionalize more receiving channels, raising side
Parallactic angle Measurement Resolution.Using the monopulse antenna structure in the antenna system, can solve when receiving antenna interval is larger,
Main beam shapes the fuzzy problem of azimuth angle measurement.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
His embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
The variation of fit+answering property follow general principle of the invention and including the undocumented common knowledge in the art of the present invention or
Conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by claim
It points out.
Claims (10)
1. a kind of millimetre-wave radar antenna system, it is characterised in that: including aerial array, primary processor and baseband processing circuitry,
The aerial array includes at least 2 transmitting antennas and at least 2 receiving antennas, and the transmitting signal of primary processor is by transmitting day
To object, receiving antenna is received by object reflected signal beta radiation, the signal after primary processor is mixed,
Each target component is obtained by baseband processing circuitry analytical calculation.
2. a kind of millimetre-wave radar antenna system as described in claim 1, it is characterised in that: every transmitting antenna includes
At least one linear array；The every receiving antenna includes at least one linear array.
3. a kind of millimetre-wave radar antenna system as described in claim 1, it is characterised in that: the linear array includes several patches
Piece, the patch are the patch that width is weighted.
4. a kind of millimetre-wave radar antenna system as described in claim 1, it is characterised in that: the aerial array includes 3
Transmitting antenna and 4 receiving antennas.
5. a kind of millimetre-wave radar antenna system as claimed in claim 4, it is characterised in that: the aerial array includes successively
The first transmitting antenna for being arranged, the second transmitting antenna, the first receiving antenna, the second receiving antenna, third receiving antenna, the 4th connect
Receive antenna and third transmitting antenna；Wherein, the cross of the first the second receiving antenna of receiving antenna distance and third receiving antenna center
D is divided intox3, wherein 3 λ≤dx3≤4.5λ；Lateral separation d between second receiving antenna, third receiving antennax4=0.5
λ, the lateral separation d of the 4th the second receiving antenna of receiving antenna distance and third receiving antenna centerx5=dx3, first hair
Penetrate the lateral separation d between antenna, the second transmitting antennax1=dx3/ 2, longitudinal gap dy1=1.4 λ, the second transmitting antenna and
Lateral separation d between three transmitting antennasx2=3dx3, longitudinal gap 0；Wherein the λ is carrier wavelength.
6. a kind of millimetre-wave radar antenna decoupling method, it is characterised in that include the following steps:
1) each transmitting antenna in aerial array emits signal simultaneously, with phase, and signal is after object reflects, by each reception
Antenna receives；
2) equivalent virtually to obtain the virtual antenna array being made of N receiving antenna, N according to the equivalent virtual array principle of MIMO
For the product of practical receiving antenna quantity and number of transmission antennas；
3) phase value at each receiving antenna center in virtual antenna array is calculated according to formula (1):
Wherein n=1,2,3 ... N, dazFor the horizontal spacing between each receiving antenna of virtual antenna array, delFor virtual antenna array
Longitudinal pitch between each receiving antenna, λ are carrier wavelength, and θ is azimuth of target, and φ is pitch angle, obtain virtual antenna arrays
Total phase set of receiving antenna in column
4) each phase value in total phase set is arranged to by several subsets according to function difference, the subset includes master
Beam collectionFirst wavelet constrictionSecond wavelet constrictionWith pulse collectionIn wherein one or more；
5) to the main beam collectionPower estimation calculation is carried out, azimuth of target θ is obtained1；To the first beamletCollection carries out spectrum and estimates
It calculates, obtains pitch angle φ；To the second wavelet constrictionPower estimation calculation is carried out, azimuth of target θ is obtained2, to the pulse
CollectionUsing than phase algorithm, obtain without fuzzy azimuth.
7. a kind of millimetre-wave radar antenna decoupling method as claimed in claim 6, it is characterised in that: the main beam collection
8. a kind of millimetre-wave radar antenna decoupling method as claimed in claim 6, it is characterised in that: the first wavelet constrictionIncluding total phase setEach phase value of middle front half, i.e.,
9. a kind of millimetre-wave radar antenna decoupling method as claimed in claim 6, it is characterised in that: the second wavelet constrictionIncluding total phase setEach phase value when middle n is even number, i.e.,
10. a kind of millimetre-wave radar antenna decoupling method as claimed in claim 6, it is characterised in that: the pulse collection
Including being divided into each phase value corresponding to the virtual receiving antenna of 0.5 λ between two.
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| CN109917340A (en) * | 2019-04-25 | 2019-06-21 | 浙江力邦合信智能制动系统股份有限公司 | A kind of MIMO radar waveform modulation-demo-demodulation method |
| CN110515066A (en) * | 2019-08-20 | 2019-11-29 | 富临精工先进传感器科技(成都)有限责任公司 | A kind of vehicle-mounted millimeter wave radar and its object height measurement method |
| CN110940957A (en) * | 2019-10-28 | 2020-03-31 | 惠州市德赛西威汽车电子股份有限公司 | Modular millimeter wave radar |
| CN111180905A (en) * | 2019-12-31 | 2020-05-19 | 福瑞泰克智能系统有限公司 | Array antenna arrangement and automobile |
| CN111289960A (en) * | 2020-05-08 | 2020-06-16 | 之江实验室 | Method for improving angular resolution of MIMO radar and target positioning method |
| CN111650582A (en) * | 2020-07-27 | 2020-09-11 | 四川长虹电器股份有限公司 | Gesture recognition method based on MIMO millimeter wave radar |
| CN111786132A (en) * | 2020-06-29 | 2020-10-16 | 珠海上富电技股份有限公司 | Radar antenna design method based on MIMO system and radar antenna |
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| CN114646933A (en) * | 2022-05-23 | 2022-06-21 | 南京楚航科技有限公司 | 4D millimeter wave radar pitching installation error static measurement method |
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