CN107209253A - 具有水平数字波束形成和通过在彼此错开的发射机的情况下进行相位比较引起的垂直对象测量的成像雷达传感器 - Google Patents
具有水平数字波束形成和通过在彼此错开的发射机的情况下进行相位比较引起的垂直对象测量的成像雷达传感器 Download PDFInfo
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Abstract
按照本发明,提供了一种用于测定对象、尤其是运动对象在三维空间中的位置的装置和方法。在此,所述装置包括至少两个具有不同的垂直位置的相位中心的可切换的发射天线以及多个成排排列的接收天线。在此,所述发射天线在水平方向以如下距离来排列,所述距离对应于所述接收天线的距离。所述发射天线在垂直方向彼此错开如下值,所述值小于等于所发射的信号的半个自由空间波长。在其它情况下,可以将所述发射天线任意地放置在所述接收天线周围。根据“数字波束形成”方法来执行在宽的角度范围内的水平波束扫描。通过在发送天线连续切换的情况下在天线波束之间的相位测量来测量垂直对象位置。
Description
技术领域
本发明涉及一种用于利用如下雷达传感器测量对象的垂直位置的方法,所述雷达传感器执行两次交错的水平扫描。
毫米波雷达传感器、例如用于汽车和航空应用的毫米波雷达传感器应该有紧凑并且成本低廉的结构。
如果探测仅限于一个平面(大多是水平平面)(这在大多数汽车雷达传感器中都是这种情况),那么这可以以成本低廉的方式通过使用平板天线和多个接收机来实现。在此,根据“数字波束形成(Digital Beamforming)”的原理来实现波束形成和控制。
随着对可靠性的要求的提高,在汽车领域中的雷达传感器尤其是应该能够将不相关的障碍物(如桥梁和桥形路标牌)与在道路上停留的对象区别开,所述在道路上停留的对象对于道路交通来说是危险。
近来在航空领域也将所述传感技术用于近距离监控直升机。这里,尤其在起飞和着陆阶段需要对障碍物进行三维测量。单纯的二维测量无法胜任。
背景技术
从Winfried Mayer博士发表的题为“具有在发射侧切换的分组天线的成像雷达传感器(Abbildender Radarsensor mit sendeseitig geschalteter Gruppenantenne)”的论文(Cuvillier出版社,哥廷根2008年,ISBN 978-3-86727-565-1)公知了如下方法以及装置,所述方法利用数字波束形成的技术来监控一个区域,在所述方法和装置的情况下使用具有多个发射机和多个接收机的天线阵列。
在DE 10 2008 052 246A1中描述了一种用于测定对象的垂直位置的具有可调节的仰角波束方向的传感器系统。在这种情况下,通过反射器的机械运动来实现调节。
在PCT/EP2012/003702中描述了一种具有对天线孔径的合成放大以及二维波束扫描的成像雷达传感器。在此,在水平方向通过由多个接收信道构成的数字波束形成、在垂直方向通过比较两个接收信号的振幅来实现所述二维波束扫描,所述两个接收信号由两个发射机产生,所述两个发射机具有彼此在垂直方向倾斜的天线图。然而,该方法实际上有如下缺点:由于传感器前面的结构(如天线罩、塑料保险杠和类似的遮盖物)而使得天线图的振幅特性失真。这意味着应根据遮盖物情况执行对雷达传感器的校准,以便以测量技术检测和补偿这些失真。
发明内容
本发明的任务是提供一种用来避免上面所描述的诸如机械波束扫描和校准那样的缺点的装置、方法以及雷达系统。此外,本发明的任务还是提供一种可用来测定对象的垂直位置的装置和方法。
该任务按照具有权利要求1所述的特征的装置、按照具有权利要求4所述的特征的方法以及按照具有权利要求3所述的特征的雷达系统来解决。
传感器至少由距离为d的接收天线的阵列和两个发射天线构成。尤其为了确保单值性并且避免多值性,发射天线的相位中心在垂直方向错开距离z,该距离z小于或等于所发射的信号的半个自由空间波长(l)。因此,可切换的发射天线具有不同的垂直位置的相位中心,就是说第一可切换的发射天线的相位中心的第一位置、第二可切换的发射天线的相位中心的第二位置等等,由此,相位中心的垂直位置是不同的,所述相位中心垂直地错开距离z。在水平方向,第二天线相对第一天线错开了接收阵列的行距离d。
针对接收阵列的行距离d适用:
其中
N=天线行数
l=所发射的信号的波长
fmax=数字形成天线波束的最大扫描角度。
附图说明
图1示例性地示出了这种利用平板天线结构来实现的天线装置。
具体实施方式
现在按如下地执行对三维空间中的对象的探测:
如可在图2中看到的那样,发射机1和发射机2交替运行,其中在所谓的FMCW雷达的情况下,频率线性失调。在所述失调期间,AD转换器检测接收信号,使其受到第一次快速傅立叶变换(FFT)并且存储。接着,所存储的数据根据分别活跃的发射机来分类并且被整理在一个频谱图中。然后,通过所述频谱图的列计算第二次FFT。结果是,得到所谓的距离多普勒矩阵(Range-Doppler-Matrix),所述距离多普勒矩阵的列号对应于距离单位(所谓的RangeBin(距离筐)),而所述距离多普勒矩阵的行号对应于雷达传感器的速度单位(所谓的Velocity Bin(速度筐))。复数的矩阵元素对应于信号的振幅和相位。
现在,就数字波束形成而言,如在PCT/EP2012/003702中详细描述的那样,形成接收阵列的阵列图。在此,各个接收信道的距离多普勒矩阵首先被加权,接着根据所希望的波束方向(γ)在相位(α)漂移并且紧接着相加。接着,得到一系列距离多普勒矩阵,所述距离多普勒矩阵对应于接收阵列的主波束方向的接收信号。在这些距离多普勒矩阵存在之后,借助于所谓的CFAR算法在各个距离多普勒矩阵中搜索如下对象,所述对象从传感器的噪声中或者从干扰背景(所谓的杂波(Clutter))中突出出来。如果检测到这种对象,那么根据所谓的单脉冲原理考虑将相邻波束的相同的距离多普勒单元用于精确地测定水平角度。在此,可以或者仅仅考虑两个相邻波束的振幅比,如在图3a、3b中所示出的那样,或者考虑所谓的误差信号。所述误差信号通过如下方式产生,首先形成和信号、也就是将相邻矩阵的两个元素矢量相加。随后,形成差信号,并且将所述差信号除以所述和信号。两个复数的所述除法的实部被称作所谓的误差信号。所述误差信号与在两个被考虑的波束之间的相对角度成比例。以这种方式可以精确地测定水平位置。
替代于搜索对象所在的波束和根据单脉冲方法精确地测定水平角度,可以将数字波束对准对象的原理简单地颠倒过来并且测量在两个相邻天线行之间的相移。因为适用:
因此,从中可以直接测量对象的水平取向,然而,实际上,各个信道的信号都太弱并且与噪声叠加,使得在所述信道之间的准确的相位测量是不可能的。但是如果对象信号足够强,那么可以从中推导出一种测量方法。
现在创新之处在于将该测量方法应用于测定对象的垂直位置。
首先利用所述两个发射天线的数据记录来执行“数字波束形成”。
接着,在第一天线的数据记录中检测对象,或波束编号和距离多普勒矩阵的元素。
随后,测量相对来自第二天线的数据记录中的相同波束编号的距离多普勒矩阵的相同元素的相位差(β)。由于所述发射天线在垂直方向彼此错开距离z,所以如上面那样适用:
其中,这里,角度是对象的垂直角位置。这里,与水平法不同,因为根据阵列波束测定相位差,所以该方法起作用。这里,信噪比足够高。然而,只有当第二天线的相位中心处在与第一天线相同的水平位置时,才适用等式[3]。然而,这在垂直方向延伸的平板天线行的情况下是不可能的。出于该原因,应使所述天线行在水平方向错开。这里,优选地,选择与在接收阵列中的行距离相同的距离(d)。
现在被测量的角度(βm)是垂直相位差β与水平相位差α之和。接着,利用等式[3]得出垂直对象位置为:
因此,对垂直位置的测定的精度不仅取决于信噪比,而且取决于可用来测定水平角位置γ并且借此测定相位差α的精度。
为了避免在极限的垂直角位置的情况下的多值性,优选地选择相位中心的垂直距离小于等于λ/2。
如果现在对象运动,那么由于多普勒效应引起的相移被叠加给所测量的相位。在进行角度计算之前,应修正在来自对天线1测量的数据记录与来自对天线2测量的数据记录之间的所述相移。
因此,对来自第二测量的距离多普勒矩阵的相位修正的角度为
Δφ:=2·π·ldopp·δfd·ΔT
其中,Idopp:多普勒滤波器编号;
δfd:多普勒滤波器的带宽;
ΔT:在激活左侧的发射极与激活右侧的发射机之间的时间差。
在此,多普勒滤波器编号对应于距离多普勒矩阵的行号。根据如下公式,从对所述对象的观察持续时间计算出带宽:
其中,1/fm=图2中的频率斜坡的持续时间,以及
Nsweep=频率斜坡的数目。
Claims (14)
1.一种用于测定对象在三维空间中的位置的装置,所述装置具有:
-至少两个以天线行构造的能切换的发射天线,由具有不同的垂直位置的相位中心的天线构成,
-一定数量的水平地成排排列的多个接收天线,其中,所述发射天线在水平方向以如下距离来排列,所述距离对应于在所述接收天线的两个单天线之间的水平距离。
2.根据权利要求1所述的装置,其中,所述装置是雷达传感器,所述雷达传感器能够
接收一系列在时间上连续由所述发射天线发射的并且在所述对象上被反射的接收信号,
将所述接收信号数字化,
根据数字波束形成方法将所述经数字化的接收信号组合成多个被集合起来的天线波束,
比较在具有相同距离值和速度值的发射机的相位中心的垂直位置不同的情况下朝向所述对象取向的天线波束的相位,并且
显示所述对象的位置。
3.根据权利要求2所述的装置,其中,所述雷达传感器能够分析相邻天线波束的振幅,用来在观察角度范围内实现更高的水平角度分辨率。
4.根据权利要求2或3所述的装置,其中,所述雷达传感器能够分析两个相邻天线波束的和与差,用来实现更高的水平角度分辨率。
5.根据权利要求1至4中任一项所述的装置,其中,所述发射天线相同地来构造。
6.根据权利要求1至5中任一项所述的装置,其中,所述接收天线是彼此并行排列的天线行。
7.根据权利要求6所述的装置,其中,所述发射天线和所述接收天线的天线行彼此并行地来排列。
8.根据权利要求1所述的装置,其中,所述发射天线的相位中心在垂直方向错开如下距离,所述距离小于或等于所发射的信号的半个自由空间波长。
9.根据权利要求1所述的装置,其中,借助于关于多个天线图的回放装置,能通过分析数值和相位来显示所述对象的位置。
10.一种雷达系统,用于使用根据权利要求1至9中任一项所述的用于测定对象在三维空间中的位置的装置。
11.一种用于测定对象、尤其是运动对象的位置的方法,所述方法具有如下方法步骤:
-通过一定数量的水平地成排排列的多个接收天线来接收一系列在时间上连续由具有不同的垂直相位中心的至少两个以天线行构造的能切换的发射天线发射的并且在所述对象上被反射的接收信号,其中,所述发射天线在水平方向以如下距离来排列,所述距离对应于在所述接收天线的两个单天线之间的水平距离,
-将所述接收信号数字化,
-根据数字波束形成方法将所述经数字化的接收信号组合成多个被集合起来的天线波束,
-借助于二维FFT执行速度修正,并且测量在两次不同的发射之间的时间差,
-比较在具有相同距离值和速度值的发射机的相位中心的垂直位置不同的情况下朝向所述对象取向的天线波束的相位,并且
-显示所述对象的位置。
12.根据权利要求11所述的方法,其中,分析相邻天线波束的振幅,用来在观察角度范围内实现更高的水平角度分辨率。
13.根据权利要求11所述的方法,其中,分析两个相邻天线波束的和与差,用来实现更高的水平角度分辨率。
14.根据权利要求11所述的方法,其中,所述发射天线的相位中心在垂直方向错开如下距离,所述距离小于或等于所发射的信号的半个自由空间波长。
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PCT/EP2015/073018 WO2016055455A1 (de) | 2014-10-06 | 2015-10-06 | Abbildender radarsensor mit horizontaler digitaler strahlformung und vertikaler objektvermessung durch phasenvergleich bei zueinander versetzten sendern |
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EP3204788B1 (de) | 2022-03-30 |
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