CN107765237A - A kind of phased array recognition methods and system - Google Patents

A kind of phased array recognition methods and system Download PDF

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Publication number
CN107765237A
CN107765237A CN201710265094.9A CN201710265094A CN107765237A CN 107765237 A CN107765237 A CN 107765237A CN 201710265094 A CN201710265094 A CN 201710265094A CN 107765237 A CN107765237 A CN 107765237A
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array
phased
antenna
millimeter wave
components
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CN107765237B (en
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丁贤根
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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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems

Abstract

The present invention proposes a kind of phased array recognition methods and system, to realize the identification for object of which movement, including the identification of gesture identification, automobile collision preventing, unmanned plane anticollision and attack protection identification, wisdom fly bomb and shipping anti-collision identification.Described method and system is made up of phased-array antenna array, phased array T/R assembly arrays and signal processing system, by launching phased array millimeter wave and receiving the millimeter wave of detected object reflection, by calculating, it is determined that the space coordinates of detected object.The calculating includes intelligent algorithm, including target identification, correction, search, tracks, stares scheduling algorithm step, and the signal processing system includes Feng Shi computers, non-Feng Shi computers, neutral net and artificial intelligence system.The system can be made into two-in-one mmic chip and three-in-one SoC mmic chip.

Description

A kind of phased array recognition methods and system
Technical field
It is special more particularly, to AESA sensing technology the present invention relates to intelligence sensor subdomains in information technology It is not related to AESA gesture identification and moving object identification, wherein more particularly to a kind of phased array recognition methods and system.
Background technology
AESA (Active Electronically Scanned Array, referred to as：AESA) Detection Techniques are usual For military aspect and meteorological aspect, Connectors for Active Phased Array Radar is mainly used in the targets such as long-range detection aircraft, guided missile, cloud layer. In these areas, either product is still applied, all more ripe.
Millimeter wave (MilliMeter Wave, referred to as：MMW wavelength) is generally between 1mm~10mm；But with collection Into the development of circuit engineering, monolithic integrated microwave circuit (Monolithic Microwave Integrated Circuit, letter Claim MMIC) technique and technology caused wavelength to extend downwardly into 0.1mm, extend up to 100mm.There is mirror the technology of the present invention The wavelength of the applicable millimeter wave of scheme has exceeded foregoing 1mm~10mm scope, therefore, millimeter wave model in the present patent application It is 0.1mm~100mm to enclose.
The development of IC design manufacturing technology, have been carried out a Logic Core, simulation core and memory and be all designed into together On one chip (System on Chip, abbreviation SoC, Intellectual Property core, abbreviation IP), also, base In the millimeter wave (such as wavelength 0.1mm~3mm) of short-wave band, using microstrip antenna mode, antenna can also be manufactured in MMIC On so that micro energy lose, micro-volume, micro- cost are referred to as reality.
At present, the AESA technology based on millimeter wave, or detected applied to long range, such as more than 10km, should With face or military and meteorology.The characteristics of these applications is that high-power, long range, equipment cost are high, bulky.As near The application of distance, such as 1km or so, not yet find；The especially microspur application of meter level, as micro energy lose, micro-volume, micro- cost Gesture identification, action recognition etc. application, even more have no report.
In Virtual Reality/AR/MR (Vitual Reality, virtual reality, abbreviation VR；Augmented Reality, Augmented reality, abbreviation AR；MediatedReality, Mix Reality, mixed reality, abbreviation MR) technology promotion under, it is man-machine Display Technique level in interaction has been obtained for greatly improving.But how to input the action of people, especially gesture motion Identification, currently there are no good solution.
In terms of visible images identification, as Apple Inc. patent application " 201410198170.5, have be used for control With modification gesture identification representative gesture recognition ", " 201210345791.2, gesture recognition system and recognizable gesture are moved The glasses of work "；The patent application " 201310581365.3, gesture identification method, apparatus and system " of Huawei Company.
In terms of infrared identification, as Sony patent application " 201010118390.4, gesture identifying device, gesture Recognition methods and program ", gesture is detected using infrared thermal releasing power technology；TCL groups patent application " 201210565201.7, A kind of three-dimension gesture identification device and three-dimensional gesture recognition method ", gesture is detected using double thermal cameras； " 201310392905.3, a kind of electronic equipment and gesture identification method ".
In terms of ultrasonic wave identification, as Lian Fake companies patent application " 201510151345.1, based on the non-of ultrasonic wave Contact gesture identification method and its device ".
In terms of wearable sensors identification, as patent application " 201510300495.4, by Wearable based on The gesture identification of radar ", " 201510634055.2, easy donning formula gesture identifying device ", " 201110384461.X, Yi Zhongwu Line gesture identifying device " etc. is all that wireless launcher is installed on wrist, finger to realize detection.
In terms of wireless sensing, and the patent application of Nokia " 201280021975.1, use the hand of multiple sensors Gesture identifies ".
In addition, there are some technologies to be：
The patent application " 201410858259.X, embedded millimeter wave phased array module " of INTEL Corp., " 201280026451.1, high-performance glass base 60GHZ/MM ripples phased array antenna and its manufacture method ", the patent Shen of IBM Corporation Please " 201180019783.2, phased array mm-wave imaging technology ", " 201280037941.1, near field mm-wave imaging ", it is rich The patent application " 201380006310.8, the mixing radar being integrated into single package " of Tian companies, middle electric 14 patent Shen Please " 201310341730.3, integrated millimeter wave active phase array antenna ", the patent application of Texas Instruments " 201210372231.6, ", " 201080068935.3, Terahertz Phased Array Radar System "；Tsing-Hua University's patent application " the unit phased array ranging and range rate monolithic radar transceiver of 201210393627.9, millimeter wave FMCW two ", Shanghai Amphrnol hundred million Patent application " 201510347118.6, a kind of suspension micro-strip antenna array and its antenna for 60GHz millimeter wave antennas ", Zhejiang Jiang great Xue patent applications " 201510590278.3, phased-array radar TR radio frequency components and phased-array radar based on LTCC ".
Although these patent documents propose some good solutions from the angle of part, do not propose really As previously described：Short distance, micro energy lose, micro-volume, the AESA technical scheme of micro- cost, can not be applied to such as hand On the consumer geo-informatization system of gesture identification, here it is the deficiencies in the prior art.
The content of the invention
For overcome the deficiencies in the prior art, the purpose of the present invention is achieved through the following technical solutions：
A kind of phased array recognition methods, including but not limited to the following steps and combinations thereof：
More than one T/R component and the transmitting terminal transmitting millimeter wave phase of more than one antenna are adjusted, so that the hair Penetrate focusing azimuth scan subfield that millimeter wave formed and/or the step of transmitting of the whole audience.
Adjust more than one transmission/reception (Transmitter and Receiver, hereinafter referred to as：T/R) component and The step of transmitting terminal transmitting millimeter wave phase of more than one antenna.
The receiving terminal of more than one T/R component and more than one antenna is controlled to receive more than one detected object reflection The receiving step of the transmitting millimeter wave.
The millimeter wave reflected based on one object detected above, calculates detected object more than one The detection steps of detection data.
The subfield, it is made up of multiple adjacent focusing orientation, the whole audience, by phased array array detection scope institute All subfields of covering are formed.
The full battle array of phased array array is made up of whole T/R components and whole antennas, by part T/R components and some antennas structure Into the submatrix of phased array array.
The detection data includes but is not limited to：The space coordinates of each detected object, the search moment, speed, Acceleration and/or motion trace data.
The wavelength of the transmitting millimeter wave, is arranged to 0.1mm~100mm.
The radiant power of the transmitting millimeter wave is set to less than or equal to 10W.
On the basis of preceding solution, can be used in other schemes of the present invention such as following one kind or The measure of a variety of local improvements：
Including signal processing system.The signal processing system includes but is not limited to Feng Shi computer subsystems, non-Feng Shi Computer subsystem, neutral net subsystem, and/or, artificial intelligence subsystem；With,
Described more than one T/R component of adjustment and more than one antenna transmitting terminal transmitting millimeter wave phase, in addition to but It is not limited to：The transmission channel of the T/R components is controlled, makes its according to setting, the step of producing specific frequency hop sequences.
It is described to control the receiving terminal of more than one T/R component and more than one antenna to receive more than one detected object The step of reflecting the transmitting millimeter wave also includes but is not limited to：The receiving channel of the T/R components is controlled, can be differentiated The step of detected object received reflects the frequency hop sequences in millimeter wave.
The transmitting terminal of more than one T/R component of adjustment and more than one antenna transmitting millimeter wave phase, in addition to But it is not limited to：The transmission channel of the T/R components is controlled, it is produced the step of certain pulses width and its sequence according to setting Suddenly.
It is described to control the receiving terminal of more than one T/R component and more than one antenna to receive more than one detected object The step of reflecting the transmitting millimeter wave also includes but is not limited to：The receiving channel of the T/R components is controlled, can be differentiated The detected object received reflects in millimeter wave the step of pulse width and its sequence.
On the basis of preceding solution, in the present invention including but not limited to following corrective measure and their group Close：
The step of measuring the exercise data of the T/R components and antenna in itself；
Deviation existing for the detection data is calculated based on the exercise data, to obtain the rectification step for correcting data；
The validity of the T/R components and antenna in itself is detected, and marks the detecting step effectively or to fail；
The T/R components and antenna of failure are skipped, using the alternative steps of effective the T/R components and antenna；
The deviation includes but is not limited to the space coordinates, speed and/or acceleration, and the antidote is included but not It is limited to：Corrected based on relative coordinate, absolute coordinate, the correction based on relative motion, absolute movement；
The failure includes but is not limited to the transmitting terminal failure of the T/R components, the receiving terminal of the T/R components fails, The transmitting terminal failure of the antenna and the receiving terminal of the antenna fail；
It is described to skip failure including but not limited to when detecting next time without using the ineffective part, using active parts generation Replace.
On the basis of preceding solution, in the present invention further including but not limited to following measures and their group Close：
By the subfield and/or the whole audience, the step of orientation is divided into the region being connected with each other is focused on described, and foundation is set The search step that the fixed continuous and/or interval region is scanned.
The detection data includes but is not limited to the space coordinates of the detected object, according to the detection data, meter The step of calculating the subfield of detection next time of the detected object, and using full battle array and/or divide the battle array scanning detection subfield Tracking step.
Described transmitting millimeter wave, it is specifically including but not limited to launch pulse millimeter wave, receives and calculate gained simple venation Rush detection data.
Repeatedly launch the pulse millimeter wave, the step of multiple pulse detection datas are calculated, and use Stare algorithm, calculate the multiple pulse detection data obtain optimization stare detection data stare step.
According to the filter condition of setting, filtration step is carried out for the detection data；
The filter condition, the including but not limited to described detection section of subfield, the detected object from antenna away from From section, the size dimension section of the detected object, the movement velocity section of the detected object, the detected thing The attribute section of body or they between be combined.
On the basis of preceding solution, in the present invention further including but not limited to following measures and their group Close：
The millimeter wave reflected based on one object detected above, is specifically including but not limited to：
The step of search is set in advance in the metal object on the detected object；
The search includes but is not limited to the full battle array search of the whole audience, the search of whole audience submatrix, the full battle array of subfield is searched for, subfield submatrix is searched Rope；
The size of the metal object be more than or equal to it is described transmitting millimeter wave wavelength, the metal object include but It is not limited to metal ball.
On the basis of preceding solution, in the present invention further including but not limited to following measures and their group Close：
The wavelength of the transmitting millimeter wave is less than or equal to the size of metal object, or, less than or equal to metal The girth of ball.
The signal processing system includes but is not limited to motion sensor interface, signal receiving interface and output signal and connect Mouthful.
The step of including but not limited to being calculated according to reception signal and exporting flight path control instruction.
Including but not limited to search for, track and assess the step of intercepting weapon；Refer to calculating and exporting flight path control Order, to avoid the step of intercepting weapon.
On the basis of preceding solution, can be used in other schemes of the present invention such as following one kind or The measure of a variety of local improvements：
Described the step of calculating the detection data of detected object more than one, also includes but is not limited to：
The strong and weak numerical value of the reflection millimeter wave is calculated, the imaging algorithm according to setting obtains the step of a width detection image Suddenly.
The detection data, based on the minimum focusing orientation, the obtained whole quilt is scanned in the whole audience One detection data of detecting object.
Using intelligent algorithm, used for a detection data and optimize the step of calculating.
A kind of phased array identifying system, connected by multiple phased array T/R components, phased-array antenna array and signal processing system Connect composition；Wherein：
The multiple phased array T/R components connect with the phased-array antenna array；
The signal processing system connects with multiple phased array T/R components；
The multiple phased array T/R components and phased-array antenna array are arranged to：The wavelength of millimeter wave can be launched Or it is 0.1mm~100mm that can receive the wavelength that detected object reflects；And/or
The power of the millimeter wave of the transmitting is less than or equal to 1W.
On the basis of preceding solution, in the present invention further including but not limited to herein below and combinations thereof：
The phased array T/R components, including but not limited to transmission signal generation unit, receipt signal processing unit, phase shift Unit, polarization unit and filter unit；
The phased-array antenna array, including but not limited to multiple transmitting antennas and reception antenna, and according to including but not It is limited to one-dimensional straight line, one-dimensional curve, two dimensional surface and/or the arrangement of Two-dimensional Surfaces arrangement mode；
The signal processing system, comprise at least but be not limited to Feng Shi computer subsystems, non-Feng Shi computer subsystems, Neutral net subsystem and artificial intelligence subsystem；And it is configured to according to phased array T/R components described in the algorithm drives of setting Corrected, searched for phased-array antenna array, being tracked, staring work with Intelligent Recognition, and being calculated according to reflection echo The detection data of the multiple detected objects gone out in probe field, processes these data, and pass through communication interface output signal.
The signal processing system, it is configured to carry out validation checking, mark for the T/R components and antenna Effectively and fail, and the replacement of control failure；The failure replacement is the T/R components and antenna for the failure, in institute State search, the tracking and described use the effective T/R components and antenna when staring instead and substitute.
The signal processing system, it is configured to control the T/R components to complete the Frequency hopping transmissions and receive to reflect Not, and complete the transmitting of the pulse width adjustment and receive to differentiate.
Multiple phased array T/R components and multiple phased-array antenna arrays are arranged in monolithic integrated optical circuit.
Multiple the phased array T/R components, multiple phased-array antenna arrays and signal processing systems are arranged at monolithic In integrated circuit.
In the phased array T/R components and/or phased-array antenna array of the monolithic integrated optical circuit quantity of antenna be 2~ 1024.
The detected object includes but is not limited to：Non-conducting object and/or conductive body and/or it is attached with conductive materials Non-conducting object；
The size of the conductive body and/or the conductive materials is launched more than or equal to the phased array T/R components The wavelength of millimeter wave.
On the basis of preceding solution, in the present invention further including but not limited to herein below and combinations thereof：
The signal processing system includes but is not limited to motion sensor interface, and is configured to pass according to motion Sensor carries out motion correction for the detection data；The motion correction includes but is not limited to：Coordinate correction, speed correction And/or acceleration correction.
The signal processing system includes but is not limited to signal receiving interface, is connected with signal receiving subsystem, for connecing Receive by the attribute and coordinate of target of attack；The signal processing system is also connected with flight subsystem, changes the system Flight path, guide the attack weapon to hit described by target of attack.
The signal processing system includes but is not limited to identify, searches for, tracks, assessing the function of intercepting weapon, and passes through Flight subsystem changes the flight path of the attack weapon, avoids and intercepts weapon；It is described identification include but is not limited to pair In the identification for intercepting weapon, the assessment includes but is not limited to identify the interception weapon, calculates the flight for intercepting weapon Parameter, the distance for calculating the interception weapon and the attack weapon, the prediction interception weapon are winged with the attack weapon Row track crossing, the threat degree for judging the interception weapon；The avoidance includes but is not limited to change the attack weapon Flight parameter, drive the flight subsystem to change the flight path of the attack weapon.
On the basis of preceding solution, can be used in other schemes of the present invention such as following one kind or The measure of a variety of local improvements：
The quantity of antenna in the phased array T/R components and/or phased-array antenna array, is arranged to 4~1024, institute The arrangement mode for stating phased-array antenna array is arranged for two dimensional surface, to form three-dimensional probe field；
The multiple phased array T/R components and phased-array antenna array are arranged to：The wavelength of millimeter wave can be launched Or it is 0.1mm~10mm that can receive the wavelength that detected object reflects；
The radiant power of the millimeter wave of the transmitting or reception is 100mW and following；
The detected object is conductive materials, and is arranged on animal body, and as the application special case of the present invention, this is System can be applied to the gesture identification of the mankind, especially in finger fingertip adhesion metal ball, to improve Effect on Detecting.It is described detected Object can also be directly for animal body in itself.
The quantity of antenna, is arranged to 4~512 in the phased array T/R components and/or phased-array antenna array；Institute State phased-array antenna array arrangement mode be one-dimensional linear arrangement, including but not limited to two parallel lines, triangle, rectangle and Polygon is arranged, to form plane probe field.
The multiple phased array T/R components and phased-array antenna array are arranged to：The wavelength of millimeter wave can be launched Or it is 1mm~30mm that can receive the wavelength that detected object reflects.
The radiant power of the millimeter wave of the transmitting or reception is 500mW and following.
The system is arranged on land craft.
The quantity of antenna, is arranged to 4~1024 in the phased array T/R components and/or phased-array antenna array；Institute The arrangement mode for stating phased-array antenna array is two dimensional surface, Two-dimensional Surfaces or more horizontal layouts, to form spherical, hemisphere The probe field of shape, box-shaped and/or half open box-shaped box-shaped；
The multiple phased array T/R components and phased-array antenna array are arranged to：The wavelength of millimeter wave can be launched Or it is 3mm~30mm that can receive the wavelength that detected object reflects；The radiation work(of the millimeter wave of the transmitting or reception Rate is 500mW and following；
The system is arranged on low-speed operations device；
The quantity of antenna, is arranged to 4~1024 in the phased array T/R components and/or phased-array antenna array；Institute The arrangement mode for stating phased-array antenna array is arranged for two dimensional surface or curved surface.
The multiple phased array T/R components and phased-array antenna array are arranged to：The wavelength of millimeter wave can be launched Or it is 3mm~30mm that can receive the wavelength that detected object reflects；And/or
The radiant power of the millimeter wave of the transmitting or reception is 1W and following；
The system is arranged on attack weapon；
The quantity of antenna, is arranged to 2~1024 in the phased array T/R components and/or phased-array antenna array；Institute The arrangement mode for stating phased-array antenna array is Two-dimensional Surfaces or more horizontal layouts, to form annular, spherical, box-shaped, half Spherical and/or half box-shaped probe field；
The multiple phased array T/R components and phased-array antenna array are arranged to：The wavelength of millimeter wave can be launched Or it is 3mm~30mm that can receive the wavelength that detected object reflects；
The radiant power of the millimeter wave of the transmitting or reception is 1W and following；
The detected object is conductive materials, and is arranged on marine communication means.
Compared with prior art, the invention has the advantages that：
It is 0.1mm~100mm due to the wavelength of transmitting millimeter wave used in the present invention, the radiant power of millimeter wave It is arranged within 1W；Therefore so that minimized using the equipment of technical solution of the present invention, for civilian object with The occasions such as track, identification, more good technology can be provided for foregoing VR/AR/MR and coordinated.
Following system advantage can be obtained using technical scheme provided by the present invention：
1st, using the method for phased array, multiple phased array T/R components and aerial array transmitting millimeter waves are specifically changed Phase, to realize scanning for moving object, identification, correction, search, track, the step such as stare, realize for moving object Detection, so as to realize the very three-dimensional for object, high accuracy, high speed, full time domain identification.
2nd, using the system of phased array, be advantageous to manufacture single-chip MMIC solutions, specifically use by phased array T/R The two-in-one monolithic millimeter wave chip MMIC that component and aerial array are formed, or using by phased array T/R components and antenna The three-in-one monolithic millimeter wave chip MMIC that array and signal processing system are formed, realize scanning for moving object, identification, The step such as correct, search for, tracking, staring, then by calculating, realizing the detection for moving object, it is inexpensive, low so as to realize Power consumption, small size, real-time, efficient solution, the intuitive of man-machine interaction are also improved.
3rd, gesture identification application is either used as, or automobile collision preventing application, unmanned plane attack protection are applied, wisdom fly bomb is answered With still shipping anti-collision application etc., than prior art, all have greatly improved, fully demonstrated the creativeness of the present invention.
Brief description of the drawings
Fig. 1 is phased array system structure chart；
Fig. 2 is three-in-one SoC chip antenna array structure figure；
Fig. 3 is phased array search principle figure；
Fig. 4 is phased array following principle figure；
Fig. 5 is T/R assembly principle figures；
Fig. 6 is signal processing system structure chart；
Fig. 7 is one dimensional linear array structure chart；
Fig. 8 is two-dimensional planar array structure chart；
Fig. 9 is rectangle linear array structure chart；
Figure 10 is five face structure figures；
Figure 11 is wisdom fly bomb signal processing system structure chart.
Embodiment
To make the purpose, technical scheme and advantage of the application clearer, below in conjunction with the application specific embodiment and Technical scheme is described corresponding accompanying drawing.
A kind of embodiment of the present invention is as follows：
One：Gesture recognition system
Embodiment one, gesture recognition system
The embodiment is illustrative example of the present invention towards gesture recognition system.
The gesture recognition system, it is the gesture for identifying a kind of system, including but not limited to people of animal movement Motion identification.
1st, method and system explanation
A kind of embodiment of the inventive method includes：
More than one T/R component and the transmitting terminal transmitting millimeter wave phase of more than one antenna are adjusted, so that transmitting milli The step of focusing azimuth scan subfield and/or the whole audience that metric wave is formed.
The receiving terminal of more than one T/R component and more than one antenna is controlled to receive more than one detected object reflection The step of launching millimeter wave.
The millimeter wave that object reflected is detected based on more than one, calculates detection data of more than one detected object The step of.
It should be noted that：In each step of the above-mentioned embodiment of the present invention, launch the wavelength of millimeter wave, quilt It is arranged among scope as 0.1mm~100mm, also, the radiant power for launching millimeter wave is set to less than or waited In 1W.Therefore, when such transmitting millimeter wave is detected object reflection, when being received by T/R components, its wavelength and power exist respectively Within above-mentioned number range.
Due in the inventive solutions, above-mentioned limit being all made that to the wavelength and radiant power for launching millimeter wave System so that above-mentioned T/R components fully can be minimized and be miniaturized, and be integrated among electronic chip device.Before This electronic chip device stated can then be applied to various electronic equipments in large quantities, such as：Mobile phone, portable communication device, Portable notebook computer etc..
In a kind of embodiment of the inventive method, it is foregoing adjustment more than one T/R component and more than one Antenna transmitting terminal was launched in the step of millimeter wave phase, can also include but is not limited to：The transmission channel of T/R components is controlled, is made It is according to setting, the step of producing specific frequency hop sequences.
In a kind of embodiment of the inventive method, it is foregoing control more than one T/R component and more than one The receiving terminal of antenna was received in the step of more than one detected object reflection transmitting millimeter wave, can also be included but is not limited to： The receiving channel of T/R components is controlled, the frequency hop sequences that the detected object received is reflected in millimeter wave can be differentiated The step of.
Produce having the technical effect that for anti-interference and secrecy for specific frequency hop sequences.Existed when multiple using the equipment of this method In same panel region in use, can caused by interfering to each other；Be also possible to other people disturb and/or steal intentionally it is relevant Wavelength, wave number, emission parameter, receive parameter, the information such as frequency parameter.By the method for frequency hopping, it is specific arrange transmitting terminal and Receiving terminal is received using Frequency hopping transmissions caused by same frequency hop sequences function and frequency hopping, can thus avoid above-mentioned interference or The situation that person steals data occurs.In addition, in order to increase anti-interference and secrecy degree, frequency hop sequences function needs to advise in frequency hopping Use as complicated as possible in terms of rule, repetition period and be difficult to the algorithm cracked.
In a kind of embodiment of the inventive method,
More than one T/R component and the transmitting terminal transmitting millimeter wave phase of more than one antenna are adjusted, in addition to but not It is limited to：The transmission channel of T/R components is controlled, its is produced certain pulses width and its step of sequence according to setting.
In a kind of embodiment of the inventive method,
The receiving terminal of more than one T/R component and more than one antenna is controlled to receive more than one detected object reflection The step of launching millimeter wave also includes but is not limited to：The receiving channel of T/R components is controlled, can differentiate that what is received is visited Survey the step of object reflects in millimeter wave pulse width and its sequence.
The technique effect for producing certain pulses wide sequence is also to anti-interference and secrecy.We are used when multiple The equipment of method in same panel region in use, interfering to each other caused by meeting, in some cases, it is also possible to go out It is existing that other people disturb and/or stolen intentionally the information such as wavelength, wave number, emission parameter, reception parameter, pulse width parameter.Pass through control The method of pulse width processed is specific to arrange transmitting terminal and receiving terminal using transmitting caused by same pulse width function and connect Receive, it is possible to avoid above-mentioned interference or steal the situation generation of data.In addition, in order to increase anti-interference and secrecy degree, Pulse width function need pulse width rule, in terms of the repetition period using as complicated as possible and be difficult to the algorithm cracked.
In a kind of embodiment of the inventive method, in addition to：
The step of measuring the exercise data of T/R components and antenna in itself.
Deviation existing for detection data is calculated based on exercise data, to obtain the step of correcting data.
Deviation includes but is not limited to space coordinates, speed and/or acceleration.
Using above-mentioned technical measures primarily to carrying out from correction process；On the one hand it can so eliminate due to T/R The motion in itself of component and antenna and caused by detection data data deviation, the deviation includes but is not limited to space coordinates, speed Degree and/or acceleration.When one specific example is that T/R components and antenna are used in MR glasses, due to the careless motion on head And cause the data deviation for detecting thing (finger and palm) gesture identification.On the other hand, can eliminate due to T/R components and Antenna in itself and finger palm all in motion state and caused by detection data data deviation, the deviation includes but unlimited In space coordinates, speed and/or acceleration.One specific example is that T/R components and antenna are used in MR glasses, and people is transporting For the data deviation of gesture identification caused by dynamic vehicle.
In a kind of embodiment of the inventive method, in addition to：
The step of detecting the validity of T/R components and antenna in itself, and marking effectively or fail.
The T/R components and antenna of failure are skipped, the step of using effective T/R components and antenna.
Using above-mentioned technical measures primarily to carrying out selfreparing processing；When some or multiple antennas damage When, it can be detected using above-mentioned measure and skip the antenna of damage, substituted using the intact antenna in periphery, to ensure this method It can continue to effectively work.When some or multiple T/R components damage, it can be detected using above-mentioned measure and skip damage Bad T/R components, substituted using the intact T/R components in periphery, to ensure that this method can continue to effectively work.It is above-mentioned when occurring During the combination of two kinds of damaged conditions, substituted using corresponding, it is possible to ensure that this method can continue to effectively work.
In a kind of embodiment of the inventive method, in addition to：
By subfield and/or the whole audience, the step of being divided into the region being connected with each other with focusing orientation, and according to the continuous of setting And/or the search step that interval region is scanned.
According to detection data, the step of calculating the subfield of detection next time of detected object, and using full battle array and/or point The tracking step of battle array scanning probe subfield.
Foregoing detection data includes but is not limited to the space coordinates of detected object.
In order to realize search and tracking to detection thing (finger and palm), can be realized using above-mentioned measure：1st, it is quick Search, according to gesture motion speed and transmitting terminal transmitting wavelength relationship, set interval region, so as to accelerate the whole audience and/ Or subfield sweep speed.2nd, high precision tracking, the subfield according to finger and where palm, using full battle array and/or submatrix carry out by The individual scanning for focusing on orientation, so as to improve proposition precision.
In a kind of embodiment of the inventive method, in addition to：
Foregoing transmitting millimeter wave, it is specifically including but not limited to launch more than one pulse millimeter wave, receives and calculate The step of more than one pulse detection data.
Calculate more than one pulse detection data to obtain that optimization stares detection data stares step.
The many algorithms including statistic algorithm can be utilized using above-mentioned measure in this embodiment, it is right Multiple detection datas of staring are calculated, it can be deduced that the higher detection data of precision.
In a kind of embodiment of the inventive method, in addition to：
The wavelength of transmitting millimeter wave is set to be less than or equal to the size of metal object, or, less than or equal to metal ball Girth.
The step of being calculated according to reception signal and exporting flight path control instruction.
The step of identification, search, tracking and assessment intercept weapon；
The step of calculating and exporting flight path control instruction.
According to the filter condition of setting, filtration step is carried out for detection data.
Foregoing filter condition, including but not limited to detect the section of subfield, detected object from section with a distance from antenna, The size dimension section of detected object, the movement velocity section of detected object, detected object attribute section or it Between be combined.
It is advantageous in that using above-mentioned each particular technique measure：1st, when the girth of metal ball or the size of metal object During equal to the wavelength for launching millimeter wave, the signal for the most strong reflection millimeter wave for meeting Rayleigh region can be obtained.
2nd, it can identify, search for and track and intercept weapon, according to the orbital data for the interception weapon being calculated, judge to block The threat degree of weapon is cut, and completes to avoid the attack for intercepting weapon.
3rd, filter condition is set, filters out unwanted detected object, such as when as gesture identification, gesture motion When, it is understood that there may be the motion of periphery object, now this periphery object will be filtered, only retain gesture motion detection data.
In a kind of embodiment of the inventive method, in order to realize：Mm-wave imaging, one can calculated More than individual during the detection data of detected object, the strong and weak numerical value of reflection millimeter wave is calculated, the imaging algorithm according to setting obtains One width detection image.Foregoing so-called detection data, refer to focus on orientation based on minimum, scan for what is obtained in the whole audience All detection datas of detected object.
In order to eliminate the unnecessary portion in image, retain the part of needs；Artificial intelligence can be used in the present embodiment Energy algorithm, calculating is optimized for a detection data.
A kind of embodiment of present system includes：
A kind of phased array identifying system, connected by multiple phased array T/R components, phased-array antenna array and signal processing system Connect composition；Wherein：Multiple phased array T/R components connect with phased-array antenna array；Signal processing system and multiple phased array T/R Component connects；Multiple phased array T/R components and phased-array antenna array are arranged to：Can launch millimeter wave wavelength or The wavelength that detected object reflection can be received is 0.1mm~100mm；The power of the millimeter wave of transmitting is less than or equal to 10W.
In the above-mentioned a kind of specific embodiment of the present invention, due to by the wavelength for launching millimeter wave be arranged on 0.1mm~ 100mm, it is less than or equal to 10W by the power setting of the millimeter wave of transmitting, therefore following technique effect can be brought：
1st, be advantageous to that monolithic mmic chip will be designed as by multiple phased array T/R components, phased-array antenna array.
2nd, be advantageous to that list will be formed by multiple phased array T/R components, phased-array antenna array and System Signal Processings Piece SoC mmic chip.
3rd, be advantageously implemented micro energy lose, micro-volume, micro- cost and efficient phased array identification embodiment, for Civilian consumer gesture recognition system.
A kind of embodiment of present system includes：
Phased array T/R components, including but not limited to transmission signal generation unit, receipt signal processing unit, phase-shifting unit, Polarization unit and filter unit.Phased-array antenna array, including but not limited to multiple transmitting antennas and reception antenna, and according to Including but not limited to one-dimensional straight line, one-dimensional curve, the mode of two dimensional surface and/or Two-dimensional Surfaces arrange.Signal processing system, bag Include but be not limited to Feng Shi computer subsystems, non-Feng Shi computer subsystems, neutral net subsystem, and/or, artificial intelligence System.And be configured to be corrected according to the algorithm drives phased array T/R components and phased-array antenna array of setting, search for, Track, stare work with Intelligent Recognition, and calculate according to reflection echo the spy of multiple detected objects in probe field Data are surveyed, process these data, and pass through communication interface output data.Signal processing system, it is configured to for T/R groups Part and antenna carry out validation checking, mark effectively and failed, and the replacement of control failure.Signal processing system, it is set For T/R components can be controlled to complete Frequency hopping transmissions and receive to differentiate, and complete the transmitting of pulse width adjustment and receive to differentiate. Multiple phased array T/R components and multiple phased-array antenna arrays are arranged in monolithic integrated optical circuit, multiple phased array T/R components, Multiple phased-array antenna arrays are arranged in monolithic integrated optical circuit with signal processing system.The phased array T/R of monolithic integrated optical circuit The quantity of antenna is 2~1024 in component and/or phased-array antenna array.Detected object includes but is not limited to：It is non-conductive Object and/or conductive body and/or the non-conducting object for being attached with conductive materials.The size of conductive body and/or conductive materials More than or equal to the wavelength of phased array T/R components transmitting millimeter wave.
Signal processing system includes but is not limited to motion sensor interface, and is configured to according to motion sensor Motion correction is carried out for detection data；Motion correction includes but is not limited to：Coordinate correction, speed correction and/or acceleration are rectified Just.
The quantity of antenna in phased array T/R components and/or phased-array antenna array, is arranged to 4~1024, phased array The arrangement mode of aerial array is arranged for two dimensional surface, to form three-dimensional probe field.Multiple phased array T/R components and phased Array antenna array is arranged to：The wavelength of millimeter wave can be launched or the wavelength that detected object reflects can be received and be 0.1mm~10mm.The radiant power of transmitting or the millimeter wave received is 100mW and following.Detected object is conductive materials, And it is arranged on animal body.Detected object can also be directly for animal body in itself.
2nd, structure explanation
Fig. 1 is phased array system structure chart.As shown in figure 1, wherein, 111,112,113, until 11n is single respectively Phased array antenna, referred to as array element, by these array element forming arrays.121st, 122,123, until 12n is single phased array respectively T/R components, each phased array T/R components with an array element while be connected, such as 121 and 111 connection, composition AESA AESA mode of operations, this T/R assembly arrays and aerial array composition integrated circuit are referred to as two-in-one mmic chip.Other one Side is connected with signal processing system, such as 121 and 131 connection, receives the management and control of signal processing system.131 be signal Processing system, 141 be signal output interface, and above-mentioned whole circuits including MMIC are designed to a monolithic SoC chip and are referred to as Three-in-one SoC chip.151st, 152 be to be detected the metal ball that the surface adhered on finger is smooth, radius is γ.
Foundation phased array detection principle, if phased array millimetre wavelength is λ, in phased-array antenna array between each antenna Spacing be d, then between d values are the λ of 0.5 λ~0.7, minimum detectable range R is calculated with far field, then the λ of R >=65.According to Rayleigh region Characteristic, as the girth c=λ of metal ball, metal ball is optimal for the reflecting effect of millimeter wave, therefore, the π ≈ of γ=λ/2 0.159155λ。
Horizontal according to integrated circuit fabrication process level and processing procedure, wavelength X=0.1mm~3mm device integrates antenna To being feasible together, as wavelength X ＞ 3mm, other microstrip antennas, such as PCB (Printed Circuit can be used Board, printed circuit board) antenna etc..When taking minimal wave length, minimum detection range, R >=65 λ=6.5mm, answered as carry-on Electronic equipment, 6.5mm is can be received.And as the gesture identification equipment for catching human action, minimum range For 6.5mm and can be received.Again from most in terms of long wavelength 100mm, the manufacture of chip be even more it is feasible, now minimum detection away from From R >=65 λ=6500mm=6.5m, this catches in the human action as medium and long distance, and 6.5m is also feasible.Therefore, originally It is 0.1mm~100mm that patent application, which takes λ, then minimum detectable range is 6.5mm~6.5m.
As the special case of an optimization, λ=3mm is taken,
Then, minimum detectable range：R=65, λ=195mm,
Antenna spacing：D=0.5, λ=1.5mm,
The metal radius of a ball：γ=0.159155, λ=0.477mm.
According to integrated circuit fabrication process, bay uses microstrip antenna structure in the present embodiment.
According to the consideration of millimeter wave transceiving and Effect on Detecting, single SoC chip MMIC millimeter-wave radiation power selection In W levels, i.e., less than 10 watts.In the present embodiment, as an optimization special case, for single SoC chip, its millimeter-wave radiation Power selection is below 1W.
Fig. 2 is three-in-one SoC chip antenna array structure figure, in the present embodiment, as a special case, using rectangle two The structure of dimensional plane arrangement, in other applications, one-dimensional straight line, one-dimensional curve arrangement and Two-dimensional Surfaces cloth can be used Put, such as hemisphere face, rectangular pyramid arrangement etc..Wherein 201 be that aerial array 202 is individual antenna,.The quantitative range of antenna takes 4 Between individual to 1024, wherein, when antenna is 4, the layout of antenna is the last arrangement 1 in 4 angles of rectangle；When antenna is At 1024,32 rows and 32 row arrangements can be used.The spacing of antenna is arranged according to the d values of above-mentioned calculating, whole as λ=3mm The size of individual array is 1.5mm × 1.5mm when being 4 array element, is (31 × 1.5mm) × (31 × 1.5mm) during 1024 array element =46.5mm × 46.5mm.
In other example application, between the quantitative range of antenna takes 2 to 1024, such as one dimensional linear array is configured to Using.
Due to using AESA mode, so, a T/R component, foundation are arranged behind each antenna Integrated circuit design process, antenna and T/R components are designed to one single chip, turn into two-in-one chip；To can also subsequently it believe Number Processing System Design is to together, turning into three-in-one chip.As a special case, the three-in-one chip of the present embodiment design takes 8 × 8 array elements, the chip area of single SoC chip is 12mm × 12mm.
Fig. 8 is two-dimensional planar array structure chart, and Fig. 8 is the structure chart of the two-dimensional planar array of 32 × 24 antenna, totally 768 Individual array element, 4:3 ratios, so as to consistent with the ratio of display.Wherein, 801 be array framework, 802 be bay, 803 It is splicing line, 4 × 3 SoC chips are spliced, and darker regions are the signal of a SoC integrated circuit in figure.
Fig. 3 is phased array search principle figure, wherein 301 be aerial array, 302 be the whole audience of search, and 303 be therein one Individual scan line.This is the search work principle of progressive scan mode.
Fig. 4 is phased array following principle figure, wherein 401 be aerial array, also referred to as full battle array, 402,403 be 2 sons respectively Battle array, 404 and 405 be 2 tracked objects respectively.In Fig. 4, submatrix 402 is used to track 404, and submatrix 403 is used to track 405.
Fig. 5 is T/R assembly principle figures, and it is formed by connecting by the correlation module in figure, the right side connection antenna of T/R components Array, left side connection signal processing system.Wherein, 501 be signal bus, and 502 be transmit-receive switch, and 503 be phase shifter, and 504 are Radio-frequency mass spectrometer, 505 be oscillator, and 506 be amplifier, and 507 be wave filter, and 508 be polarization switch and polarization phase shifter, 509 be antenna element lead, and 510 be attenuator, and 511 be low-noise amplifier, and 512 be limiter, and 513 be power management, 514 It is phase and amplitude limit switchs, 515 be detection control, and 516 be polarizing control, and 517 be detection switch, and 518 be power bus, 519 It is controlling bus.
Fig. 6 is signal processing system structure chart, wherein, 601 be output interface, and 611 be artificial intelligence system, and 612 be Feng Family name's computer system, 613 be motion sensor interface, and 621 be bus management, neutral net and combinations thereof, 631, 632nd, 63n is bus module, controlling bus and signal bus in each module, respectively with the controlling bus on T/R components and Signal bus is connected.In the present embodiment, 621 selections are bus managements, in other embodiments, can select to be nerve net Network or neutral net and the combination of bus management.In addition, 612 are also an option that it is non-Feng Shi computer systems.
In the present embodiment, the function of signal processing system and it is configured to：
(1) phased array T/R components and phased-array antenna array is driven to carry out motion and rectify according to the intelligent algorithm of setting Just, search for, track, staring work with Intelligent Recognition.
(2) detection data of multiple detected objects in probe field is calculated according to reflection echo, according to the people of setting Work intelligent algorithm processes these data, and passes through communication interface output signal.
(3) validation checking, mark can be carried out effectively for T/R components and antenna and failed, and control failure Substitute.
(4) T/R components can be controlled to complete to jump according to the algorithm including the including but not limited to intelligent algorithm of setting Take place frequently and penetrate and receive discriminating, and complete the transmitting of pulse width adjustment and receive to differentiate.
(5) correction correction can be carried out for motion according to motion sensor, including but not limited to coordinate correction, speed is rectified Just and/or acceleration is corrected.
(6) motion sensor selects 9 axis movement sensors in the present embodiment.
3rd, operation principle explanation
In the present embodiment, setting signal processing system is passed through so that under the management and control of signal processing system, this The step of operation principle of embodiment is：
3.1st, row scanning
In the present embodiment, the transmitting terminal transmitting millimeter wave phase of 1 to 32 T/R component and 1 to 32 antenna is adjusted Position, so that focusing azimuth scan subfield and/or the whole audience that transmitting millimeter wave is formed.
In the present embodiment, 1 to 32 T/R component and 1 receiving terminal to 32 antennas is controlled to receive more than one Detected object reflection transmitting millimeter wave.
In the present embodiment, the millimeter wave that object reflected is detected based on more than one, calculates 1 to 32 detected thing The detection data of body.
3.2nd, column scan
The array element maximum number of the above-mentioned participation scanning of the present embodiment is 24.
3.3rd, frequency hopping
Signal processing system controls the transmission channel of whole T/R components, it is produced specific frequency hop sequences according to setting, The receiving terminal of all T/R components and antenna is also controlled to receive 1 to 8 detected object reflection transmitting millimeter wave and differentiate Frequency hopping.The present embodiment selection is differentiated using artificial intelligence frequency hopping, in case the equipment in multiple the system uses in same place When it is interfering with each other.
3.4th, it is pulse width modulated
Signal processing system controls the transmission channel of whole T/R components, makes its according to setting, produce certain pulses width and Its sequence, also control the receiving terminal of all antennas to receive 1 to 8 detected object reflection transmitting millimeter wave, and control T/R The receiving channel of component, it can differentiate that the detected object received reflects pulse width and its sequence in millimeter wave. The present embodiment selection uses artificial intelligence pulse width to differentiate, in order to avoid when the equipment of multiple the system uses in same place It is interfering with each other.
3.5th, correct
The step of measuring the exercise data of T/R components and antenna in itself.
Deviation existing for detection data is calculated based on exercise data, to obtain the step of correcting data.
The step of detecting the validity of T/R components and antenna in itself, and marking effectively or fail.
The T/R components and antenna of failure are skipped, the step of using effective T/R components and antenna；
Deviation includes but is not limited to space coordinates, speed and/or acceleration.
In the present embodiment, correction is mainly used in artificial intelligence relative motion correction, for example, when the system is used for VR/AR/MR Glasses device on when, due to the interference that the head movement of people can be brought, so, caught using such as 9 axle sensors The motion on head, in this, as interference deviation, corrected.
3.6th, search for
By subfield and/or the whole audience, the region being connected with each other is divided into focusing orientation, according to setting to it is continuous and/or Every region be scanned.Including focusing on bearing search and submatrix search.Bearing search is focused on, is the focusing orientation work with system For the unit of stepping, and it is precision highest granularity in system to focus on orientation.Submatrix search for, be to determine one it is adjacent by several Focusing orientation form submatrix, using this submatrix as search step units, its granularity be more than focusing orientation, so, search The progress of rope is also lower than focusing on bearing search.
In the present embodiment, intelligent algorithm is used, if in the case of requiring high for search speed, can be focusing Bearing search makes subfield search into, and the size of subfield determines according to practical application.If in the case of search precision requires high Under, it can use and focus on bearing search.
3.7th, track
Detection data includes but is not limited to the space coordinates of detected object, according to detection data, calculates detected object Detection subfield next time, using full battle array and/or divide battle array scanning probe subfield.In the present embodiment, using the son of single SoC chip Battle array is tracked for the metal ball on a finger, because one shares 4 × 3 SoC chips in the system, so, while with Maximum target (metal ball on the finger) number of track is 12.When tracking velocity is less demanding, full battle array (12 can be used instead SoC chip) tracking, with timesharing tracking mode, the metal ball on each finger is tracked successively, and intelligent algorithm is used, with Improve tracking accuracy.
Launch millimeter wave, be specifically including but not limited to launch pulse millimeter wave, receive and calculate gained pulse detection Data.
3.8th, stare
Repeatedly transmitting pulse millimeter wave, the step of multiple pulse detection datas are calculated, and using staring algorithm, Calculate multiple pulse detection datas obtain optimization stare detection data stare step.In the present embodiment, simple venation The selection of times of punching is 5 times.
3.9th, filter
According to the filter condition of setting, filtration step is carried out for detection data.
Filter condition, the section of subfield, detected object are including but not limited to detected from section with a distance from antenna, detected The size dimension section of object, the movement velocity section of detected object, detected object attribute section or they between Any combination.In the present embodiment, using intelligent algorithm, select the detection number of static object for array element According to filtering out.
3.10th, self-test and replacement
Transmitting and reception that can be for T/R components and antenna carry out validation checking, mark effectively and failed, for mistake Effect will be substituted with the good device in periphery.
3.11, size
The wavelength for launching millimeter wave is less than or equal to the size of metal object, or, less than or equal to metal ball Girth.In the present embodiment, the wavelength for selecting phased array millimeter wave is 3mm, so, the radius for determining metal ball is 0.5mm.
3.12, imaging
The step of detection data for calculating more than one detected object, also includes but is not limited to：
The step of strong and weak numerical value of millimeter wave is reflected in calculating, and the imaging algorithm according to setting obtains a width detection image.
Detection data, orientation is focused on based on minimum, obtained whole is detected object one is scanned in the whole audience Field detection data.
In the present embodiment, for speed of detection it is less demanding when, can select imaging method identification finger motion.
In above-mentioned specific embodiment provided by the present invention, either foregoing search, tracking, or carried below And stare operation, it is formed substantially, all refers to transmitting to phased array millimeter wave, the adjustment and control that receive, and for The wavelength of millimeter wave and the adjustment of transmission power and control.And these are specific to phased array millimeter wave and its wavelength, power Adjustment and control, it is exactly the core place of the present invention.Exactly because such as preceding adjustment, control transmitting, receive phased array millimeter wave Wavelength and power so that equipment of the invention can minimize, low-power consumption, can also realize short distance object detection, make Obtain phased array identification technology and be provided with more wide application space.
3.13rd, artificial intelligence optimization and software
Using intelligent algorithm, used for a detection data and optimize the step of calculating.In the present embodiment, according to people Finger motion feature, and the custom feature according to user, in artificial intelligence optimization, completed using experts database algorithm excellent Change.In Software for Design, except LAN-ignorant program, also including but not limited to network edition software especially includes but is not limited to assist Adjust the networking software of multiple gesture identification equipments.
Two：Anti-collision system for automobile
Embodiment two, anti-collision system for automobile
The embodiment is illustrative example of the present invention towards anti-collision system for automobile.
Anti-collision system for automobile, it is a kind of CAS on land craft, including but not limited to automobile.This Embodiment compared with aforementioned embodiments, not repeat by something in common, and system Main Differencesization are as follows：
1st, method and system differentiation explanation
The quantity of antenna in phased array T/R components and/or phased-array antenna array, is arranged to 4~512.Phased array The arrangement mode of aerial array is one-dimensional linear arrangement, including but not limited to two parallel lines, triangle, rectangle and polygon cloth Put, to form plane probe field.Multiple phased array T/R components and phased-array antenna array are arranged to：Milli can be launched The wavelength of metric wave or the wavelength that can receive detected object reflection are 1mm~30mm.The millimeter wave of transmitting or reception Radiant power is 500mW and following, and system is arranged on land craft.
2nd, structure and principle differentiation explanation
2.1st, phased array array structure type.
In the present embodiment, because automobile simply travels on highway or ground, belong to two dimensional surface, for anticollision, only Need to detect on two dimensional surface.So the minimum phased array type needed using one dimensional linear array here.
Fig. 7 is one dimensional linear array structure chart, wherein, 701 be the bay arrangement of one dimensional linear array, and 702 be specific antenna array Member.No with the communication array element of two dimensional surface arrangement is that the phased array system of one dimensional linear array, can only detect on two dimensional surface Object, from the point of view of polar coordinate system, it is merely able to azimuth and the distance of detecting object, it is impossible to detects the elevation angle.This is to be adapted to vapour What car anticollision needed.
Fig. 9 is rectangle linear array structure chart, and it is that 4 one dimensional linear array bays form according to quadrangular array, antenna Array element is towards the periphery of quadrangle.Wherein, 901 be bay arrangement, and 902 be specific bay.The cloth of this quadrangle Office's mode, it will provide plane, 360 degree of orientation detection for automobile.
2.2nd, bay number.
Because the present embodiment is to be used to detect two dimensional surface, according to phased array antenna operation principle and calculating, according to difference Detection accuracy requirement, the bay number of its quadrangle is 4~512, wherein unilateral array number is in 2~128
2.3rd, the algorithm of signal processing system and work.
Because the size of automobile has very big difference relative to the size of gesture identification, the precision of gesture identification is millimeter Level, and the precision of automobile collision preventing can be Centimeter Level even decimeter grade.In addition, identification distance is also different, the distance of gesture identification Be within meter level, and automobile collision preventing identification distance be at least hundred meter levels not to kilometer rank.So include but is not limited to essence Degree and distance, the specific algorithm of signal processing system are designed according to the requirement of automobile collision preventing.Especially, the present embodiment is Have signal processing system using 4 one-dimensional SoC chips, inside them, outside 4 chips, must design one it is under the overall leadership this 4 The processing system of individual signal processing system, to coordinate their work.
2.4th, submatrix and full battle array.
It is two-dimentional linear array different from gesture identification embodiment because the present embodiment is one dimensional linear array, so, in the present embodiment Full battle array and submatrix are all one-dimensional.
Array element radiant power.
Because the detection range of the present embodiment is kilometer rank, different from the meter level of gesture identification, so, the present embodiment Array element radiates micro- more than the 10mW of power of millimeter wave, and the radiant power of single SoC chip is within 500mW.
2.5th, millimeter-wave frequency.
The wavelength of the phased array millimeter wave of the present embodiment is defined as 1mm~30mm.
Search and track and stare.
For the present embodiment, in the search, it is necessary to judge the maximum object of risk of collision, for the object, weight is taken Point tracking.Need to be that especially when overtaking other vehicles, using algorithm is stared, emphasis detects passed vehicle vehicle, to ensure safety.
2.6th, output signal acts on.
For the signal of signal processing system output, in the present embodiment, carried-on-vehicle computer system can be linked into, including But it is not limited to use in ABS brakes, steering operation etc..
Three：Unmanned plane anticollision, attack protection system
Embodiment three, unmanned plane anticollision attack protection system
The embodiment is illustrative example of the present invention towards unmanned plane anticollision attack protection system.
Unmanned plane anticollision attack protection system, it is a kind of CAS on airflight instrument, including it is but and unlimited In automobile.Present embodiment compared with aforementioned embodiments, not repeat by something in common, and system Main Differencesization are as follows：
1st, method and system differentiation explanation
Signal processing system includes but is not limited to signal receiving interface, is connected with signal receiving subsystem, for receiving quilt The attribute and coordinate of target of attack.Signal processing system is also connected with flight subsystem, is changed the flight path of system, is drawn Attack weapon is led to hit by target of attack.Signal processing system is including but not limited to identified, searched for, tracking, assessing interception weapon Function, and pass through flight subsystem change attack weapon flight path, avoid intercept weapon.Identification includes but unlimited In the identification for intercepting weapon, assess including but not limited to identification and intercept weapon, calculate the flight parameter for intercepting weapon, calculating Intercept the distance of weapon and the attack weapon, the flight track crosspoint of predictive intercept weapon and attack weapon, judgement interception The threat degree of weapon；The flight parameter for including but is not limited to change attack weapon is avoided, driving flight subsystem changes The flight path of attack weapon.
2nd, structure and principle differentiation explanation
The quantity of antenna in phased array T/R components and/or phased-array antenna array, is arranged to 4~1024.Phased array The arrangement mode of aerial array is two dimensional surface, curved surface or more horizontal layouts, to form spherical, hemispherical, box-shaped and/or open The probe field of mouth box-shaped.Multiple phased array T/R components and phased-array antenna array are arranged to：The ripple of millimeter wave can be launched Wavelength that is long or can receiving detected object reflection is 3mm~30mm.Transmitting or the radiant power of the millimeter wave received For 1W and following.System is arranged on low-speed operations device.
2.1st, phased array array structure type.
In the present embodiment, because unmanned plane is to fly in the air, belong to three dimensions, for anticollision and prevent from being attacked Hit, it is necessary to be detected on three dimensions.
Figure 10 is five face structure figures, wherein, 1001,1002,1003,1004,1005 be the antenna array of 5 two dimensional surfaces Identical permutation, its bay are directed towards outside.
2.2nd, bay number.
Because the present embodiment is the three dimensions for detecting 5 faces, according to phased array antenna operation principle and calculating, according to Different detection accuracy requirements, its bay number is 4~1024, wherein unilateral array number is at 2~128.In reality In design, each face in 5 faces uses the SoC chip of one 8 × 8.
2.3rd, the algorithm of signal processing system and work.
Because the size of unmanned plane has very big difference relative to the size of gesture identification, the precision of gesture identification is millimeter Level, and the precision of unmanned plane anticollision attack protection can be Centimeter Level.In addition, identification distance is also different, the distance of gesture identification is Within meter level, and the distance of automobile collision preventing identification is at least hundred meter levels not to ten kilometers of ranks.So include but is not limited to essence Degree and distance, the specific algorithm of signal processing system are designed according to the requirement of automobile collision preventing.Especially, the present embodiment is Have signal processing system using 5 two-dimentional SoC chips, inside them, outside 5 chips, must design one it is under the overall leadership this 5 The processing system of individual signal processing system, to coordinate their work.
In addition, as unmanned plane attack protection system, it is therefore an objective to the movement locus of identification and the detected object of prediction, with nobody The movement locus of machine in itself is carved with intersection at some, and when having intersection, signal processing system is defeated by output interface Go out to avoid signal, to drive unmanned plane to avoid.For multiple moving objects for having intersection, signal processing system will determine that danger Rank, tracked using track algorithm, and avoided according to harmful grade.
Four：Wisdom fly bomb system
Embodiment four, wisdom fly bomb system
The embodiment is illustrative example of the present invention towards wisdom fly bomb system.
Wisdom fly bomb, including but not limited to shell, bomb and guided missile, wisdom fly bomb system are a kind of from patrolling, evade certainly System.Present embodiment is compared with foregoing unmanned plane CAS embodiment, and something in common is not repeated, system Main Differences Change as follows：
1st, method and system differentiation explanation
Signal processing system includes but is not limited to signal receiving interface, is connected with signal receiving subsystem, for receiving quilt The attribute and coordinate of target of attack；Signal processing system is also connected with flight subsystem, is changed the flight path of system, is drawn Attack weapon is led to hit by target of attack.
Signal processing system includes but is not limited to identify, searches for, tracks, assessing the function of intercepting weapon, and passes through flight Control subsystem changes the flight path of attack weapon, avoids and intercepts weapon；Identification includes but is not limited to for intercepting weapon Identification, assessment include but is not limited to identify interception weapon, calculate the flight parameter of interception weapon, calculate interception weapon and attack force The distance of device, the flight track crosspoint of predictive intercept weapon and attack weapon, judge to intercept the threat degree of weapon；Avoid bag Include but be not limited to change the flight parameter of attack weapon, driving flight subsystem changes the flight path of attack weapon.
2nd, structure and principle differentiation explanation
The quantity of antenna in phased array T/R components and phased-array antenna array, is arranged to 4~1024.Phased array day The arrangement mode of linear array is arranged for two dimensional surface.Multiple phased array T/R components and phased-array antenna array are arranged to：Energy It is 3mm~30mm enough to launch the wavelength of millimeter wave or can receive the wavelength that detected object reflects.Transmitting or receive The radiant power of millimeter wave is 1W and following, and system is arranged on attack weapon.
Figure 11 is wisdom fly bomb signal processing system structure chart.Wherein, 1102 be flight subsystem, and 1112 be Feng Shi Or non-Feng Shi computer systems, 1114 be signal receiving subsystem, other identical with Fig. 6.
2.1st, phased array array structure type.
In the present embodiment, because wisdom fly bomb is to fly in the air, belong to three dimensions, it is necessary to be visited on three dimensions Survey.The design of its phased array elements uses two dimensional surface to arrange, as shown in Figure 8.
2.2nd, the algorithm of signal processing system and work.
The signal processing system of the present embodiment includes but is not limited to signal receiving interface, is connected with signal receiving subsystem, For receiving by the attribute and coordinate of target of attack；And by the attribute and coordinate of target of attack, before fly bomb transmitting and fly bomb After transmitting, signal processing system can be transferred to by wireless communication system.Signal processing system is also sub with flight control System is connected, and changes the flight path of system, and vectored attack weapon is hit by target of attack.
In addition, the signal processing system of the present embodiment is including but not limited to identified, searched for, tracking, assessing interception weapon Function, and by the flight path of flight subsystem change attack weapon, avoid and intercept weapon；Identification includes but is not limited to Identification for intercepting weapon, assessment include but is not limited to identify that interception weapon, the flight parameter for calculating interception weapon, prediction are blocked Cut the flight track crosspoint of weapon and attack weapon, judge to intercept the threat degree of weapon；Avoid and include but is not limited to change The flight parameter of attack weapon, driving flight subsystem change the flight path of attack weapon.
2.3rd, system includes but is not limited to signal receiving subsystem and flight subsystem.
2.4th, array element radiant power.
Because the detection range of the present embodiment is ten kilometers of ranks, different from the meter level of gesture identification, so, the present embodiment Single array element radiation millimeter wave micro- more than the 10mW of power, the radiant power of single SoC chip is within 1W.
Five：Shipping anti-collision system
Embodiment five, shipping anti-collision system
The embodiment is illustrative example of the present invention towards shipping anti-collision system.
Shipping anti-collision system, similar to anti-collision system for automobile, by contrast, something in common is not repeated, main difference it Be in：
The quantity of antenna in phased array T/R components and/or phased-array antenna array, is arranged to 2~1024.Phased array The arrangement mode of aerial array is Two-dimensional Surfaces or more horizontal layouts, with formed annular, spherical, box-shaped, hemispherical and/or The probe field of half box-shaped.Multiple phased array T/R components and phased-array antenna array are arranged to：The ripple of millimeter wave can be launched Wavelength that is long or can receiving detected object reflection is 3mm~30mm.Transmitting or the radiant power of the millimeter wave received For below 10W.System is arranged on marine communication means.
1st, detection range.
The detection range of automobile collision preventing is kilometer level, and the detection range of shipping anti-collision is ten kilometers to dozens of kilometres level Not.
2nd, array element radiant power.
The millimeter-wave radiation power of the SoC single-chips of the present embodiment is 10W.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme.

Claims (10)

  1. A kind of 1. phased array recognition methods, it is characterised in that including：
    More than one T/R component and the transmitting terminal transmitting millimeter wave phase of more than one antenna are adjusted, so that the transmitting milli The step of focusing azimuth scan subfield and/or the whole audience that metric wave is formed；And/or
    The receiving terminal of more than one T/R component and more than one antenna is controlled to receive described in more than one detected object reflection The step of launching millimeter wave；And/or
    The millimeter wave reflected based on one object detected above, calculates the detection of detected object more than one The step of data；
    The wavelength of the transmitting millimeter wave, is arranged to 0.1mm~100mm；And/or
    The radiant power of the transmitting millimeter wave is set to less than or equal to 10W.
  2. 2. according to the method for claim 1, it is characterised in that：
    Described more than one T/R component of adjustment and more than one antenna transmitting terminal transmitting millimeter wave phase, in addition to：Control institute The transmission channel of T/R components is stated, makes its according to setting, the step of producing specific frequency hop sequences；And/or
    It is described to control the receiving terminal of more than one T/R component and more than one antenna to receive more than one detected object reflection The step of transmitting millimeter wave, also includes：The receiving channel of the T/R components is controlled, can differentiate that what is received is visited Survey the step of object reflects the frequency hop sequences in millimeter wave；
    Or
    The transmitting terminal of more than one T/R component of adjustment and more than one antenna transmitting millimeter wave phase, in addition to：Control The transmission channel of the T/R components, its is set to produce certain pulses width and its step of sequence according to setting；And/or
    It is described to control the receiving terminal of more than one T/R component and more than one antenna to receive more than one detected object reflection The step of transmitting millimeter wave, also includes：The receiving channel of the T/R components is controlled, can differentiate that what is received is visited Survey the step of object reflects in millimeter wave pulse width and its sequence.
  3. 3. method according to claim 1 or 2, it is characterised in that：Also include：
    The step of measuring the exercise data of the T/R components and antenna in itself；And/or
    Deviation existing for the detection data is calculated based on the exercise data, to obtain the step of correcting data；And/or
    The step of detecting the validity of the T/R components and antenna in itself, and marking effectively or fail；And/or
    The T/R components and antenna of failure are skipped, the step of using effective the T/R components and antenna；
    The deviation includes the space coordinates, speed and/or acceleration.
  4. 4. method according to claim 1 or 2, it is characterised in that also include：
    By the subfield and/or the whole audience, the step of orientation is divided into the region being connected with each other is focused on described, and according to setting The search step that the continuous and/or interval region is scanned；And/or
    According to the detection data, the step of calculating the subfield of detection next time of the detected object, and using full battle array and/ Or divide the tracking step of the battle array scanning detection subfield；
    The detection data includes the space coordinates of the detected object.
  5. 5. method according to claim 1 or 2, it is characterised in that：
    The transmitting millimeter wave, specifically include and launch more than one pulse millimeter wave, receive and calculate single more than one The step of pulse detection data；And/or
    Calculate one above pulse detection data to obtain that optimization stares detection data stares step；And/or
    According to the filter condition of setting, filtration step is carried out for the detection data；And/or
    The step of being calculated according to reception signal and exporting flight path control instruction；And/or
    The step of identification, search, tracking and assessment intercept weapon；The step of calculating and exporting flight path control instruction；
    The wavelength of the transmitting millimeter wave is less than or equal to the size of metal object, or, less than or equal to metal ball Girth；
    The filter condition, including the section of the detection subfield, the detected object are from section, the quilt with a distance from antenna The size dimension section of detecting object, the movement velocity section of the detected object, the attribute section of the detected object Or it is combined between them.
  6. 6. method according to claim 1 or 2, it is characterised in that
    Described the step of calculating the detection data of detected object more than one, also includes：
    Calculate it is described reflection millimeter wave strong and weak numerical value, according to setting imaging algorithm obtain a width detection image the step of；
    The detection data, based on the minimum focusing orientation, it is described detected that obtained whole is scanned in the whole audience One detection data of object；And/or
    Using intelligent algorithm, used for a detection data and optimize the step of calculating.
  7. 7. a kind of phased array identifying system, connected by multiple phased array T/R components, phased-array antenna array with signal processing system Form；Wherein：
    The multiple phased array T/R components connect with the phased-array antenna array；
    The signal processing system connects with multiple phased array T/R components；
    The multiple phased array T/R components and phased-array antenna array are arranged to：Can launch millimeter wave wavelength or The wavelength that detected object reflection can be received is 0.1mm~100mm；And/or
    The power of the millimeter wave of the transmitting is less than or equal to 10W.
  8. 8. system according to claim 7, it is characterised in that：
    The phased array T/R components, including at least transmission signal generation unit, receipt signal processing unit, phase-shifting unit, pole-changing Change unit and filter unit；And/or
    The phased-array antenna array, including multiple transmitting antennas and reception antenna, and according to including one-dimensional straight line, one-dimensional song The mode of line, two dimensional surface and/or Two-dimensional Surfaces arranges；And/or
    The signal processing system, including at least Feng Shi computer subsystems, non-Feng Shi computer subsystems, neutral net subsystem System, and/or, artificial intelligence subsystem；And it is configured to according to phased array T/R components and phased array described in the algorithm drives of setting Aerial array corrected, searched for, being tracked, stares work with Intelligent Recognition, and calculates probe field according to reflection echo The detection data of interior multiple detected objects, processes these data, and pass through communication interface output data；And/or
    The signal processing system, it is configured to carry out validation checking, mark effectively for the T/R components and antenna And failure, and the replacement of control failure；And/or
    The signal processing system, it is configured to control the T/R components to complete the Frequency hopping transmissions and receive to differentiate, with And complete the transmitting of the pulse width adjustment and receive to differentiate；And/or
    Multiple phased array T/R components and multiple phased-array antenna arrays are arranged in monolithic integrated optical circuit, and/or,
    Multiple the phased array T/R components, multiple phased-array antenna arrays and signal processing systems are arranged at single-chip integration In circuit；And/or
    The quantity of antenna is 2~1024 in the phased array T/R components and/or phased-array antenna array of the monolithic integrated optical circuit It is individual；And/or
    The detected object includes：Non-conducting object and/or conductive body and/or the non-conductive thing for being attached with conductive materials Body；
    The size of the conductive body and/or the conductive materials is more than or equal to phased array T/R components transmitting millimeter The wavelength of ripple.
  9. 9. the system according to claim 7 or 8, it is characterised in that：
    The signal processing system includes motion sensor interface, and is configured to according to motion sensor for described Detection data carries out motion correction；The motion correction includes：Coordinate correction, speed correction and/or acceleration correction；And/or
    The signal processing system includes signal receiving interface, is connected with signal receiving subsystem, for receiving by target of attack Attribute and coordinate；The signal processing system is also connected with flight subsystem, is changed the flight path of the system, is drawn Lead the attack weapon hit it is described by target of attack；And/or
    The signal processing system includes identification, search, tracks, assesses the function of intercepting weapon, and controls subsystem by flying System changes the flight path of the attack weapon, avoids and intercepts weapon；The identification includes the identification for intercepting weapon, described Assessment includes identifying that weapon, the flight parameter for calculating the interception weapon, the calculating interception weapon of intercepting is attacked with described The distance of weapon is hit, the flight track crosspoint for intercepting weapon and the attack weapon is predicted, judges the interception weapon Threat degree；The avoidance includes changing the flight parameter of the attack weapon, drives the flight subsystem to change The flight path of the attack weapon.
  10. 10. system according to claim 9, it is characterised in that：
    The quantity of antenna in the phased array T/R components and/or phased-array antenna array, is arranged to 4~1024, the phase The arrangement mode for controlling array antenna array is arranged for two dimensional surface, to form three-dimensional probe field；
    The multiple phased array T/R components and phased-array antenna array are arranged to：Can launch millimeter wave wavelength or The wavelength that detected object reflection can be received is 0.1mm~10mm；And/or
    The radiant power of the millimeter wave of the transmitting or reception is 100mW and following；
    The detected object is conductive materials, and is arranged on animal body；And/or
    The detected object is animal body；
    Or
    The quantity of antenna, is arranged to 4~512 in the phased array T/R components and/or phased-array antenna array；The phase The arrangement mode for controlling array antenna array is arranged for one-dimensional linear, including two parallel lines, triangle, rectangle and polygon arrangement, To form plane probe field；
    The multiple phased array T/R components and phased-array antenna array are arranged to：Can launch millimeter wave wavelength or The wavelength that detected object reflection can be received is 1mm~30mm；And/or
    The radiant power of the millimeter wave of the transmitting or reception is 500mW and following；
    The system is arranged on land craft；
    Or
    The quantity of antenna, is arranged to 4~1024 in the phased array T/R components and/or phased-array antenna array；The phase The arrangement mode for controlling array antenna array is two dimensional surface, Two-dimensional Surfaces or more horizontal layouts, to form spherical, hemispherical, case The probe field of shape and/or open box-shaped；
    The multiple phased array T/R components and phased-array antenna array are arranged to：Can launch millimeter wave wavelength or The wavelength that detected object reflection can be received is 3mm~30mm；And/or
    The radiant power of the millimeter wave of the transmitting or reception is 1W and following；
    The system is arranged on low-speed operations device；
    Or
    The quantity of antenna, is arranged to 4~1024 in the phased array T/R components and/or phased-array antenna array；The phase The arrangement mode for controlling array antenna array is arranged for two dimensional surface or curved surface.
    The multiple phased array T/R components and phased-array antenna array are arranged to：Can launch millimeter wave wavelength or The wavelength that detected object reflection can be received is 3mm~30mm；And/or
    The radiant power of the millimeter wave of the transmitting or reception is 1W and following；
    The system is arranged on attack weapon；
    Or
    The quantity of antenna, is arranged to 2~1024 in the phased array T/R components and/or phased-array antenna array；The phase The arrangement mode for controlling array antenna array is Two-dimensional Surfaces or more horizontal layouts, to form annular, spherical, box-shaped, hemispherical And/or half box-shaped probe field；
    The multiple phased array T/R components and phased-array antenna array are arranged to：Can launch millimeter wave wavelength or The wavelength that detected object reflection can be received is 3mm~30mm；And/or
    The radiant power of the millimeter wave of the transmitting or reception is 10W and following；
    The system is arranged on marine communication means.
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