CN107831489A - A kind of continuous wave 4D radars and its measurement multi-target method - Google Patents

A kind of continuous wave 4D radars and its measurement multi-target method Download PDF

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Publication number
CN107831489A
CN107831489A CN201711262106.9A CN201711262106A CN107831489A CN 107831489 A CN107831489 A CN 107831489A CN 201711262106 A CN201711262106 A CN 201711262106A CN 107831489 A CN107831489 A CN 107831489A
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China
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target
speed
vertical
antenna
distance
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刘景顺
何辉
汪志冰
陈瑞
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Weitai Technology (Wuhan) Co.,Ltd.
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Wuhan Tuo Bao Science And Technology Co Ltd
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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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a kind of continuous wave 4D radars and its measurement multi-target method, continuous wave 4D radars include the transmitting antenna in approximately the same plane, two horizontal reception antennas being set up in parallel and two vertical reception antennas being set up in parallel, using transmitting antenna transmission channel alternate emission triangle arm and determine frequency continuous wave, determining the frequency continuous wave period, go out the level angle of multiple targets with four reception antenna COMPREHENSIVE CALCULATINGs, vertical angle and speed, in the triangle arm period, go out the distance and speed of multiple targets using four reception antenna COMPREHENSIVE CALCULATINGs, final synthesis obtains the level angle of multiple target, vertical angle, four parameters of distance and speed.The radar installations of the present invention can detect four speed, distance, level orientation and vertical orientations parameters of multiple targets simultaneously using a transmitting antenna, realize real 4D radars.Compact equipment, cost are low.

Description

A kind of continuous wave 4D radars and its measurement multi-target method
Technical field
The invention belongs to Radar Technology field, is related to a kind of multiple target radar, and in particular to a kind of continuous wave 4D radars and It measures multi-target method.
Background technology
With the development of wisdom traffic and automatic Pilot technology, there are more demands to traffic detection radar.Such as from Vehicle-mounted forward detection radar in dynamic driving is, it is necessary to accurately and timely detect the various targets and its characteristic of vehicle front, no But detect moving target, such as the moving vehicle in front, also to detect the target above road in time, as bridge, billboard, Vehicle of viaduct different layers etc..To adapt to the demand of automatic Pilot, it is that one kind compels to be essential to find various targets as early as possible, in time Ask, but also require can be as early as possible distinguish bridge, billboard, viaduct different layers vehicle and road on barrier and traveling Vehicle, this just it needs to be determined that distance, orientation, height and the speed of target.The operation of civilian unmanned plane and management just with greater need for Know distance, orientation, height and the speed of target.These application scenarios, which do not require nothing more than detecting devices, can obtain the three of target in time Coordinate and velocity information, also require that compact-sized, easy for installation, cost is low.
Microwave and millimetre-wave radar are conventional Radar Technology, in domestic and international existing car radar measuring system, Chang Cai Front-end detection sensor is used as by the use of CW with frequency modulation (FMCW) radar.
Patent " a kind of 201610099252.3 CW with frequency modulation test the speed distance-finding method " and patent " 201610773300.2 bases Tested the speed ranging in the multiple target of symmetric triangular LFMCW radars " disclose fmcw radar and test the speed distance-finding method, patent " a kind of 201510654175.9 automobile anti-collision radar systems and use its multi-targets recognition algorithm " and patent " a kind of 201610812089.0 Modulation Continuous Wave Radar multiple mobile object matching " discloses fmcw radar detection multiple target Method.But what these patents were related to be all can only measuring speed and distance radar, it is impossible to measure azel, can be referred to as For 2D radars.
Patent " automobile anti-collision radar systems and operation method of 201410171083.0 double reception antennas " uses double reception Antenna measures the distance of target, speed and angle information.Range difference that its angle information is measured according to two antennas and two The spacing of reception antenna calculates, it is actual among range measurement error, thus its be less than due to the spacing of two reception antennas Angle error is very big.Patent " multilane radar velocity measurement method that 201610098711.6 are tested the speed based on ranging angle measurement is combined and The radar installations of device " can effectively measure the speed, distance and level angle of target, but can not measure the vertical of target Angle or height, it may be simply referred to as 3D radars.
The three-dimensional radar mechanical scanning on (azimuth) in the horizontal direction used on military and Aeronautics and Astronautics, Vertical Square Electric scanning is carried out on to (angle of site), distance, the azel information of target can be obtained, according to the target location of different time Calculate the speed of target.This radar system is complicated, equipment is huge, with high costs, is unsuitable for wisdom traffic and automatic Pilot should With.
Patent " US2015/0102954A1 4-DIMENSIONAL CONTINUOUS WAVE RADAR SYSTEM FOR TRAFFIC SAFETY ENFORCEMENT (a kind of four-dimensional continuous-wave radar system for traffic safety mandatory provision) " are open A kind of speed that can measure target, distance, the radar installations of azel, may be simply referred to as 4D radars.The patent describes Radar installations be actually to carry out location matches using two 3D radars to realize 4D radars, and be single goal to be carried out Match somebody with somebody, when there are multiple targets, it is easy to which matching is fuzzy, forms false target or target is omitted, simultaneously because using two thunders Reach, will also result in the rise of cost and volume.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of above-mentioned various technologies, there is provided a kind of simple single radar realizes the more mesh of 4D Mark detection.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of continuous wave 4D radars, it is characterised in that：Received including the transmitting antenna in approximately the same plane and four Antenna, four reception antennas are divided to two to be mounted on using transmitting antenna as on the X-axis line of origin and on Y-axis line, on X-axis line is Two horizontal reception antennas being set up in parallel, on Y-axis line for two vertical reception being set up in parallel antennas, transmitting antenna Planar array antenna is used with reception antenna, the transmission channel alternate emission triangle arm of the transmitting antenna connects frequently with fixed Continuous ripple, is being determined the frequency continuous wave period, is being calculated using two horizontal reception antennas and two vertical reception antenna syntheses multiple Level angle, vertical angle and the speed of target, in the triangle arm period, hung down using two horizontal reception antennas and two The distance and speed that antenna synthesis calculates multiple targets are directly received, final synthesis obtains level angle, the vertical angle of multiple target Four degree, distance and speed parameters.
As an improvement, triangle arm period and the ratio range for determining the frequency continuous wave period are 1:3-3:1.
As an improvement, distance is 5-25mm between two horizontal reception antennas being set up in parallel.
As an improvement, distance is 6-35mm between two vertical reception antennas being set up in parallel.
As an improvement, the horizontal reception antenna that is set up in parallel including the transmitting antenna in approximately the same plane, two and Two vertical reception antennas being set up in parallel, it is continuous using the transmission channel alternate emission triangle arm and fixed frequency of transmitting antenna Ripple, is determining frequency continuous wave time period t 1, and multiple mesh are calculated with two horizontal reception antennas and two vertical reception antenna syntheses Target level angle, vertical angle and speed, in the triangle arm period, it is divided into frequency sweep time period t 2 and lower frequency sweep time Section t3, the distance and speed of multiple targets are calculated using two horizontal reception antennas and two vertical reception antenna syntheses, most Synthesis obtains four level angle, vertical angle, distance and speed parameters of multiple target eventually.
As an improvement, determining frequency continuous wave time period t 1, two horizontal reception antennas and two vertical reception antennas are utilized The specific method that COMPREHENSIVE CALCULATING goes out the level angles of multiple targets, vertical angle and speed is：
According to Doppler frequency shift principle and double antenna angle measuring principle, multiple targets are measured using two horizontal reception antennas Speed { Vhd1,Vhd2,Vhd3…,VhdnAnd level angle { α h1,αh2,αh3…,αhn, n is natural number, represents destination number, Speed { the Vv of multiple targets is measured using two vertical reception antennasd1,Vvd2,Vvd3…,VvdnAnd vertical angle { θ v1,θv2, θv3…,θvn,
General objectives distance R is much larger than antenna size, therefore is taken for first aim：
Target velocity：Vcd1=(Vhd1+Vvd1)/2
Target level angle：α1=α h1
Target vertical angle：θ1=θ v1
The like, obtain：
Multiple target speed：Vcd={ Vcd1,Vcd2,…,Vcdn}
Multiple target level angle：α={ α1,α2,…,αn}
Multiple target vertical angle：θ={ θ1,θ2,…θn}。
As an improvement, in the triangle arm period, two horizontal reception antennas and two vertical reception day twine helads are utilized The specific method of total distance and speed for calculating multiple targets is：
In upper frequency sweep time period t 2 and lower frequency sweep time period t 3, multiple targets are measured using two horizontal reception antennas Upper frequency sweep section frequency difference { Δ fhU1,ΔfhU2,ΔfhU3…,ΔfhUnAnd lower frequency sweep section frequency difference { Δ fhD1,ΔfhD2,ΔfhD3…, ΔfhDn}；Upper frequency sweep section frequency difference { the Δ fv of multiple targets is measured using two vertical reception antennasU1,ΔfvU2,ΔfvU3…,Δ fvUnAnd lower frequency sweep section frequency difference { Δ fvD1,ΔfvD2,ΔfvD3…,ΔfvDn}；
In the case of single goal, the frequency difference Δ f that is measured according to upper frequency sweep time period t 2U1Measured with lower frequency sweep time period t 3 Frequency difference Δ fD1The distance and speed of target can be calculated：
ΔfU1=(Δ fhU1+ΔfvU1The formula of)/2 one
ΔfD1=(Δ fvD1+ΔhvD1The formula of)/2 two
Wherein c is the light velocity, and f1 is the minimum frequency of frequency sweep, and f2 is frequency sweep peak frequency, for single goal：Vd=Vmd= Vcd, R=Rm, thus obtain four kinematic parameter speed V of targetd, distance R, level angle α and vertical angle θ；
For multiple target：N is produced when calculating distance and speed using formula three and formula four2Individual combination, wherein only n It is real target, remaining is false target, utilizes { Δ fhU1,ΔfhU2,ΔfhU3…,ΔfhUnAnd { Δ fhD1,ΔfhD2, ΔfhD3…,ΔfhDnBe calculated one by one with formula three and formula four：
Horizontal antenna distance matrix
Horizontal antenna rate matrices
Utilize { Δ fvU1,ΔfvU2,ΔfvU3…,ΔfvUnAnd { Δ fvD1,ΔfvD2,ΔfvD3…,ΔfvDnUse one by one Formula three and formula four are calculated：
Vertical antenna distance matrix
Vertical antenna rate matrices
For same target, Rh=Rv=R, Vhd=Vvd=Vcd=Vd；
Consider measurement error, an error range Δ R and Δ V are set respectively for distance and speed, Rh and Rv is carried out Compare and meet | Rh-Rv |≤Δ R, then the value is taken as actual distance R；By Vhd、VvdAnd VcdSatisfaction is compared between any two Difference is less than or equal to Δ V, then takes the value as real speed Vd；And utilize VcdCorresponding relation obtains n between α and θ The four-dimensional parameter of real goal：
Vd={ Vd1,Vd2,…,Vdn}
R={ R1,R2,…,Rn}
α={ α1,α2,…,αn}
θ={ θ1,θ2,…θn}
The speed and X, Y, Z coordinate of n target can be obtained by coordinate transform.
As an improvement, target velocity V obtained abovedIt is a throwing of the target velocity in radar antenna plane normal direction Shadow speed, a frame is defined as by a frequency sweep cycle, the four-dimensional parameter of n target is all obtained in each frame, according to continuous m frames The coordinate parameters can of m groups three calculates the direction of motion and target direction of motion and radar antenna plane normal of each target Between angle β={ β1,β2,…,βn, according to formula V=Vd/ cos β cans calculate the true velocity V={ V of target1, V2,…,Vn}。
The beneficial effects of the invention are as follows：
The radar installations of the present invention can detect the speed of multiple targets, distance, level orientation using a radar and hang down The parameter of Nogata position four, realizes real 4D radars.Using flat panel matrix antenna and CW with frequency modulation working method, equipment knot Structure is compact, operand is little, cost is low, can be widely applied to wisdom traffic, automatic Pilot, closely low-altitude detection etc. is led Domain.
Brief description of the drawings
Fig. 1 continuous wave 4D multiple target radar schematic diagrames.
100- transmitting antennas (contain transmission channel), and 111- first levels reception antenna (contains receiving channel), the water of 112- second Flat reception antenna (containing receiving channel), the first vertical receptions of 121- antenna (contain receiving channel), 122- the second vertical reception antennas The distance of (containing receiving channel), 200- targets to be detected, R- targets to be detected and radar, α-target level to be detected deflection Degree, i.e. target are in the projection where antenna on plane XOY with origin line and the angle of X-axis, θ-target vertical to be detected direction Angle, as target with plane XOY where origin (transmitting antenna midpoint) line and antenna angle,
The fm waveform of Fig. 2 transmission channels transmitting.
Fig. 3 continuous wave 4D multiple target radar block diagrams.
In figure：LNA is low-noise amplifier, and PA is power amplifier, and IF is intermediate frequency amplification, filtering, and ADC is analog-to-digital conversion Device, X4 are 4 frequency multipliers, and Synth is frequency synthesizer, and Generator is FM signal generator.
Embodiment
The present invention is illustrated below in conjunction with the accompanying drawings, as shown in figure 1, a kind of continuous wave 4D radars, including positioned at Transmitting antenna and four reception antennas in approximately the same plane, four reception antennas are divided to two to be mounted on using transmitting antenna as origin On X-axis line and on Y-axis line, on X-axis line for two horizontal reception antennas being set up in parallel, on Y-axis line for two The individual vertical reception antenna being set up in parallel, transmitting antenna and reception antenna use planar array antenna, the transmitting antenna Transmission channel alternate emission triangle arm and determine frequency continuous wave, determining the frequency continuous wave period, utilize two horizontal reception days Line and two vertical reception antenna syntheses calculate the level angle, vertical angle and speed of multiple targets, in triangle arm Period, the distance and speed of multiple targets are calculated using two horizontal reception antennas and two vertical reception antenna syntheses, Final synthesis obtains four level angle, vertical angle, distance and speed parameters of multiple target.
As a kind of more excellent citing, triangle arm period and the ratio range for determining the frequency continuous wave period are 1:3-3: 1。
As a kind of more excellent citing, distance is 5-25mm between two horizontal reception antennas being set up in parallel.
As a kind of more excellent citing, distance is 6-35mm between two vertical reception antennas being set up in parallel.
A kind of continuous wave 4D radar surveying multi-target methods, including transmitting antenna in approximately the same plane, two simultaneously The horizontal reception antenna and two vertical reception antennas being set up in parallel set is arranged, is alternately sent out using the transmission channel of transmitting antenna Penetrate triangle arm and determine frequency continuous wave, alternately triangle arm with to determine frequency continuous wave combined waveform figure as shown in Figure 2.
Measuring process and principle：
Determine frequency continuous wave time period t 1, according to Doppler frequency shift principle and double antenna angle measuring principle, utilize two levels Reception antenna measures the speed { Vh of multiple targetsd1,Vhd2,Vhd3…,VhdnAnd level angle { α h1,αh2,αh3…,αhn, n For natural number, destination number is represented, the speed { Vv of multiple targets is measured using two vertical reception antennasd1,Vvd2,Vvd3…, VvdnAnd vertical angle { θ v1,θv2,θv3…,θvn,
General objectives distance R is much larger than antenna size, therefore is taken for first aim：
Target velocity：Vcd1=(Vhd1+Vvd1)/2
Target level angle：α1=α h1
Target vertical angle：θ1=θ v1
The like, obtain：
Multiple target speed：Vcd={ Vcd1,Vcd2,…,Vcdn}
Multiple target level angle：α={ α1,α2,…,αn}
Multiple target vertical angle：θ={ θ1,θ2,…θn}。
In the upper frequency sweep time period t 2 and lower frequency sweep time period t 3 of triangle arm, transmitted waveform is symmetric triangular ripple, Upper frequency sweep section frequency difference { the Δ fh of multiple targets is measured using two horizontal reception antennasU1,ΔfhU2,ΔfhU3…,ΔfhUnAnd Lower frequency sweep section frequency difference { Δ fhD1,ΔfhD2,ΔfhD3…,ΔfhDn}；The upper of multiple targets is measured using two vertical reception antennas Frequency sweep section frequency difference { Δ fvU1,ΔfvU2,ΔfvU3…,ΔfvUnAnd lower frequency sweep section frequency difference { Δ fvD1,ΔfvD2,ΔfvD3…,Δ fvDn}；
In the case of single goal, the frequency difference Δ f that is measured according to upper frequency sweep time period t 2U1Measured with lower frequency sweep time period t 3 Frequency difference Δ fD1The distance and speed of target can be calculated：
ΔfU1=(Δ fhU1+ΔfvU1The formula of)/2 one
ΔfD1=(Δ fvD1+ΔhvD1The formula of)/2 two
Wherein c is the light velocity, and f1 is the minimum frequency of frequency sweep, and f2 is frequency sweep peak frequency, for single goal：Vd=Vmd= Vcd, R=Rm, thus obtain four kinematic parameter speed V of targetd, distance R, level angle α and vertical angle θ；
For multiple target：N is produced when calculating distance and speed using formula three and formula four2Individual combination, wherein only n It is real target, remaining is false target, utilizes { Δ fhU1,ΔfhU2,ΔfhU3…,ΔfhUnAnd { Δ fhD1,ΔfhD2, ΔfhD3…,ΔfhDnBe calculated one by one with formula three and formula four：
Horizontal antenna distance matrix
Horizontal antenna rate matrices
Utilize { Δ fvU1,ΔfvU2,ΔfvU3…,ΔfvUnAnd { Δ fvD1,ΔfvD2,ΔfvD3…,ΔfvDnUse one by one Formula three and formula four are calculated：
Vertical antenna distance matrix
Vertical antenna rate matrices
For same target, Rh=Rv=R, Vhd=Vvd=Vcd=Vd；
Consider measurement error, an error range Δ R and Δ V are set respectively for distance and speed, Rh and Rv is carried out Compare and meet | Rh-Rv |≤Δ R, then the value is taken as actual distance R；By Vhd、VvdAnd VcdSatisfaction is compared between any two Difference is less than or equal to Δ V, then takes the value as real speed Vd；And utilize VcdCorresponding relation obtains n between α and θ The four-dimensional parameter of real goal：
Vd={ Vd1,Vd2,…,Vdn}
R={ R1,R2,…,Rn}
α={ α1,α2,…,αn}
θ={ θ1,θ2,…θn}
The speed and X, Y, Z coordinate of n target can be obtained by coordinate transform.
Target velocity V obtained abovedIt is a projection speed of the target velocity in radar antenna plane normal direction, obtains To the true velocity of target, a frequency sweep cycle is defined as a frame, the four-dimensional parameter of n target, root are all obtained in each frame The direction of motion and target direction of motion and radar of each target are calculated according to the coordinate parameters can of m groups three of continuous m frames Angle β={ β between antenna plane normal1,β2,…,βn, according to formula V=Vd/ cos β cans calculate the true of target Real speed V={ V1,V2,…,Vn, m is natural number.
Embodiment 1
Whole radar block diagram is as shown in figure 3, antenna uses Fig. 1 structure, working frequency 24GHz~24.25GHz, hair Penetrate 24 ° X24 ° of antenna beamwidth, transmission power 10dBm；Two horizontal 37 ° X24 ° of reception antenna beam angles, two levels Distance 19mm between reception antenna；Two 24 ° X32 ° of vertical reception antenna beamwidths, distance between two vertical reception antennas 26mm；Frequency swept waveform uses Fig. 2 waveform, frequency swept waveform parameter t1=8mS, t2=t3=5mS, f1=24GHz, f2= 24.25GHz；The measurement and matching of speed, distance, horizontal azimuth and Vertical Square parallactic angle are carried out using foregoing step.The thunder Up to can in the range of 24 ° X24 ° of front detection more than 30 target, the scope that tests the speed 2~250km/h, finding range 5m~ 100m, range accuracy 1m, horizontal 0.15 ° of angle measurement accuracy, vertical 0.1 ° of angle measurement accuracy.
Embodiment 2
Whole radar block diagram is as shown in figure 3, antenna uses Fig. 1 structure, working frequency 77GHz~78GHz, transmitting day 20 ° X20 ° of line beam angle, transmission power 10dBm；Two horizontal 30 ° X20 ° of reception antenna beam angles, two horizontal receptions Distance 6mm between antenna；Two 20 ° X26 ° of vertical reception antenna beamwidths, distance 9mm between two vertical reception antennas； Frequency swept waveform uses Fig. 2 waveform, frequency swept waveform parameter t1=0.8mS, t2=t3=0.4mS, f1=77GHz, f2= 78GHz；The measurement and matching of speed, distance, horizontal azimuth and Vertical Square parallactic angle are carried out using foregoing step.The radar can With the target of the detection more than 60 in the range of 20 ° X20 ° of front, the scope that tests the speed 2~400km/h, finding range 1m~ 150m, range accuracy 0.3m, horizontal 0.1 ° of angle measurement accuracy, vertical 0.1 ° of angle measurement accuracy.

Claims (8)

  1. A kind of 1. continuous wave 4D radars, it is characterised in that：Including the transmitting antenna in approximately the same plane and four reception days Line, four reception antennas are divided to two to be mounted on using transmitting antenna as on the X-axis line of origin and on Y-axis line, on X-axis line for two The individual horizontal reception antenna being set up in parallel, on Y-axis line for two vertical reception being set up in parallel antennas, transmitting antenna and Reception antenna uses planar array antenna, and the transmission channel alternate emission triangle arm of the transmitting antenna and fixed frequency are continuous Ripple, is determining the frequency continuous wave period, and multiple mesh are calculated using two horizontal reception antennas and two vertical reception antenna syntheses Target level angle, vertical angle and speed, it is vertical using two horizontal reception antennas and two in the triangle arm period Reception antenna COMPREHENSIVE CALCULATING goes out the distance and speed of multiple targets, the final comprehensive level angle for obtaining multiple target, vertical angle, Four parameters of distance and speed.
  2. A kind of 2. continuous wave 4D radars as claimed in claim 1, it is characterised in that：Triangle arm period and fixed frequency are continuous The ratio range of ripple period is 1:3-3:1.
  3. A kind of 3. continuous wave 4D radars as claimed in claim 1, it is characterised in that：Two horizontal reception antennas being set up in parallel Between distance be 5-25mm.
  4. A kind of 4. continuous wave 4D radars as claimed in claim 1, it is characterised in that：Two vertical reception antennas being set up in parallel Between distance be 6-35mm.
  5. A kind of 5. continuous wave 4D radar surveying multi-target methods, it is characterised in that：Including the transmitting day in approximately the same plane Line, two horizontal reception antennas being set up in parallel and two vertical reception antennas being set up in parallel, utilize the transmitting of transmitting antenna Passage alternate emission triangle arm and determine frequency continuous wave, determining frequency continuous wave time period t 1, with two horizontal reception antennas with Two vertical reception antenna syntheses calculate the level angle, vertical angle and speed of multiple targets, in the triangle arm time Section, is divided into frequency sweep time period t 2 and lower frequency sweep time period t 3, utilizes two horizontal reception antennas and two vertical reception antennas COMPREHENSIVE CALCULATING goes out the distance and speed of multiple targets, and final synthesis obtains level angle, vertical angle, distance and the speed of multiple target Spend four parameters.
  6. A kind of 6. continuous wave 4D radar surveying multi-target methods as claimed in claim 5, it is characterised in that：Determining frequency continuous wave Time period t 1, using two horizontal reception antennas and two vertical reception antenna syntheses calculate multiple targets level angle, Vertical angle and the specific method of speed are：
    According to Doppler frequency shift principle and double antenna angle measuring principle, the speed of multiple targets is measured using two horizontal reception antennas {Vhd1,Vhd2,Vhd3…,VhdnAnd level angle { α h1,αh2,αh3…,αhn, n is natural number, represents destination number, is utilized Two vertical reception antennas measure the speed { Vv of multiple targetsd1,Vvd2,Vvd3…,VvdnAnd vertical angle { θ v1,θv2,θ v3…,θvn,
    General objectives distance R is much larger than antenna size, therefore is taken for first aim：
    Target velocity：Vcd1=(Vhd1+Vvd1)/2
    Target level angle：α1=α h1
    Target vertical angle：θ1=θ v1
    The like, obtain：
    Multiple target speed：Vcd={ Vcd1,Vcd2,…,Vcdn}
    Multiple target level angle：α={ α1,α2,…,αn}
    Multiple target vertical angle：θ={ θ1,θ2,…θn}。
  7. A kind of 7. continuous wave 4D radar surveying multi-target methods as claimed in claim 6, it is characterised in that：In triangle arm Period, the distance and speed of multiple targets are calculated using two horizontal reception antennas and two vertical reception antenna syntheses Specific method is：
    In upper frequency sweep time period t 2 and lower frequency sweep time period t 3, using two horizontal reception antennas measure multiple targets on sweep Frequency range frequency difference { Δ fhU1,ΔfhU2,ΔfhU3…,ΔfhUnAnd lower frequency sweep section frequency difference { Δ fhD1,ΔfhD2,ΔfhD3…,Δ fhDn}；Upper frequency sweep section frequency difference { the Δ fv of multiple targets is measured using two vertical reception antennasU1,ΔfvU2,ΔfvU3…,Δ fvUnAnd lower frequency sweep section frequency difference { Δ fvD1,ΔfvD2,ΔfvD3…,ΔfvDn}；
    In the case of single goal, the frequency difference Δ f that is measured according to upper frequency sweep time period t 2U1The frequency measured with lower frequency sweep time period t 3 Poor Δ fD1The distance and speed of target can be calculated：
    ΔfU1=(Δ fhU1+ΔfvU1The formula of)/2 one
    ΔfD1=(Δ fvD1+ΔhvD1The formula of)/2 two
    Wherein c is the light velocity, and f1 is the minimum frequency of frequency sweep, and f2 is frequency sweep peak frequency, for single goal：Vd=Vmd=Vcd, R= Rm, thus obtain four kinematic parameter speed V of targetd, distance R, level angle α and vertical angle θ；
    For multiple target：N is produced when calculating distance and speed using formula three and formula four2Individual combination, wherein only n are true Positive target, remaining is false target, utilizes { Δ fhU1,ΔfhU2,ΔfhU3…,ΔfhUnAnd { Δ fhD1,ΔfhD2,Δ fhD3…,ΔfhDnBe calculated one by one with formula three and formula four：
    Horizontal antenna distance matrix
    Horizontal antenna rate matrices
    Utilize { Δ fvU1,ΔfvU2,ΔfvU3…,ΔfvUnAnd { Δ fvD1,ΔfvD2,ΔfvD3…,ΔfvDnFormula is used one by one Three and formula four be calculated：
    Vertical antenna distance matrix
    Vertical antenna rate matrices
    For same target, Rh=Rv=R, Vhd=Vvd=Vcd=Vd；
    Consider measurement error, set an error range Δ R and Δ V respectively for distance and speed, Rh and Rv are compared Meet | Rh-Rv |≤Δ R, then the value is taken as actual distance R；By Vhd、VvdAnd VcdSatisfaction difference between any two is compared Less than or equal to Δ V, then the value is taken as real speed Vd；And utilize VcdCorresponding relation obtains n truly between α and θ The four-dimensional parameter of target：
    Vd={ Vd1,Vd2,…,Vdn}
    R={ R1,R2,…,Rn}
    α={ α1,α2,…,αn}
    θ={ θ1,θ2,…θn}
    The speed and X, Y, Z coordinate of n target can be obtained by coordinate transform.
  8. A kind of 8. continuous wave 4D radar surveying multi-target methods as claimed in claim 7, it is characterised in that：Mesh obtained above Mark speed VdIt is a projection speed of the target velocity in radar antenna plane normal direction, a frequency sweep cycle is defined as one Frame, the four-dimensional parameter of n target is all obtained in each frame, calculated according to the coordinate parameters can of m groups three of continuous m frames each Angle β={ β between the direction of motion and target direction of motion and radar antenna plane normal of target1,β2,…,βn, root According to formula V=Vd/ cos β cans calculate the true velocity V={ V of target1,V2,…,Vn}。
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