CN111316499A - Millimeter wave antenna structure, microwave rotary radar and movable platform - Google Patents
Millimeter wave antenna structure, microwave rotary radar and movable platform Download PDFInfo
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- CN111316499A CN111316499A CN201880070178.XA CN201880070178A CN111316499A CN 111316499 A CN111316499 A CN 111316499A CN 201880070178 A CN201880070178 A CN 201880070178A CN 111316499 A CN111316499 A CN 111316499A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
- H01Q1/38—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith formed by a conductive layer on an insulating support
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/024—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using polarisation effects
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/285—Aircraft wire antennas
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
- H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
- H01Q21/061—Two dimensional planar arrays
- H01Q21/065—Patch antenna array
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- Astronomy & Astrophysics (AREA)
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- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention provides a millimeter wave antenna structure (100), a microwave rotary radar (200) and a movable platform (300), wherein the millimeter wave antenna structure (100) comprises: a substrate (101) having a plurality of antenna arrays formed on a first side of the substrate (101), the plurality of antenna arrays including at least one transmit antenna array (1) and a plurality of receive antenna arrays (2, 3, 4, 5, 6, 7, 8, 9), the at least one transmit antenna array (1) and the plurality of receive antenna arrays (2, 3, 4, 5, 6, 7, 8, 9) being arranged parallel to and spaced apart from each other; each receiving antenna array (2, 3, 4, 5, 6, 7, 8, 9) comprises at least one row of microstrip patch units (11), and each row of microstrip patch units (11) comprises two groups of microstrip patch units (11) which are symmetrically distributed; the distance between two adjacent receiving antenna arrays is 6.0-15.0 mm. According to the millimeter wave antenna structure (100), the microwave rotary radar (200) and the movable platform (300), a larger angle measurement range and a larger angle measurement resolution can be realized under a smaller size, and the actual use requirements are met.
Description
Technical Field
The invention relates to the technical field of antenna structures, in particular to a millimeter wave antenna structure, a microwave rotary radar and a movable platform.
Background
With the development of millimeter wave devices, the millimeter wave radar can realize miniaturization and integration, can obtain narrower antenna beams and higher antenna gain under the condition of the same antenna caliber, can improve the angle measurement resolution and angle measurement precision of the radar, and is favorable for resisting electronic interference, clutter interference and multipath reflection interference. The existing antenna schemes for realizing the large-range detection mainly include the following: 1. the lens antenna uses a lens to converge the energy radiated by the feed source to form a sharp wave beam, when a plurality of feed sources are arranged near the focal point of the lens, a plurality of wave beams pointing to different directions are correspondingly formed, and the common feed source is a horn antenna; 2. the reflecting surface antenna has the similar principle as the lens antenna, the reflecting surface is used for reflecting the energy of the feed source to form a sharp wave beam, a plurality of feed sources are arranged near the focal point of the reflecting surface, the feed sources at different positions can form the phased array antenna which points to different wave beams 3, a control unit is connected below each array element, and the wave beams in the appointed direction are synthesized by controlling the amplitude and the phase of each array element. 4. The mechanical rotation antenna realizes beam scanning by using a mechanical rotation structure, and improves resolution ratio while realizing a large detection range by using emitted narrow beams to scan in a certain space. 5. In the mimo (Multiple-Input Multiple-Output) radar form, a Multiple-Input Multiple-Output scheme is adopted to improve the angle measurement resolution.
However, the above solutions all have some disadvantages, such as that for solution 1, the antenna lens is a low loss, high dielectric constant material, the processing is difficult, the precision is low, and the size and weight of the lens are considerable; in the scheme 2, similar to a lens antenna, the section and the weight of the reflecting surface are large, and a large space is required to be occupied; according to the scheme 3, each array element of the phased array needs a T/R (transmitting/receiving) assembly, the structure is complex, the manufacturing cost is high, and the phased array is generally used for military; for scheme 4, the mechanical structure is complex, the cost is high, the reliability is low, for scheme 5, the MIMO multi-transmitting and multi-receiving antenna system is complex, the transmission needs time-sharing switching, and the corresponding data processing is very complex.
Disclosure of Invention
The present invention has been made to solve at least one of the above problems. The invention provides a millimeter wave antenna structure, a microwave rotary radar and a movable platform, wherein the antenna structure can obtain better angle measurement resolution and realize a larger angle measurement range, can enable the radar detection capability to cover a larger field of view (FOV), effectively improves the safety of an aircraft, and can realize special functions such as obstacle avoidance.
Specifically, a first aspect of the present invention provides a millimeter wave antenna structure comprising:
a substrate having a plurality of antenna arrays formed on a first side of the substrate, the plurality of antenna arrays including at least one transmit antenna array and a plurality of receive antenna arrays, the at least one transmit antenna array and the plurality of receive antenna arrays being arranged parallel to and spaced apart from each other;
each receiving antenna array comprises at least one row of microstrip patch units, and each row of microstrip patch units comprises two groups of microstrip patch units which are symmetrically distributed;
the distance between two adjacent receiving antenna arrays is 6.0-15.0 mm.
In one embodiment of the invention, the spacing between adjacent receiving antenna arrays is 6.2 mm-12.5 mm.
In one embodiment of the present invention, the spacing between adjacent receiving antenna arrays is 6.6 mm.
In an embodiment of the present invention, the transmit antenna array includes at least two rows of microstrip patch units electrically connected to each other, and each row of the microstrip patch units includes two groups of microstrip patch units symmetrically distributed.
In one embodiment of the present invention, the microstrip patch units in each column are the same size as each other.
In an embodiment of the present invention, the area of each of the microstrip patch units in each row of the microstrip patch units decreases from the center of symmetry to both sides in sequence.
In one embodiment of the invention, the microstrip patch element is rectangular, circular, semicircular or elliptical in shape.
In one embodiment of the invention, each set of microstrip patch elements comprises more than 6 microstrip patch elements.
In an embodiment of the present invention, the number of the receiving antenna arrays is more than 8.
In one embodiment of the present invention, the method further comprises:
the feed network is formed on the first side face of the substrate and comprises a plurality of microstrip lines which are electrically connected with each row of the microstrip patch units respectively.
In an embodiment of the present invention, the microstrip line is connected to each column of the microstrip patch units in a parallel feed manner.
In an embodiment of the present invention, the microstrip line is connected to each row of the microstrip patch units in a series feeding manner.
In one embodiment of the present invention, the method further comprises: and the radio frequency circuit is electrically connected with the feed network and comprises at least one transmitting chip, two receiving chips and a power divider electrically connected with the two receiving chips.
In one embodiment of the invention, the radio frequency circuitry is formed on the second side of the substrate.
In an embodiment of the present invention, a plurality of via holes or feed probes electrically connected to the microstrip lines of each row of the microstrip patch units are further formed on the substrate, and the feed network is connected to the radio frequency circuit through the plurality of via holes or feed probes.
In an embodiment of the present invention, a plurality of microstrip lines are further formed on the second side of the substrate, and each of the via holes or the feed probes is connected to the radio frequency circuit through the corresponding microstrip line.
In an embodiment of the present invention, each row of the microstrip patch units is electrically connected to the radio frequency circuit by a coupling feeding manner.
In one embodiment of the invention, the radio frequency circuitry is formed on the first side of the substrate.
In an embodiment of the present invention, each column of the microstrip patch units is connected to the radio frequency circuit through a microstrip line.
In one embodiment of the present invention, the microstrip line is connected to each column of the microstrip patch units in a vertical manner or an inclined manner.
In one embodiment of the present invention, the substrate is a double-layer plate, a three-layer plate, a four-layer plate, a five-layer plate or a six-layer plate.
In one embodiment of the present invention, the substrate includes:
an antenna plate on which the antenna array is formed;
a ground plate located below the antenna plate for electrical connection with the antenna array; and
a plurality of wiring boards which are positioned below the grounding board and are used for being electrically connected with the radio frequency circuit,
the antenna plate, the grounding plate and the wiring plates are sequentially stacked.
In an embodiment of the present invention, the antenna array is horizontally polarized or vertically polarized.
A second aspect of the present invention provides a microwave rotary radar, comprising:
fixing a bracket;
the motor is arranged on the fixed bracket;
a rotating bracket mounted on the rotor of the motor and rotating together with the rotor of the motor; and
the millimeter wave antenna structure according to the first aspect of the present invention is mounted on the rotating bracket.
A third aspect of the present invention provides a movable platform, comprising:
a body;
the power device is arranged on the machine body and provides moving power for the machine body; and
the microwave rotary radar according to the second aspect of the present invention is mounted on the body.
In one embodiment of the invention the movable platform is an unmanned aerial vehicle, an autonomous vehicle or a ground-based remotely controlled robot.
The invention provides a millimeter wave antenna structure, a microwave rotary radar and a movable platform, wherein the antenna structure realizes a large angle measurement range and high angle measurement resolution ratio in a simple and convenient mode under a smaller size, and the gain, the beam width and the side lobe can meet the actual use requirements, so that the cost and the system data processing complexity are greatly reduced.
Drawings
Fig. 1 is a schematic diagram of an antenna array of a millimeter-wave antenna structure according to an embodiment of the invention;
FIG. 2 is a cross-sectional view of a millimeter-wave antenna structure according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an antenna and RF device connection for a millimeter-wave antenna structure according to an embodiment of the present invention;
FIG. 4 is an H-plane beam scanning pattern of the millimeter wave antenna structure shown in FIG. 1, illustrating 7 beams directed at-45 °, -30 °, -15 °, 0 °, 15 °, 30 °, and 45 °, respectively;
fig. 5 is a schematic diagram of an antenna array of a millimeter-wave antenna structure according to another embodiment of the present invention;
fig. 6 is a schematic diagram of an antenna array of a millimeter-wave antenna structure according to yet another embodiment of the present invention;
FIG. 7 is a schematic cross-sectional view of a microwave rotary radar according to an embodiment of the present invention;
FIG. 8 is a schematic block diagram of a movable platform according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be set forth in the following description in order to explain the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
Fig. 1 is a schematic diagram of an antenna array of a millimeter-wave antenna structure according to an embodiment of the invention; FIG. 2 is a cross-sectional view of a millimeter-wave antenna structure according to an embodiment of the present invention; fig. 3 is a schematic diagram of the connection between the antenna and the rf device of the millimeter-wave antenna structure according to an embodiment of the present invention.
Referring to fig. 1 to fig. 3, a millimeter wave antenna structure 100 provided in the embodiment of the present invention includes a substrate 101, and a plurality of antenna arrays are formed on a first side (i.e., a front surface) of the substrate 101, where the plurality of antenna arrays includes a transmitting antenna array 1 and eight receiving antenna arrays 2-9, and the transmitting antenna array 1 and the receiving antenna arrays 2-9 are arranged in parallel and at an interval.
The transmitting antenna array 1 comprises two rows of microstrip patch units 11 electrically connected with each other, and each row of the microstrip patch units 11 comprises two groups of microstrip patch units 11 which are symmetrically distributed. Exemplarily, in this embodiment, each column of the microstrip patch units 11 includes 12 microstrip patch units 11, where the 12 microstrip patch units 11 are divided into two groups of microstrip patch units symmetrically distributed, and each group includes 6 microstrip patch units 11.
Each receiving antenna array 1 includes a row of microstrip patch units 11, and each row of microstrip patch units 11 includes two groups of microstrip patch units 11 symmetrically distributed. Exemplarily, in this embodiment, each column of the microstrip patch units 11 includes 12 microstrip patch units 11, where the 12 microstrip patch units 11 are divided into two groups of microstrip patch units symmetrically distributed, and each group includes 6 microstrip patch units 11.
It should be understood that, although in the present embodiment, each column of the microstrip patch units 11 includes 12 microstrip patch units 11, where the 12 microstrip patch units 11 are divided into two groups of microstrip patch units symmetrically distributed, each group includes 6 microstrip patch units 11, in other embodiments of the present invention, the number of the microstrip patch units 11 included in each column of the microstrip patch units 11 is not limited to 12, and may be more than 12, for example, 14, or less than 12, for example, 10.
It should also be understood that although the antenna structure 100 includes one transmitting antenna array 1 and eight receiving antenna arrays 2-9 in the present embodiment, the number of the transmitting antenna arrays and the receiving antenna arrays of the millimeter wave antenna structure 100 according to the present invention is not limited thereto, for example, the number of the transmitting antenna arrays may be more than 2, and the number of the receiving antenna arrays may be less than 8, or may be more than 8. Furthermore, the transmitting antenna array 1 may include one row of microstrip patch units 11, or may include more than three rows of microstrip patch units 11, and is not limited to the two rows of microstrip patch units 11 shown in fig. 1. The receive antenna array 2-9 may also comprise more than two columns of microstrip patch elements 11.
As shown in fig. 1, in the present embodiment, each patch unit 11 in each row of microstrip patch units 11 has the same size and is rectangular. Illustratively, the length a of the microstrip patch element 11 is 3.1mm and the width B is 4.3mm, i.e. the dimension of the microstrip patch element 11 is 3.1 × 4.3 mm. The distance C between two adjacent microstrip patch units 11 is 7.6 mm. The pitch C of two adjacent microstrip patch units 11 refers to a distance between the same sides of two adjacent microstrip patch units 11, for example, the distance between the left sides of two adjacent microstrip patch units 11 is shown in fig. 1.
It should be understood that the size of the microstrip patch element 11 is related to the radiation energy, dielectric constant, etc. of the microstrip patch element 11, and the dimensions disclosed in the present embodiment are merely exemplary, and in other embodiments, the microstrip patch element 11 may adopt various other suitable dimensions.
Further, the method can be used for preparing a novel materialThe angle measurement range of the antenna structure 100 is determined according to the distance D between two adjacent receiving antenna arrays 2 to 9 in the array antenna theory, the smaller the distance D between two adjacent receiving antenna arrays 2 to 9 is, the larger the angle measurement range is, but the too small distance may cause the coupling between the antennas to increase, the gain to decrease, and the directional pattern to deteriorate, and considering practical application, the distance D between two adjacent receiving antenna arrays 2 to 9 is 6.0mm to 15.0 mm. Preferably, the distance D is 6.2mm to 12.5 mm. More preferably, the spacing D is 6.6 mm. Wherein, when the distance D is 6.2mm, the corresponding angle measurement range is plus or minus 90 degrees, when the distance D is 6.6mm, the corresponding angle measurement range is plus or minus 70 degrees, and when the distance D is 12.5mm, the corresponding angle measurement range is plus or minus 30 degrees. Wherein, the angle theta of the angle measuring range is arcsin (lambda/2D), lambda is C/f, wherein C is the speed of light, and f is 24.15 × 109HZ。
Referring to fig. 1 again, the millimeter wave antenna structure 100 further includes a feeding network formed on the first side surface of the substrate 101, where the feeding network includes a plurality of microstrip lines 12 electrically connected to each row of the microstrip patch units 11. Also, in the present embodiment, as shown in fig. 1, the microstrip line 12 is connected to the microstrip patch unit 11 in each column by a parallel feed manner. And illustratively, the microstrip patch element 11 is connected perpendicularly to the microstrip line 12 of the feed network. It should be understood that the microstrip line 12 and each column of the microstrip patch units 11 may also be connected in an inclined manner, and is not limited to being connected in a vertical manner.
As shown in fig. 2, the substrate 101 includes an antenna plate 102, a ground plate 103, two line-running plates 104, and a dielectric plate 105 disposed between the antenna plate 102, the ground plate 103, and the plurality of line-running plates 104. The antenna plate 102, the ground plate 103, and the plurality of wiring plates 104 are sequentially stacked. The antenna array is formed on the antenna board 102, and the antenna board 102 may be formed by etching a conductor patch formed on the first dielectric plate 105A. A ground plate 103 is located below the antenna plate 102 for electrical connection with the antenna array. The ground plate 103 is isolated from the antenna plate 102 by a first dielectric plate 105A. The wiring board 104 is located below the grounding board 103 and is used for being electrically connected with the radio frequency circuit. The wiring boards 104 and the ground plate 103 are isolated by a second dielectric plate 105B, and the wiring boards 104 are isolated by a third dielectric plate 105C. Exemplarily, in the present embodiment, the radio frequency circuit is formed on the second side (i.e., the back side) of the substrate 101, that is, on one side of the third dielectric plate 105C or the lowermost wiring board 104 in fig. 2.
Illustratively, in the present embodiment, the dielectric sheet 105 has a length of 92mm, a width of 87mm, and a thickness of 32 mil. The dielectric plate 105 has a dielectric constant of 3.6.
It should be understood that although in the present embodiment, the substrate 101 includes the antenna board 102, the ground board 103 and two wire traces 104, the present invention is not limited thereto, and according to the millimeter wave antenna structure 100 of the present invention, the substrate 101 may include one wire trace 104, may also include more than three wire traces 104, or may also not include the wire traces 104, the number of the wire traces 104 is determined according to the size of the dielectric board 105 and the size of the antenna, the radio frequency circuit and the connecting wires, and if the antenna board, the radio frequency circuit and the wires can be accommodated on the surface of one dielectric board, the wire traces 104 may not be required to be provided. That is, in one embodiment of the present invention, according to millimeter wave antenna structure 100 of the present invention, substrate 101 may be a double-layer board (antenna board plus ground board), a triple-layer board (antenna board, ground board and one line running board), a quadruple-layer board (antenna board, ground board and two line running boards), a quintuple-layer board (antenna board, ground board and three line running boards), or a quadruple-layer board (antenna board, ground board and four line running boards).
Referring to fig. 1 again, the millimeter wave antenna structure 100 further includes a plurality of via holes 10 electrically connected to the microstrip lines 12 of the microstrip patch units 11 in each row on the formation substrate 101, and the feeding network is connected to the radio frequency circuit through the plurality of via holes 10. Further, a plurality of microstrip lines (not shown) are formed on the second side of the substrate 101, and each of the vias 10 is connected to the radio frequency circuit through a corresponding microstrip line having an impedance of 50 ohms. That is, in the present embodiment, the feeding network is coplanar with the antenna array (i.e., the radiating element), the feeding network feeds power through the via hole 10, and the via hole 10 is connected to the rf circuit on the back side of the substrate 101 through the 50-ohm microstrip line on the back side of the substrate 101.
It should be understood that the feeding manner of the feeding network is not limited to the above-mentioned via feeding manner, and feeding may also be performed by using a feeding probe, coupling feeding, and the like. The feed point is located at the center of the parallel feed microstrip antenna array, that is, a set of microstrip patch units 11 are respectively arranged at the left and right of the feed point, so that the antenna array is symmetrical left and right, the radiation influence of the antenna array can be reduced, and the consistency of the radiation directions of the microstrip patch units 11 is further improved.
As shown in fig. 3, the millimeter wave antenna structure 100 provided in this embodiment further includes a radio frequency circuit electrically connected to the feeding network, where the radio frequency circuit includes a transmitting chip 20 and two receiving chips 21, and a power divider 22 electrically connected to the two receiving chips 21. The transmitting chip 20 is electrically connected to the transmitting antenna TX, and the receiving chip 21 is electrically connected to the receiving antenna RX. In the present embodiment, each of the receiving chips 21 is connected to 4 receiving antennas, respectively, i.e., the first receiving chip 21 is connected to the receiving antennas RX1, RX2, RX3, and RX4, and the second receiving chip 21 is connected to the receiving antennas RX5, RX6, RX7, and RX 8. The power divider 22 is used for the receiving chip 21 to receive the radiation energy and synthesize one path of output. It should be understood that the number of the transmitting chips 20, the receiving chips 21 and the power dividers 22 is related to the number of the transmitting antennas and the receiving antennas, and is not limited to the number shown in fig. 3. The transmitting chip 20, the receiving chip 21 and the power divider 22 may be various suitable chips, for example, the power divider 22 may be a wilkinson power divider.
The millimeter wave antenna structure 100 provided in this embodiment includes one transmitting antenna array and eight receiving antenna arrays, and implements beam scanning by using a DBF algorithm with one transmission and multiple receptions, and performs spatial continuous scanning by forming a narrow beam through multiple receiving antennas. Scanning pattern test data objects in different directions are detected by differently directed beams as shown in fig. 4, which shows 7 beams directed at-45 °, -30 °, -15 °, 0 °, 15 °, 30 °, and 45 °, respectively, with a maximum beam width of 15 ° and a minimum beam width of 12.
Further, because the strength of the reflection of the target on the radar electromagnetic wave is related to the antenna polarization, different antenna polarization modes are adopted in consideration of different application environments, for example, in a farmland operation environment, a thin transverse pull wire has a greater threat to agricultural unmanned aerial vehicles, at this time, the millimeter wave antenna structure 100 provided by this embodiment adopts a horizontal polarization mode, and the millimeter wave antenna structure 100 provided by this embodiment uses a vertical polarization mode in other situations where a vertical target is more concerned.
The millimeter wave antenna structure 100 provided by this embodiment uses the microstrip array antenna, so that the occupied space is small, the structure is relatively simple, the cost is reduced, and the actual use requirements can be met by a large angle measurement range, a high angle measurement resolution, and gain, beam width and side lobe. In addition, the millimeter wave antenna structure 100 provided in this embodiment adopts a microstrip array antenna with one transmission and eight receptions, and compared with a MIMO multiple transmission and multiple reception antenna, the transmission does not need time division switching, so that the complexity of corresponding data processing is reduced. That is, the millimeter-wave antenna structure 100 provided by the present embodiment greatly reduces the cost and the system data processing complexity.
It should be understood that the above description is only illustrative of the millimeter wave antenna structure of the present invention, and various structures similar to the above principle may also be adopted for the millimeter wave antenna structure according to the present invention.
Fig. 5 is a schematic diagram of an antenna array of a millimeter-wave antenna structure according to another embodiment of the present invention. As shown in fig. 5, each microstrip patch unit 11 and each microstrip line 12 in the millimeter wave antenna structure are connected in a series feed manner, at this time, the size of each microstrip patch unit in each group of microstrip patch units 11 is different, specifically, the area of each microstrip patch unit 11 in each row of microstrip patch units 11 is sequentially reduced from the symmetric center to both sides, that is, the area of each microstrip patch unit 11 in each group of microstrip patch units 11 is sequentially reduced from the via hole 10 to the outside. In addition, the millimeter wave antenna structure shown in fig. 5 is different from the millimeter wave antenna structure shown in fig. 1 in that the millimeter wave antenna structure shown in fig. 5 further includes a phase shifter 13 located on one side of the via hole 10, and the phase shifter 13 is connected to the adjacent microstrip patch element 11 in one group of microstrip patch elements, so as to ensure the consistency of the feeding current directions of the entire column of microstrip patch elements 11. The millimeter wave antenna structure shown in fig. 5 adopts a series-fed array antenna, the antenna unit has simple feeding mode, low feeder loss and high antenna efficiency, and the polarization of the antenna is opposite to that of the parallel-fed antenna and is also connected with the radio frequency device on the different surface through the via hole.
Fig. 6 is a schematic diagram of an antenna array of a millimeter-wave antenna structure according to yet another embodiment of the present invention. As shown in fig. 6, each microstrip patch unit 11 and each microstrip line 12 in the millimeter wave antenna structure are connected in a series feed manner, at this time, the size of each microstrip patch unit in each group of microstrip patch units 11 is different, specifically, the area of each microstrip patch unit 11 in each row of microstrip patch units 11 is sequentially reduced from the symmetric center to both sides, that is, the area of each microstrip patch unit 11 in each group of microstrip patch units 11 is sequentially reduced from the via hole 10 to the outside. In addition, the millimeter wave antenna structure shown in fig. 6 is different from the millimeter wave antenna structure shown in fig. 1 in that, in the millimeter wave antenna structure shown in fig. 6, the radio frequency device is coplanar with the antenna array, that is, the radio frequency device is also disposed on the first side surface (i.e., the front surface) of the substrate 101, and the antenna array is directly connected to the radio frequency device through the microstrip line 12, and is not connected to the radio frequency device through the via hole and the microstrip line on the back surface of the substrate 101. The millimeter wave antenna structure shown in fig. 6 has the antenna coplanar with the radio frequency device, and the antenna is directly connected with the port of the radio frequency device through the microstrip line, so that the loss caused by the feed through hole is reduced.
FIG. 7 is a schematic cross-sectional view of a microwave rotary radar according to an embodiment of the present invention. As shown in fig. 7, in the embodiment of the present invention, the microwave rotary radar 200 includes a housing 201, a fixed bracket 202 is disposed in the housing 201, a motor is mounted on the fixed bracket 202, the motor includes a stator 203 and a rotor 204, a rotary bracket 205 is mounted on the rotor 204, and the rotary bracket 205 rotates along with the rotor 204 of the motor; a millimeter wave antenna structure 206 and an antenna controller 207 are mounted on the rotating bracket 205, the specific structure of the millimeter wave antenna structure 206 is as described above, and the antenna controller 207 is used for controlling the millimeter wave antenna structure 206 to transmit and receive microwave signals.
Further, in some embodiments, the microwave rotary radar 200 further includes an angle sensor 208, and the angle sensor 208 is configured to detect a rotation angle of the rotor 204. The angle sensor 208 may be one or more of a hall sensor, a potentiometer, and an encoder. It is understood that the angle sensor 208 detects the rotation angle of the rotor 204, that is, the rotation angle of the microwave rotary radar 200. The apparatus for rotating the radar 200 using microwaves may assist in determining the transmitting direction of the microwave signal and the direction of the received microwave signal according to the rotation angle of the microwave rotating radar 200, and further determine the relative direction of the obstacle to the apparatus for rotating the radar 200 using microwaves.
FIG. 8 is a schematic block diagram of a movable platform according to an embodiment of the present invention. Although movable platform 300 is depicted as an unmanned aerial vehicle, such depiction is not intended to be limiting, as any suitable type of movable object may be used, for example, movable platform 300 may be a drone, an autonomous automobile, or a ground-based remotely controlled robot.
As shown in fig. 8, the movable platform 300 includes a body 301 and a microwave rotary radar 200, and the microwave rotary radar 200 is mounted on the body 301. Specifically, the body 301 includes a frame 302 and a foot rest 303 mounted on the frame 302. The gantry 302 may serve as a mounting carrier for the flight control system, processor, video camera, still camera, etc. of the movable platform 300. A foot stand 303 is installed below the frame 302, and the microwave rotary radar 200 is installed on the foot stand 303. The foot rest 303 may be used to provide support for the movable platform 300 when it is lowered, and in one embodiment, the foot rest 303 may also carry a water tank and be used to spray pesticides, fertilizers, etc. to the plants through a spray head. The structure of the microwave rotary radar 200 is as described above and will not be described in detail.
Further, the movable platform 300 further comprises a horn 304 extending from the fuselage 301, the horn 304 being operable to carry a motive device 305 for providing motive power for flight of the movable platform 300. The onboard power plant 305 may include one or more of a rotor, propeller, blade, engine, motor, wheel, axle, magnet, or nozzle. The movable platform 300 may have one or more, two or more, three or more, or four or more onboard power plants 305. The power plants 305 may all be of the same type. Alternatively, one or more of the power plants 305 may be a different type of power plant 305. The power plant 305 may be mounted on the movable platform 300 using any suitable means.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (26)
1. A millimeter-wave antenna structure, comprising:
a substrate having a plurality of antenna arrays formed on a first side of the substrate, the plurality of antenna arrays including at least one transmit antenna array and a plurality of receive antenna arrays, the at least one transmit antenna array and the plurality of receive antenna arrays being arranged parallel to and spaced apart from each other;
each receiving antenna array comprises at least one row of microstrip patch units, and each row of microstrip patch units comprises two groups of microstrip patch units which are symmetrically distributed;
the distance between two adjacent receiving antenna arrays is 6.0-15.0 mm.
2. The mm-wave antenna structure of claim 1, wherein the spacing between adjacent receive antenna arrays is 6.2mm to 12.5 mm.
3. The millimeter-wave antenna structure of claim 1, wherein a spacing between adjacent receive antenna arrays is 6.6 mm.
4. A millimeter wave antenna structure according to any one of claims 1 to 3, wherein the transmitting antenna array comprises at least two rows of microstrip patch elements electrically connected to each other, and each row of microstrip patch elements comprises two groups of microstrip patch elements symmetrically distributed.
5. The millimeter-wave antenna structure of claim 4, wherein the microstrip patch elements in each column of microstrip patch elements are the same size as one another.
6. The millimeter-wave antenna structure according to claim 4, wherein the area of each microstrip patch element in each row of microstrip patch elements decreases from the center of symmetry to both sides in sequence.
7. The millimeter-wave antenna structure of claim 4, wherein the microstrip patch elements are rectangular, circular, semicircular, or elliptical in shape.
8. The millimeter-wave antenna structure of claim 4, wherein each group of microstrip patch elements includes more than 6 microstrip patch elements.
9. The millimeter-wave antenna structure of claim 1, wherein the number of receive antenna arrays is 8 or more.
10. The millimeter-wave antenna structure of claim 4, further comprising:
the feed network is formed on the first side face of the substrate and comprises a plurality of microstrip lines which are electrically connected with each row of the microstrip patch units respectively.
11. The millimeter-wave antenna structure according to claim 10, wherein the microstrip line is connected to each column of the microstrip patch elements in a parallel feed manner.
12. The millimeter-wave antenna structure according to claim 10, wherein the microstrip line is connected to each row of the microstrip patch elements in a series feed manner.
13. The millimeter-wave antenna structure of claim 10, further comprising: and the radio frequency circuit is electrically connected with the feed network and comprises at least one transmitting chip, two receiving chips and a power divider electrically connected with the two receiving chips.
14. The millimeter-wave antenna structure of claim 13, wherein the radio frequency circuitry is formed on the second side of the substrate.
15. A millimeter wave antenna structure according to claim 14, wherein a plurality of via holes or feed probes electrically connected to the microstrip lines of each row of the microstrip patch elements are formed on the substrate, respectively, and the feed network is connected to the radio frequency circuit through the plurality of via holes or feed probes.
16. The millimeter-wave antenna structure of claim 15, wherein a plurality of microstrip lines are further formed on the second side of the substrate, each via or feed probe being connected to the radio frequency circuit through a corresponding microstrip line.
17. The mmwave antenna structure of claim 14, wherein each column of the microstrip patch elements is electrically connected to the radio frequency circuit by a coupling feed.
18. The millimeter-wave antenna structure of claim 13, wherein the radio frequency circuitry is formed on the first side of the substrate.
19. The millimeter-wave antenna structure of claim 17, wherein each column of the microstrip patch elements is connected to the radio frequency circuit by a microstrip line.
20. The millimeter-wave antenna structure according to claim 11, wherein the microstrip line is connected to each column of the microstrip patch elements in a vertical manner or an oblique manner.
21. The millimeter-wave antenna structure of claim 1, wherein the substrate is a double-layer board, a three-layer board, a four-layer board, a five-layer board, or a six-layer board.
22. The millimeter-wave antenna structure of claim 1, wherein the substrate comprises:
an antenna plate on which the antenna array is formed;
a ground plate located below the antenna plate for electrical connection with the antenna array; and
a plurality of wiring boards which are positioned below the grounding board and are used for being electrically connected with the radio frequency circuit,
the antenna plate, the grounding plate and the wiring plates are sequentially stacked.
23. The millimeter-wave antenna structure of claim 1, wherein the antenna array is horizontally or vertically polarized.
24. A microwave rotary radar, comprising:
fixing a bracket;
the motor is arranged on the fixed bracket;
a rotating bracket mounted on the rotor of the motor and rotating together with the rotor of the motor; and
the millimeter wave antenna structure of any of claims 1 to 23 mounted on the rotating support.
25. A movable platform, comprising:
a body;
the power device is arranged on the machine body and provides moving power for the machine body; and
the microwave rotary radar of claim 24 mounted on said fuselage.
26. The movable platform of claim 25, wherein the movable platform is a drone, an autonomous automobile, or a ground-based remotely controlled robot.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/119154 WO2020113418A1 (en) | 2018-12-04 | 2018-12-04 | Millimeter wave antenna structure, microwave rotating radar and movable platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111316499A true CN111316499A (en) | 2020-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880070178.XA Pending CN111316499A (en) | 2018-12-04 | 2018-12-04 | Millimeter wave antenna structure, microwave rotary radar and movable platform |
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| CN (1) | CN111316499A (en) |
| WO (1) | WO2020113418A1 (en) |
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| WO2020113418A1 (en) | 2020-06-11 |
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Application publication date: 20200619 |