CN111707991A - Front-end structure of unmanned aerial vehicle-mounted frequency modulation continuous wave radar - Google Patents
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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
- G01S7/28—Details of pulse systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
- G01S7/032—Constructional details for solid-state radar subsystems
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Abstract
The invention discloses an unmanned aerial vehicle-mounted frequency modulation continuous wave radar front end structure, which comprises a radar front end antenna structure, a radar front end transmitting circuit structure and a radar front end receiving circuit structure, wherein the radar front end antenna structure is connected with the radar front end receiving circuit structure; the radar front-end antenna structure is arranged on the top layer of the multilayer dielectric plate and also comprises a microstrip line, a microstrip line power dividing network and a microstrip patch array structure; the radar front-end transmitting circuit structure is composed of a multi-layer dielectric plate structure, an integrated chip and a metal piece structure. The radar front end receiving circuit consists of a multilayer dielectric plate structure and an integrated chip. The invention has compact structure, adopts miniaturized design to meet the load requirement of the micro unmanned aerial vehicle, can meet the linearity of broadband sweep frequency signals, and has remarkable high-resolution imaging capability.
Description
Technical Field
The invention belongs to a microwave millimeter wave system circuit, and particularly relates to an unmanned aerial vehicle-mounted frequency modulation continuous wave radar front end structure for an unmanned aerial vehicle platform.
Background
Radars have been developed for over 60 years and are widely used in both civilian and military applications. Compared with sensors such as optical sensors, laser sensors and the like, the radar has the advantages of being all-weather, all-day-long, long in action distance and the like, and has a unique effect on the aspect of target detection.
Compared with the traditional pulse synthetic aperture radar, the frequency modulation continuous wave radar can realize a miniaturized, low-cost and high-resolution imaging system. Therefore, the frequency modulation continuous wave radar system plays an important role in airborne earth observation and area imaging, becomes a commonly adopted working mode of the radar, and the imaging technology of the radar system is also an important development direction. Meanwhile, the system is widely applied to vehicle-mounted driving auxiliary systems and unmanned aerial vehicle-mounted imaging systems. In the vehicle-mounted radar, 24GHz and 77GHz frequency modulation continuous wave radars have corresponding schemes, and by means of the advantages of miniaturization and the rapid development of unmanned aerial vehicle technology, the frequency modulation continuous wave radars are widely applied to large and micro unmanned aerial vehicles, and the frequency modulation continuous wave radars are developing towards the trend of miniaturization and high resolution.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an unmanned aerial vehicle-mounted frequency modulation continuous wave radar front end structure, which meets the load requirement of a micro unmanned aerial vehicle by adopting a miniaturized design, can meet the linearity of a broadband sweep frequency signal, and has high-resolution imaging capability.
The technical scheme is as follows: an unmanned aerial vehicle-mounted frequency modulation continuous wave radar front end structure comprises a radar front end antenna structure, a radar front end transmitting circuit structure and a radar front end receiving circuit structure;
the radar front-end antenna structure is realized by the top layer of a multilayer dielectric plate; the radar front-end transmitting circuit structure consists of a multilayer dielectric plate structure, a metal piece structure and a plurality of transmitting circuit devices; the radar front-end receiving circuit structure is composed of a multi-layer dielectric plate structure and a plurality of receiving circuit devices.
Specifically, the transmitting circuit device comprises a radio frequency integrated chip, a radio frequency power amplifier, an oven controlled crystal oscillator, a clock buffer, a direct digital frequency synthesizer, two low-pass filters, a clock signal power amplifier, a phase-locked loop frequency synthesizer, a micro control unit and a power supply device. The receiving circuit device comprises a clock 4 frequency divider, a digital-analog signal converter, two differential low-pass anti-aliasing filters, two variable gain amplifiers, a micro control unit and a power supply device.
Further, the multilayer dielectric board comprises a top metal layer, a first dielectric core board layer, a second metal layer, a first dielectric adhesive layer, a third metal layer, a second dielectric core board layer, a fourth metal layer, a second dielectric adhesive layer, a fifth metal layer, a third dielectric core board layer and a bottom metal layer from top to bottom; the top metal layer, the second metal layer, the third metal layer, the fourth metal layer, the fifth metal layer and the bottom metal layer are all provided with etched circuit structures. Specifically, top layer metal level sculpture has radio frequency circuit line and radar front end antenna structure, second metal level and the sculpture of fifth metal level have radio frequency circuit ground, the sculpture of third metal level has the relevant circuit line of power, the sculpture of fourth metal level has the relevant circuit line of control signal, the sculpture of bottom metal level has the radio frequency circuit line.
Furthermore, the radar front-end antenna structure is composed of partial areas of a top metal layer, a first dielectric core plate layer and a second metal layer, and specifically comprises a microstrip line, a microstrip line power division network and a microstrip patch array structure.
Furthermore, the multilayer dielectric plate structure also comprises a plurality of first metalized through holes which are connected with the top metal layer to the bottom metal layer and a plurality of second metalized through holes which are connected with the third metal layer to the bottom metal layer;
the transmitting circuit device and the receiving circuit device are respectively fixed on a top metal layer and a bottom metal layer of the multi-layer dielectric plate structure in a soldering tin welding mode, and circuit connection is achieved through the top metal layer, the second metal layer, the third metal layer, the fourth metal layer, the fifth metal layer, the bottom metal layer, the first metalized through hole and the second metalized through hole.
Furthermore, the metal piece has the structural size of 29-31mm in width, 33-37mm in length and 7-9mm in height.
Still further preferably, the metal member structure is an aluminum metal structure machined by a numerical control machine. The hollow groove milled in the metal part structure and the top metal layer of the multilayer dielectric plate structure form a shielding cavity to shield and dissipate heat of partial circuit devices; the depth of the hollow groove milled by the metal piece structure is 4-6 mm.
The beneficial results are that: the invention provides a miniaturized unmanned aerial vehicle-mounted 24GHz frequency modulation continuous wave radar radio frequency front end structure, and the light-weighted and miniaturized design of the structure enables a radar system to be conveniently installed on an unmanned aerial vehicle platform and can meet the load requirement of a miniature unmanned aerial vehicle; the front end comprises a transmitting channel and two receiving channels, can meet the linearity of broadband frequency sweeping signals, and has remarkable high-resolution imaging capability.
Drawings
FIG. 1 is a block diagram of the structure of a transmitting circuit and a receiving circuit of a radar front-end system;
FIG. 2 shows the structure of the front-end antenna, S11, and the isolation between the transmitting and receiving antennas;
FIG. 3 is a diagram of a front end of the radar of the present invention;
FIG. 4 is a radar front end test scenario in accordance with the present invention;
FIG. 5 shows the frequency sweep characteristic test and arrangement results of the front-end frequency modulated continuous wave signal of the radar according to the present invention;
FIG. 6 is a static test scene diagram of a target by a radar carrying the front end of the radar of the present invention;
FIG. 7 shows the result of received signal processing for the scenario of FIG. 6;
FIG. 8 is a schematic view of a target scanning test scenario of a radar carrying a radar front end according to the present invention;
fig. 9 shows the received signal processing result of the scenario corresponding to fig. 8.
Detailed Description
The utility model provides a miniaturized unmanned aerial vehicle carries frequency modulation continuous wave radar front end structure, includes radar front end antenna structure 1, radar front end transmission circuit structure 2 and radar front end receiving circuit structure 3. The radar front-end antenna structure is realized by the top layer of a multilayer dielectric plate, and further comprises a microstrip line, a microstrip line power dividing network and a microstrip patch array structure. The radar front-end transmitting circuit structure 2 is composed of a multi-layer dielectric plate structure, a plurality of integrated chips and a metal part structure. The radar front end receiving circuit 3 is composed of a multi-layer dielectric plate structure and a plurality of integrated chips.
Specifically, the multilayer dielectric slab structure is closely arranged from top to bottom according to the order of metal and dielectric material, and is a top metal layer, a first dielectric core board layer, a second metal layer, a first dielectric adhesive layer, a third metal layer, a second dielectric core board layer, a fourth metal layer, a second dielectric adhesive layer, a fifth metal layer, a third dielectric core board layer and a bottom metal layer from top to bottom respectively. The multilayer dielectric plate structure comprises a plurality of metalized through holes which are connected with the top metal layer to the bottom metal layer and a plurality of metalized through holes which are connected with the third metal layer to the bottom metal layer.
The microstrip line, the microstrip line power division network and the microstrip patch array of the antenna structure are all arranged on the top metal layer of the multilayer dielectric plate structure.
Preferably, the metal part structure is an aluminum metal structure processed by a numerical control machine, a hollow groove milled in the metal part structure and top metal of the multilayer dielectric plate structure form a shielding cavity, and the shielding cavity and the auxiliary heat dissipation are carried out on the partially formed chip. The size of the metal piece structure is 29-31mm wide, 33-37mm long and 7-9mm high; the depth of the hollow groove milled by the metal piece structure is 4-6 mm.
Preferably, the integrated chip is fixed on the top metal layer and the bottom metal layer of the multi-layer dielectric plate structure by means of soldering. Six metal layers of the multilayer dielectric plate are provided with etched circuit structures, the two metallized through holes are added, and a plurality of integrated chips are combined to form a radar front-end transmitting circuit structure and a radar front-end receiving circuit structure.
To explain the technical solutions disclosed in the present invention in detail, the following description is further made with reference to the accompanying drawings and specific examples.
As shown in FIG. 1, in the front-end transmitting circuit part of the radar, a broadband fast frequency sweeping signal of the radar is generated by a mixed frequency synthesis scheme of DDS + PLL as a frequency source. The signal provided by the constant temperature crystal oscillator is used as a reference signal of a direct digital frequency synthesizer through a buffer and a high-speed logic level converter, the direct digital frequency synthesizer generates a continuous frequency sweeping signal with the center frequency of 30.3125MHz, and the continuous frequency sweeping signal is used as a reference signal of a phase-locked loop after filtering, power amplification and re-filtering. The sweep frequency signal with the center frequency of 24.25GHz and the bandwidth of 700MHz can be output through the VCO through the external phase-locked loop circuit, amplified through the external power amplifier and finally radiated to the free space by the transmitting antenna.
The radar front end structure of the present embodiment has a size of 80mm × 160mm, which meets the requirements of miniaturization and weight reduction on a micro unmanned aerial vehicle. The front end of the radar is powered by a 12V double power supply and a 3.6V double power supply. The radar front end is provided with a transmitting channel and two receiving channels, in the aspect of a receiving link, receiving signals are received by two receiving antennas, low-noise amplification and down-conversion frequency mixing are completed in an RFIC, the obtained intermediate frequency signals are amplified by two low-noise variable gain intermediate frequency amplifiers to obtain differential signals, then filtering is performed by a five-order differential elliptic low-pass filter consisting of lumped elements (the passband of the differential filter is 3.5MHz, the stopband attenuation is 40dB @5MHz), finally sampling is performed by a two-channel ADC at the sampling rate of 25MHz, and the sampling clock of the ADC is obtained by the way that the output of a constant temperature crystal oscillator passes through a buffer, a high-speed logic level converter and finally two-time frequency division of two D triggers.
The transmitting and receiving antennas at the front end of the radar adopt series feed microstrip patch arrays with the same structure, the antennas with the microstrip structures are conveniently and directly integrated in a front-end board card, and the number of each antenna array element is 2 multiplied by 6. The-10 dB impedance bandwidth of the antenna is 1.4GHz, the gain can reach 17dB, and in order to ensure good isolation, the coupling degree between the designed transceiving antenna arrays can reach-55 dB in an operating frequency band, as shown in figure 2, wherein S11 represents return loss, and S21 and S31 represent the isolation degree of two receiving antennas relative to a transmitting antenna. The half-power beam widths of the E-plane (azimuth plane) and the H-plane (pitch plane) of the antenna are shown in table 1. Meanwhile, the RFIC, the radio frequency power amplifier and the receiving and transmitting antenna are arranged on the same side of the whole dielectric plate, and other circuits are arranged on the other side of the multilayer dielectric plate, so that the radio frequency signals cannot be interfered by control signals and low-frequency analog signals with high power. The size of the whole radio frequency front end is 80mm multiplied by 160mm, a small-size front end system brings convenience for carrying of the unmanned aerial vehicle, the structure of the radar front end is shown in figure 3, figure 3(a) is a front structure of the radar front end, and figure 3(b) is a back structure of the radar front end. In fig. 3, the front-end antenna structure of the radar of the present invention is composed of partial areas of the top metal layer, the first dielectric core layer and the second metal layer, including 1 transmitting antenna and 2 receiving antennas, where the "partial areas" refer to the corresponding gray areas of the three antennas in fig. 3.
| E face (azimuth face) | H surface (pitching surface) | |
| 24.05GHz | 13.451° | 38.601° |
| 24.15GHz | 13.499° | 38.677° |
| 24.25GHz | 13.218° | 38.676° |
| 24.35GHz | 12.785° | 38.545° |
| 24.45GHz | 12.805° | 38.584° |
In order to ensure that the whole frequency modulation continuous wave radar radio frequency front end can work normally, the invention uses an FSW frequency spectrum signal analyzer of Rohde & Schwarz company to perform transient analysis test on the radar front end. The front end of the radar generates frequency modulation continuous wave signals and radiates to free space through a transmitting antenna on a front end plate card, a receiving end receives the signals through the designed antenna with the same structure and is directly connected to an FSW spectrum signal analyzer through a small section of cable, and therefore the performance of the whole front end transmitting link of the radar including the antenna can be completely evaluated through testing.
The carrier frequency of the frequency sweep signal actually generated by the radar front-end system is 24.25GHz, the bandwidth reaches 700MHz, the frequency modulation signal mode is frequency continuous rising-fast falling-continuous rising, because the chirp bandwidth of the transient analysis mode supported by the actually used frequency meter is limited (500MHz), the carrier frequency is divided into two carrier frequencies of 24.1GHz and 24.4GHz for transient analysis during testing, the frequency sweep characteristic and linearity of the lower frequency band (23.9GHz-24.3GHz) are tested when the carrier frequency is 24.1GHz, the frequency sweep characteristic and linearity of the higher frequency band (24.3GHz-24.6GHz) are tested when the carrier frequency is 24.4GHz, the result shows that the peak value of the frequency deviation is less than one thousandth of the frequency sweep bandwidth, and finally the test data are sorted to finally obtain the frequency sweep signal with complete single period, as shown in FIG. 5. Test results show that the sweep bandwidth can reach more than 700MHz, the sweep period is 600us, and the range with good linearity can cover more than 80% of the whole sweep rise time (400 us). The sweep bandwidth and the sweep linearity can both meet the actual use requirements.
In order to verify the detection capability of the radar to the target, the radar system carrying the radar front-end structure of the invention is sequentially subjected to static target detection in a microwave darkroom and scanning tests of an azimuth plane and a pitching plane in the darkroom. The digital signal data of the radar receiving channel is generated by a front-end structure and processed by a PC. Triangular reflectors are used as detection targets during testing in a dark room.
A target static test experimental scenario set up in a microwave darkroom environment is shown in fig. 6. The included angle of the wedges on the two sides of the radar is larger than the width of a main lobe beam of the H surface of the antenna by 38 degrees so as to reduce the interference of environment clutter in other directions. The target is placed on the side opposite to the antenna in the radar front-end structure, is positioned on the same horizontal plane and is about 2m away from the radar front-end structure.
The received intermediate frequency digital signal is MATLAB processed as shown in fig. 7. Wherein FIG. 7(a) shows the echo signal in a single pulse, with sample points on the horizontal axis for a total of 4096 data points; the vertical axis is the signal amplitude and is the quantized digital output value of the ADC. It can be seen that the echoes take on a clearly sinusoidal signal form, that the received echo signal form is correct, and that there are no significant spurs and spike interference. Fig. 7(b) shows the echo stack of all pulses, the horizontal axis corresponds to the echoes of all 100 sweep periods, the vertical axis represents the number of sampling points, the maximum is 4096 sampling points, and the shades of color blocks represent the signal amplitude. The result shows that the amplitude of the echo signal in each sweep frequency period shows regular periodic fluctuation, and the amplitude distribution of the echo signal in each sweep frequency period is basically consistent. Fig. 7(c) shows the frequency domain results after fourier transform of all the pulse period signals, the horizontal axis still corresponds to the number of frequency sweep periods, the vertical axis is the value of the horizontal axis after FFT transform for each frequency sweep period, up to 4096, where only the significant and meaningful part of the data is shown, and the shade of color represents the value of the vertical axis after FFT transform for each frequency sweep period. The spectrum is concentrated at 27.5KHz, corresponding to a target distance of 2.3 m. While figure 7(d) is a doppler accumulation of 100 pulses, it can be seen that the accumulation is correct.
A schematic diagram of a target scanning test experimental scenario set up in a microwave darkroom environment is shown in fig. 8. The radar is placed on a precision electric mobile platform and is horizontally aligned with the target. The electric movable rotary table can accurately move within the range of plus or minus 20 degrees of an azimuth plane and the range of plus or minus 15 degrees of a pitch plane, so that a target can be scanned on the azimuth plane and the pitch plane respectively. The processing result of the echo signal is shown in fig. 9. Fig. 9(a) shows the spectral distribution of the azimuth echo signal, and 30000 azimuth pulses are selected in total for data processing, each pulse time being 600 us. It can be seen from fig. 9(a) that the radar scans the target twice during the rotation, and the period is about 17000 azimuth pulses, and the lighter part in fig. 9(a) corresponds to 5500 pulses corresponding to the main lobe of the radar, which substantially conforms to the actual condition that the azimuth of the front end of the radar is 13 °. Fig. 9(b) shows doppler accumulation for azimuth scanning. Fig. 9(c) and 9(d) show the echo spectrum distribution and doppler accumulation of the pitching surface, respectively, and the target can be detected when the target is rotated within a range of plus or minus 15 degrees.
In summary, the invention designs and realizes the 24GHz FMCW synthetic aperture radar front-end template on the unmanned aerial vehicle, which comprises a radar front-end transmitting circuit, a radar front-end receiving circuit and a transceiving antenna structure. The size of 80mm 160mm meets the requirements of miniaturization and light weight of a miniature unmanned aerial vehicle, and the radar comprises a transmitting channel and two receiving channels. The experimental test result shows that the carrier frequency of the front-end frequency-modulated continuous wave is 24.25GHz, the sweep frequency bandwidth is 700MHz, the sweep frequency period is 600us, and the peak value of the frequency deviation in the linear sweep frequency is less than one thousandth of the sweep frequency bandwidth.
Claims (10)
1. The utility model provides an unmanned aerial vehicle carries frequency modulation continuous wave radar front end structure which characterized in that: the radar front-end antenna structure comprises a radar front-end antenna structure (1), a radar front-end transmitting circuit structure (2) and a radar front-end receiving circuit structure (3);
the radar front-end antenna structure (1) is realized by the top layer of a multilayer dielectric plate; the radar front-end transmitting circuit structure (2) consists of a multilayer dielectric plate structure, a metal piece structure and a plurality of transmitting circuit devices; the radar front-end receiving circuit structure (3) is composed of a multi-layer dielectric plate structure and a plurality of receiving circuit devices.
2. The unmanned airborne frequency modulated continuous wave radar front end structure of claim 1, wherein: the multilayer dielectric plate comprises a top metal layer, a first dielectric core plate layer, a second metal layer, a first dielectric adhesive layer, a third metal layer, a second dielectric core plate layer, a fourth metal layer, a second dielectric adhesive layer, a fifth metal layer, a third dielectric core plate layer and a bottom metal layer from top to bottom; the top metal layer, the second metal layer, the third metal layer, the fourth metal layer, the fifth metal layer and the bottom metal layer are all provided with etched circuit structures.
3. The unmanned airborne frequency modulated continuous wave radar front end structure of claim 2, wherein: the top metal layer is etched to be provided with a radio frequency circuit line and a radar front end antenna structure, the second metal layer and the fifth metal layer are etched to be provided with a radio frequency circuit ground, the third metal layer is etched to be provided with a power supply related circuit line, the fourth metal layer is etched to be provided with a control signal related circuit line, and the bottom metal layer is etched to be provided with a radio frequency circuit line.
4. An unmanned airborne frequency modulated continuous wave radar front end structure according to claim 2 or 3, characterized in that: the radar front-end antenna structure is composed of partial areas of a top metal layer, a first dielectric core plate layer and a second metal layer and specifically comprises a microstrip line, a microstrip line power dividing network and a microstrip patch array structure.
5. The unmanned airborne frequency modulated continuous wave radar front end structure of claim 1, wherein: the transmitting circuit device comprises a radio frequency integrated chip, a radio frequency power amplifier, a constant temperature crystal oscillator, a clock buffer, a direct digital frequency synthesizer, two low-pass filters, a clock signal power amplifier, a phase-locked loop frequency synthesizer, a micro control unit and a power supply device.
6. The unmanned airborne frequency modulated continuous wave radar front end structure of claim 1, wherein: the receiving circuit device comprises a clock 4 frequency divider, a digital-analog signal converter, two differential low-pass anti-aliasing filters, two variable gain amplifiers, a micro control unit and a power supply device.
7. The unmanned airborne frequency modulated continuous wave radar front end structure of claim 2, wherein: the multilayer dielectric plate structure also comprises a plurality of first metalized through holes which are connected with the top metal layer to the bottom metal layer and a plurality of second metalized through holes which are connected with the third metal layer to the bottom metal layer;
the transmitting circuit device and the receiving circuit device are respectively fixed on a top metal layer and a bottom metal layer of the multi-layer dielectric plate structure in a soldering tin welding mode, and circuit connection is achieved through the top metal layer, the second metal layer, the third metal layer, the fourth metal layer, the fifth metal layer, the bottom metal layer, the first metalized through hole and the second metalized through hole.
8. The unmanned airborne frequency modulated continuous wave radar front end structure of claim 1, wherein: the metal piece has the structure size of 29-31mm in width, 33-37mm in length and 7-9mm in height.
9. An unmanned airborne frequency modulated continuous wave radar front end structure according to claim 1 or 8, characterized in that: the hollow groove milled in the metal part structure and the top metal layer of the multilayer dielectric plate structure form a shielding cavity to shield and dissipate heat of partial circuit devices; the depth of the hollow groove milled by the metal piece structure is 4-6 mm.
10. An unmanned airborne frequency modulated continuous wave radar front end structure according to claim 1 or 8, characterized in that: the metal piece structure is an aluminum metal structure processed by a numerical control machine.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114325715A (en) * | 2022-03-11 | 2022-04-12 | 南京隼眼电子科技有限公司 | Radar structure and system |
| TWI789912B (en) * | 2021-09-16 | 2023-01-11 | 立積電子股份有限公司 | Frequency modulated continuous wave radar device and signal processing method hereof |
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| CN109061623A (en) * | 2018-06-25 | 2018-12-21 | 南京信息工程大学 | A kind of Planar integration type micro-wave height finding radar and measurement method applied to unmanned plane |
| CN208432728U (en) * | 2018-06-25 | 2019-01-25 | 南京信息工程大学 | A kind of Planar integration type micro-wave height finding radar applied to unmanned plane |
| CN111090076A (en) * | 2020-01-22 | 2020-05-01 | 无锡威孚高科技集团股份有限公司 | Millimeter wave radar radio frequency front end circuit structure and manufacturing method thereof |
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| TWI789912B (en) * | 2021-09-16 | 2023-01-11 | 立積電子股份有限公司 | Frequency modulated continuous wave radar device and signal processing method hereof |
| CN114325715A (en) * | 2022-03-11 | 2022-04-12 | 南京隼眼电子科技有限公司 | Radar structure and system |
| CN114325715B (en) * | 2022-03-11 | 2022-05-24 | 南京隼眼电子科技有限公司 | Radar structure and system |
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