CN112698296A - Radar antenna, radar, unmanned aerial vehicle and equipment - Google Patents
Radar antenna, radar, unmanned aerial vehicle and equipment Download PDFInfo
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- CN112698296A CN112698296A CN201911007576.XA CN201911007576A CN112698296A CN 112698296 A CN112698296 A CN 112698296A CN 201911007576 A CN201911007576 A CN 201911007576A CN 112698296 A CN112698296 A CN 112698296A
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- 238000001514 detection method Methods 0.000 abstract description 9
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- 238000000034 method Methods 0.000 description 2
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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
- G01S7/42—Diversity systems specially adapted for radar
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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
- G01S7/282—Transmitters
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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
- G01S7/285—Receivers
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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
- G01S7/35—Details of non-pulse 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
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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
- H01Q21/00—Antenna arrays or systems
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/29—Combinations of different interacting antenna units for giving a desired directional characteristic
- H01Q21/293—Combinations of different interacting antenna units for giving a desired directional characteristic one unit or more being an array of identical aerial elements
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Astronomy & Astrophysics (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The embodiment of the invention discloses a radar antenna, a radar, an unmanned aerial vehicle and equipment, wherein the radar antenna comprises: the radar system comprises a main radar chip, a slave radar chip, a receiving antenna array, a transmitting antenna array and a processor which is respectively connected with the main radar chip and the slave radar chip; in the first direction, a plurality of receiving antennas connected with the main radar chip are arranged at intervals, a plurality of transmitting antennas connected with the main radar chip are arranged at intervals, a plurality of receiving antennas connected with the auxiliary radar chip are arranged at intervals, and a plurality of transmitting antennas connected with the auxiliary radar chip are arranged at intervals; the at least one receiving antenna and the at least one transmitting antenna are arranged on the same straight line in the first direction, and the at least one transmitting antenna and the at least one receiving antenna are arranged at intervals in the second direction. The radar antenna disclosed by the invention can detect the information of the object in the first direction and the second direction, namely the detection of the three-dimensional surface of the object can be realized, the structure is simple, and the cost is reduced.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a radar antenna, a radar, an unmanned aerial vehicle and equipment.
Background
Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle wide application is in plant protection work, and in plant protection work, unmanned aerial vehicle keeps away the barrier through radar range finding to realize unmanned aerial vehicle's autonomic flight.
At present, millimeter wave radar can only perceive plane formula's barrier, for example when unmanned aerial vehicle the place ahead has the hillock of certain slope, can only detect horizontal direction the place ahead and have the barrier, and can't detect the information of barrier on the vertical direction, and unmanned aerial vehicle can only stop the flight or by-pass around the barrier in the horizontal direction.
In order to detect information of obstacles in the horizontal direction and the vertical direction, the millimeter wave radar mainly adopts an antenna phased array technology or a mechanical rotation mode to drive an antenna to rotate. The antenna phased array technique needs to set up more antenna element group array on the PCB board, leads to the PCB board size great to the panel of millimeter wave frequency channel is with high costs, and adopts the antenna of mechanical rotation mode drive, needs to increase mechanical pivoted control part, and has increased unmanned aerial vehicle's heavy burden.
Disclosure of Invention
The embodiment of the invention provides a radar antenna, a radar, an unmanned aerial vehicle and equipment.
In a first aspect, an embodiment of the present invention provides a radar antenna, including: the radar system comprises a main radar chip, a slave radar chip, a receiving antenna array, a transmitting antenna array and a processor which is respectively connected with the main radar chip and the slave radar chip;
the master radar chip and the slave radar chip are respectively provided with a transmitting pin, a receiving pin and a signal synchronization pin, and the master radar chip and the slave radar chip are connected through the signal synchronization pin so as to enable the master radar chip and the slave radar chip to work synchronously;
each receiving pin of the master radar chip and each receiving pin of the slave radar chip are connected with one receiving antenna in the receiving antenna array, and each transmitting pin of the master radar chip and each transmitting pin of the slave radar chip are connected with one transmitting antenna in the transmitting antenna array;
in the first direction, a plurality of receiving antennas connected with the main radar chip are arranged at intervals, a plurality of transmitting antennas connected with the main radar chip are arranged at intervals, a plurality of receiving antennas connected with the auxiliary radar chip are arranged at intervals, and a plurality of transmitting antennas connected with the auxiliary radar chip are arranged at intervals;
the at least one receiving antenna and the at least one transmitting antenna are arranged on the same straight line in the first direction, and the at least one transmitting antenna and the at least one receiving antenna are arranged at intervals in the second direction.
Optionally, in the first direction, the receiving antennas connected to the master radar chip are arranged at equal intervals or at unequal intervals, and the receiving antennas connected to the slave radar chip are arranged at equal intervals or at unequal intervals.
Optionally, in the first direction, the distance between any two adjacent receiving antennas connected to the master radar chip is an integral multiple of a half wavelength of the radar signal, and the distance between two adjacent receiving antennas connected to the slave radar chip is an integral multiple of a half wavelength of the radar signal.
Optionally, in the first direction, the transmitting antennas connected to the master radar chip are arranged at equal intervals or unequal intervals, and the transmitting antennas connected to the slave radar chip are arranged at equal intervals or unequal intervals.
Optionally, in the first direction, a distance between any two adjacent transmitting antennas of the plurality of transmitting antennas connected to the master radar chip is an integral multiple of a half wavelength of a radar signal, and a distance between any two adjacent transmitting antennas of the plurality of transmitting antennas connected to the slave radar chip is an integral multiple of a half wavelength of a radar signal.
Optionally, in the second direction, the transmitting antennas arranged at intervals are arranged at equal intervals or unequal intervals.
Optionally, in the second direction, a distance between any two adjacent transmitting antennas arranged at intervals is an integral multiple of a half wavelength of the radar signal.
Optionally, in the first direction, the plurality of receiving antennas are on the same straight line
Optionally, the receiving antenna and the transmitting antenna comprise one of a single-element sub-antenna or a multi-element sub-antenna.
Optionally, the signal synchronization pin includes a local oscillator signal synchronization pin and a radio frequency cascade signal output end, which are disposed on the main radar chip, and the radar further includes a power divider;
the main radar chip is connected with the slave radar chip through the local oscillation signal synchronization pin so as to realize local oscillation signal synchronization;
the input end of the power divider is connected with the radio frequency cascaded signal output end of the main radar chip, and the output end of the power divider is respectively connected with the radio frequency cascaded input end of the main radar chip and the radio frequency cascaded input end of the slave radar chip, so that radio frequency signal synchronization is realized.
Optionally, the master radar chip is an N1 tx M1 rx chip, and the slave radar chip is an N2 tx M2 rx chip, where N1 is equal to or not equal to N2, M1 is equal to or not equal to M2, where N1, N2, M1, and M2 are positive integers.
In a second aspect, embodiments of the present invention provide a radar including a radar antenna according to any of the embodiments of the present invention.
In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle, where the unmanned aerial vehicle includes the radar according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides an apparatus, which includes the radar according to any embodiment of the present invention.
According to the radar antenna provided by the embodiment of the invention, the processor is respectively connected with the main radar chip and the auxiliary radar chip; the master radar chip and the slave radar chip are respectively provided with a transmitting pin, a receiving pin and a signal synchronization pin, wherein the master radar chip and the slave radar chip are connected through the signal synchronization pin, so that the master radar chip and the slave radar chip are synchronized; in the first direction, a plurality of receiving antennas connected with the main radar chip are arranged at intervals, a plurality of transmitting antennas connected with the main radar chip are arranged at intervals, a plurality of receiving antennas connected with the auxiliary radar chip are arranged at intervals, and a plurality of transmitting antennas connected with the auxiliary radar chip are arranged at intervals; the at least one receiving antenna and the at least one transmitting antenna are arranged on the same straight line in the first direction, and the at least one transmitting antenna and the at least one receiving antenna are arranged at intervals in the second direction. According to the technical scheme, the object detection in the first direction and the second direction is realized, namely the three-dimensional surface detection of the object is realized, the three-dimensional surface detection of the object can be realized without adding other mechanical structures, and the cost is saved.
Drawings
Fig. 1 is a schematic block diagram of a radar antenna according to an embodiment of the present invention;
fig. 2a is a schematic structural diagram of a single-element sub-antenna according to an embodiment of the present invention;
fig. 2b is a schematic structural diagram of a multi-element antenna formed by connecting 4 elements in series according to an embodiment of the present invention;
fig. 2c is a schematic structural diagram of a multi-element antenna with 4 elements connected in series and then in parallel with 3 columns according to an embodiment of the present invention;
FIG. 3a is a schematic diagram of the relationship of the antenna positions in a radar antenna according to an embodiment of the present invention;
FIG. 3b is a layout diagram of a radar antenna according to an exemplary embodiment of the present invention;
FIG. 3c is a layout diagram of another radar antenna according to an embodiment of the present invention;
FIG. 3d is a diagram illustrating the detection effect of the radar antenna in FIG. 3b according to an embodiment of the present invention;
fig. 4-14 are layout diagrams of other radar antennas based on fig. 3b according to embodiments of the present invention.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
For better understanding of the embodiments of the present invention, first, a description is given of a concept of an angular resolution of a radar according to the embodiments of the present invention, where the angular resolution of the radar is a minimum angle at which the radar can distinguish two objects, and the smaller the angular resolution of the radar, the better the performance of the radar in distinguishing the objects. The angular resolution of the radar is calculated by
Where N is the product of the number of transmitting antennas and the number of receiving antennas of the radar chip in the same direction.
Fig. 1 is a schematic block diagram of a radar antenna according to an embodiment of the present invention. As shown in fig. 1, the radar antenna may include: a master radar chip 110, a slave radar chip 120, a receive antenna array 130, a transmit antenna array 140, and a processor 150.
The processor 150 is connected to the master radar chip 110 and the slave radar chip 120, and the processor 150 may be connected to the master radar chip 110 and the slave radar chip 120 through an MIPI D-PHY, a CS12 interface, and/or a GPI0s interface, so as to implement data transmission between the master radar chip 110 and the slave radar chip 120 and the processor.
The master radar chip 110 and the slave radar chip 120 are provided with a transmitting pin TX, a receiving pin RX and a signal synchronization pin, and the master radar chip 110 and the slave radar chip 120 are connected through the signal synchronization pin to realize synchronous operation of the master radar chip 110 and the slave radar chip 120.
As shown in fig. 1, in the embodiment of the present invention, each receiving pin RX of the master radar chip 110 and the slave radar chip 120 is connected to one receiving antenna of the receiving antenna array 130, and each transmitting pin TX of the master radar chip 110 and the slave radar chip 120 is connected to one transmitting antenna of the transmitting antenna array 140.
In the first direction a, a plurality of receiving antennas connected to the main radar chip 110 are spaced apart, a plurality of transmitting antennas connected to the main radar chip 110 are spaced apart, a plurality of receiving antennas connected to the slave radar chip 120 are spaced apart, a plurality of transmitting antennas connected to the slave radar chip 120 are spaced apart, and at least one receiving antenna and at least one transmitting antenna are on the same straight line in the first direction a, and at least one transmitting antenna and at least one receiving antenna are spaced apart in the second direction, where the first direction a and the second direction B may be any two directions intersecting each other, and preferably the first direction a and the second direction B are two directions perpendicular to each other.
In the embodiment of the invention, because the at least one receiving antenna and the at least one transmitting antenna are on the same straight line in the first direction and the at least one transmitting antenna and the at least one receiving antenna are arranged at intervals in the second direction, the object detection in the first direction and the second direction is realized, namely the three-dimensional surface detection of the object is realized, and the three-dimensional surface detection of the object can be realized without adding other mechanical structures, thereby saving the cost.
In order to make the layout of the antenna in the embodiment of the present invention more clearly understood by those skilled in the art, the following describes the layout of the antenna in the embodiment of the present invention with reference to the drawings.
As shown in fig. 3a, the radar antenna of the embodiment of the present invention may be fixed on a medium, for example, on the surface of a PCB, wherein the transmitting antenna and the receiving antenna may be microstrip antennas or horn antennas. Optionally, the receiving antenna and the transmitting antenna may be a single-element antenna, a multi-element antenna formed by connecting multiple elements in series, or one of antennas formed by connecting multiple multi-element antennas in parallel, for example, fig. 2a is a schematic structural diagram of a single-element antenna, fig. 2b is a schematic structural diagram of a multi-element antenna formed by connecting 4 elements in series, fig. 2c is a schematic structural diagram of a multi-element antenna formed by connecting 4 elements in series and then in parallel with 3 columns, and small boxes in fig. 2a, fig. 2b, and fig. 2c represent elements.
In the embodiment of the present invention, the antenna is on the same straight line, which means that a node P formed by the antenna and the feeder is on the same straight line in a certain direction, where the feeder may be a connection line connecting the antenna and the radar chip. As in fig. 3a, the nodes P of the 3 receiving antennas (RX1, RX2, RX3) are on the same straight line L in the first direction a, and the spaced arrangement means that the antennas have a certain distance from the node P formed by the feeder in a certain direction, as in fig. 3a, the node P of two transmitting antennas (TX1 and TX2) has a distance d in the first direction a, or the node P of two transmitting antennas (TX1 and TX2) has a distance d in the second direction B, or the node P of transmitting antenna TX1 has a distance d in the second direction B from the node P of three receiving antennas (RX1, RX2, RX 3).
As shown in fig. 3B, in one example of the present invention, in the first direction a, a plurality of receiving antennas connected to the master radar chip 110 are arranged at intervals, a plurality of transmitting antennas connected to the master radar chip 110 are arranged at intervals, a plurality of receiving antennas connected to the slave radar chip 120 are arranged at intervals, and a plurality of transmitting antennas connected to the slave radar chip 120 are arranged at intervals, wherein, in the first direction a, at least one receiving antenna and at least one transmitting antenna among all transmitting antennas and receiving antennas are on the same straight line, and in the second direction B, at least one transmitting antenna and at least one receiving antenna are arranged at intervals.
In the embodiment of the present invention, in the first direction a, the distances between the receiving antennas connected to the master radar chip 110 may be equal or unequal, that is, the receiving antennas connected to the master radar chip 110 may be arranged at equal intervals or unequal intervals, and the distances between the receiving antennas connected to the slave radar chip 120 may be equal or unequal, that is, the receiving antennas connected to the slave radar chip 120 may be arranged at equal intervals or unequal intervals, specifically, in the first direction a, the distance between two adjacent receiving antennas connected to the master radar chip 110 is an integer multiple of a half-wavelength of a radar signal, and the distance between two adjacent receiving antennas connected to the slave radar chip 120 is an integer multiple of a half-wavelength of a radar signal.
Specifically, as shown in fig. 3b, taking the receiving antenna on the master radar chip 110 as an example, in the first direction a, along the first direction a, the distance between the first receiving antenna and the second receiving antenna connected to the master radar chip 110 is d, where d is an integral multiple of a half-wavelength of a radar signal, and then the distance between the second receiving antenna and the third receiving antenna may also be d or not, and similarly, the distances between the receiving antennas connected to the slave radar chip 110 may be equal or unequal.
Meanwhile, in the first direction a, at least one receiving antenna and at least one transmitting antenna are on the same straight line, and in the second direction B, at least one transmitting antenna and at least one receiving antenna are spaced apart, that is, as shown in fig. 3B, in the first direction a, in all transmitting antennas, one transmitting antenna on the main radar chip 110 is on the same straight line with one receiving antenna of all receiving antennas, and in the second direction B, in all transmitting antennas, one transmitting antenna is spaced apart from one receiving antenna of all receiving antennas.
In the embodiment of the present invention, in the first direction a, the transmitting antennas connected to the master radar chip 110 are disposed at equal or unequal intervals, the transmitting antennas connected to the slave radar chip 120 are disposed at equal or unequal intervals, and in the second direction B, the distances between the transmitting antennas disposed at intervals may be equal or unequal. Specifically, in the first direction a, the distance between two adjacent transmitting antennas of the plurality of transmitting antennas connected to the master radar chip 110 is an integral multiple of the half wavelength of the radar signal, the distance between two adjacent transmitting antennas of the plurality of transmitting antennas connected to the slave radar chip 120 is an integral multiple of the half wavelength of the radar signal, and the distance between two adjacent and spaced transmitting antennas in the second direction B is an integral multiple of the half wavelength of the radar signal. Specifically, as shown in fig. 3B, taking the transmitting antenna on the main radar chip 110 as an example, in the direction along the first direction a, the distance between the first transmitting antenna and the second transmitting antenna on the main radar chip 110 is d, the distance between the second transmitting antenna and the third transmitting antenna may be d, or may not be d, and in the second direction B, the distance between the first transmitting antenna and the second transmitting antenna on the main radar chip 110 is d, and the distance between the second transmitting antenna and the third transmitting antenna may be d, or may not be d.
It should be noted that, in the embodiment of the present invention, the receiving antennas may be arranged in different straight lines in the first direction, so as to realize the arrangement of at least one transmitting antenna and at least one receiving antenna in the second direction B, that is, as shown in fig. 3c, in the first direction a, one receiving antenna in the main radar chip 110 is not in the same straight line with the other receiving antennas, so that the receiving antenna is spaced from the first transmitting antenna in the main radar chip 110 by a distance d in the second direction B.
Of course, as shown in fig. 3b, preferably, all the receiving antennas are on the same straight line in the first direction a, fig. 4-14 are layout diagrams of other antennas based on fig. 3b listed in the embodiment of the present invention, the layout principle of which is described with reference to the above example for fig. 3b, and the specific antenna layout is shown in fig. 4-14, and will not be described in detail here.
For better understanding of the embodiments of the present invention, the embodiments of the present invention have described antenna layouts and effects of the master radar chip 110 and the slave radar chip 120 by way of examples.
Fig. 3b is a layout diagram of a radar antenna according to an embodiment of the present invention, in fig. 3b, each of the master radar chip 110 and the slave radar chip 120 is provided with 3 transmitting pins and 4 receiving pins, that is, the master radar chip 110 and the slave radar chip 120 may be connected with 3 transmitting antennas and 4 receiving antennas.
Two adjacent in a first direction, direction AThe distance between the receiving antennas connected to the main radar chip 110 is d, and the distance between two adjacent transmitting antennas connected to the main radar chip 110 is d; the distance between two adjacent receiving antennas connected to the slave radar chip 120 is d, the distance between two adjacent transmitting antennas connected to the slave radar chip 120 is d, and the lengths of the leads from the plurality of receiving antennas connected to the master radar chip 110 to the receiving pins of the master radar chip 110 are equal to the lengths of the leads from the plurality of receiving antennas connected to the slave radar chip 120 to the receiving pins of the slave radar chip 120. At least one transmitting antenna and a plurality of receiving antennas are in a straight line in a second direction, namely a direction B, the distance between two adjacent transmitting antennas is equal to the distance d between two adjacent receiving antennas in the first direction A, the distance between the transmitting antenna and the receiving antenna which are arranged at intervals with the receiving antennas is equal to the distance d between two adjacent receiving antennas in the first direction A, and for the convenience of marking in the figure, the value of d is
Where λ is the wavelength of the radar signal.
Exemplarily, when the layout of the antennas of the radar is as shown in fig. 3b, the detection effect of the radar is as shown in fig. 3d, where the hollow circle is an antenna, the black solid circle is an antenna interpolated by a software manner, and the distance between two adjacent antennas in the same direction is d, and the distance between two rows of antennas is also d. It can be seen that N is at least 8 in the first direction a and 6 in the second direction B, so that a smaller radar angular resolution can be obtained in both the first direction a, in which the radar has a smaller angular resolution, and the second direction B, in which the radar antenna is arranged in the manner of fig. 3B, wherein the radar has a smaller angular resolution in the first direction a than in the second direction B
The angular resolution of the radar in the second direction being
Of course, in practical applications, the master radar chip 110 may be an N1 tx M1 rx chip, and the slave radar chip 120 may be an N2 tx M2 rx chip, where N1 is equal to or not equal to N2, M1 is equal to or not equal to M2, and N1, N2, M1, and M2 are positive integers, that is, the numbers of the receiving antennas and the transmitting antennas connected to the master radar chip 110 and the slave radar chip 120 may be the same or different.
As shown in fig. 1, in an optional embodiment of the present invention, the signal synchronization pin includes a local oscillator signal synchronization pin CLK disposed on the master radar chip 110 and a radio frequency cascade signal output end, the radar according to the embodiment of the present invention further includes a power divider, and the master radar chip 110 is connected to the slave radar chip 120 through the local oscillator signal synchronization pin CLK to implement local oscillator signal synchronization.
As shown in fig. 1, in the embodiment of the present invention, an input end of the power divider is connected to a radio frequency cascade signal output end of the master radar chip 110, and output ends of the power divider are respectively connected to a radio frequency signal cascade input end of the master radar chip 110 and a radio frequency signal cascade input end of the slave radar chip 120, so that after the radio frequency signal modulated by the master radar chip 110 is output to the power divider, the slave power divider is divided into two paths to be output to the master radar chip 110 and the slave radar chip 120, respectively, so as to implement radio frequency signal synchronization.
The embodiment of the invention also provides a radar which comprises the radar antenna.
The embodiment of the invention also provides an unmanned aerial vehicle which comprises any one of the radars in the embodiment of the invention.
The embodiment of the invention also provides equipment, and the equipment comprises any one of the radars in the embodiment of the invention. Optionally, the device may be a manned vehicle, a manned ship, an unmanned vehicle, an unmanned ship, or the like, that is, the device of the embodiment of the present invention may be a mobile platform or a fixed platform, and may also be a manned device or an unmanned device, which is not limited in this embodiment of the present invention.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single technical solution, and such description is for clarity only, and those skilled in the art should take the description as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments that may be understood by those skilled in the art.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (14)
1. A radar antenna, comprising: the radar system comprises a main radar chip, a slave radar chip, a receiving antenna array, a transmitting antenna array and a processor which is respectively connected with the main radar chip and the slave radar chip, wherein the main radar chip and the slave radar chip are respectively provided with a transmitting pin, a receiving pin and a signal synchronization pin, and the main radar chip and the slave radar chip are connected through the signal synchronization pin so as to enable the main radar chip and the slave radar chip to work synchronously;
each receiving pin of the master radar chip and each receiving pin of the slave radar chip are connected with one receiving antenna in the receiving antenna array, and each transmitting pin of the master radar chip and each transmitting pin of the slave radar chip are connected with one transmitting antenna in the transmitting antenna array;
in the first direction, a plurality of receiving antennas connected with the main radar chip are arranged at intervals, a plurality of transmitting antennas connected with the main radar chip are arranged at intervals, a plurality of receiving antennas connected with the auxiliary radar chip are arranged at intervals, and a plurality of transmitting antennas connected with the auxiliary radar chip are arranged at intervals;
the at least one receiving antenna and the at least one transmitting antenna are arranged on the same straight line in the first direction, and the at least one transmitting antenna and the at least one receiving antenna are arranged at intervals in the second direction.
2. The radar antenna according to claim 1, wherein in the first direction, the receiving antennas connected to the master radar chip are disposed at equal or unequal intervals, and the receiving antennas connected to the slave radar chip are disposed at equal or unequal intervals.
3. The radar antenna of claim 1 or claim 2, wherein, in the first direction, the distance between any two adjacent receiving antennas connected to the master radar chip is an integer multiple of a half wavelength of the radar signal, and the distance between two adjacent receiving antennas connected to the slave radar chip is an integer multiple of a half wavelength of the radar signal.
4. The radar antenna according to claim 1, wherein in the first direction, the transmitting antennas connected to the master radar chip are disposed at equal or unequal intervals, and the transmitting antennas connected to the slave radar chip are disposed at equal or unequal intervals.
5. The radar antenna of claim 4, wherein, in the first direction, a distance between any two adjacent transmitting antennas of the plurality of transmitting antennas connected to the master radar chip is an integral multiple of a half wavelength of a radar signal, and a distance between any two adjacent transmitting antennas of the plurality of transmitting antennas connected to the slave radar chip is an integral multiple of a half wavelength of a radar signal.
6. Radar antenna according to claim 1 or 2 or 4 or 5, characterised in that in the second direction the transmitting antennas are arranged at equal or unequal intervals.
7. The radar antenna of claim 6, wherein a distance between any two adjacent and spaced transmit antennas in the second direction is an integer multiple of a half wavelength of the radar signal.
8. Radar antenna according to claim 1 or 2 or 4 or 5, characterised in that in the first direction the plurality of receiving antennas are collinear.
9. The radar antenna of claim 1, wherein the receive antenna and the transmit antenna comprise one of a single-element sub-antenna or a multi-element sub-antenna.
10. The radar antenna of claim 1, wherein the signal synchronization pin comprises a local oscillator signal synchronization pin and a radio frequency cascade signal output terminal disposed on the main radar chip, the radar further comprising a power divider;
the main radar chip is connected with the slave radar chip through the local oscillation signal synchronization pin so as to realize local oscillation signal synchronization;
the input end of the power divider is connected with the radio frequency cascaded signal output end of the main radar chip, and the output end of the power divider is respectively connected with the radio frequency cascaded input end of the main radar chip and the radio frequency cascaded input end of the slave radar chip, so that radio frequency signal synchronization is realized.
11. The radar antenna of claim 1, wherein the master radar chip is an N1 tx M1 rx chip, and the slave radar chip is an N2 tx M2 rx chip, wherein N1 is equal to or not equal to N2, M1 is equal to or not equal to M2, and wherein N1, N2, M1, and M2 are positive integers.
12. A radar, characterized in that it comprises a radar antenna according to any one of claims 1-11.
13. A drone, characterized in that it comprises a radar according to claim 12.
14. An apparatus, characterized in that the apparatus comprises a radar according to claim 12.
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| CN201911007576.XA CN112698296A (en) | 2019-10-22 | 2019-10-22 | Radar antenna, radar, unmanned aerial vehicle and equipment |
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| CN201911007576.XA CN112698296A (en) | 2019-10-22 | 2019-10-22 | Radar antenna, radar, unmanned aerial vehicle and equipment |
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| CN112698296A true CN112698296A (en) | 2021-04-23 |
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| CN201911007576.XA Pending CN112698296A (en) | 2019-10-22 | 2019-10-22 | Radar antenna, radar, unmanned aerial vehicle and equipment |
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