CN113030942B - Method, device, computer equipment and storage medium for determining azimuth angle of target object - Google Patents
Method, device, computer equipment and storage medium for determining azimuth angle of target object Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 67
- 238000007476 Maximum Likelihood Methods 0.000 claims abstract description 37
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- 230000006870 function Effects 0.000 claims description 30
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan 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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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Abstract
The application relates to a method, a device, computer equipment, a storage medium, an integrated circuit, a radio device, a sensor and equipment for determining an azimuth angle of a target object, and relates to the technical field of target detection. The azimuth determining method of the target comprises the steps of obtaining a preset initial angle set to be searched; obtaining the number N of target objects; sequentially performing at least two-stage N-dimensional search based on the maximum likelihood estimation and the initial angle set to be searched; acquiring azimuth angles of all targets based on the result of the last-stage N-dimensional search; wherein N is an integer greater than or equal to 1. Through hierarchical search, the number of angle elements to be searched in each stage of N-dimensional search is reduced, so that the iterative operation amount is reduced.
Description
The present application claims priority from the chinese patent office, application number 202010131565.9, title of azimuth determination method, apparatus, device and storage medium for object, 28, 2020, and the chinese patent office, application number 202010131017.6, title of azimuth determination method, apparatus, device and storage medium for object, 28, 2020, 02, the entire contents of which are incorporated herein by reference.
Technical Field
The present application relates to the field of target detection technologies, and in particular, to a method, an apparatus, a computer device, a storage medium, an integrated circuit, a radio device, a sensor, and a device for determining an azimuth angle of a target object.
Background
In target detection using a sensor (e.g., FMCW radar, etc.), maximum likelihood estimation (Maximum likelihood estimation, MLE) is typically used to determine the azimuth of the target. When determining the azimuth angle of the target object by using the MLE, generally, different angular vectors to be searched are input into a preset search model to obtain model output results corresponding to the angular vectors to be searched, the target model output results are selected from the model output results, and the azimuth angle is obtained according to the angular vectors to be searched corresponding to the target model output results.
However, when the traditional maximum likelihood is adopted to perform angle search, the calculation complexity of the algorithm is too high, and if the number of angles to be searched is N, the possible angle vectors have N 2 pairs in total, and the algorithm needs to be iterated for N 2 times, so that the data calculation amount is too large, and the calculation time is long.
Disclosure of Invention
Based on this, it is necessary to provide a method, an apparatus, a computer device, a storage medium, an integrated circuit, a radio device, a sensor and a device for determining the azimuth angle of an object, aiming at the problem that the calculation time is long due to the large calculation amount in the prior art.
In a first aspect, a method for determining azimuth of a target, the method comprising:
Acquiring a preset initial angle set to be searched; obtaining the number N of target objects; sequentially performing at least two-stage N-dimensional search based on the maximum likelihood estimation and the initial angle set to be searched; acquiring azimuth angles of all targets based on the result of the last-stage N-dimensional search; wherein N is an integer greater than or equal to 1.
In one embodiment, the at least two levels of N-dimensional searches include a level 1N-dimensional search; sequentially performing at least two-stage N-dimensional search based on the maximum likelihood estimation and the initial angle set to be searched, including: screening a plurality of angle elements to be searched from the initial angle set to be searched based on the 1 st interval value to form the 1 st angle set to be searched; and carrying out N-dimensional search on the 1 st angle set to be searched based on the maximum likelihood estimation to obtain a1 st target angle vector.
In one embodiment, the at least two levels of N-dimensional search further comprises an i-th level of N-dimensional search; sequentially performing at least two-stage N-dimensional search based on the maximum likelihood estimation and the initial angle set to be searched, including: based on the ith interval value and the ith-1 target angle vector, screening a plurality of angle elements to be searched from the initial angle set to form an ith angle set to be searched; n-dimensional search is carried out on the ith angle set to be searched based on maximum likelihood estimation, and an ith target angle set is obtained; wherein i is a natural number greater than or equal to 2, and the i-th interval value is smaller than the i-1-th interval value and greater than the i+1-th interval value.
In one embodiment, performing N-dimensional search on the ith angle set to be searched based on maximum likelihood estimation to obtain an ith target angle set, including: determining an i-level N-dimensional search angle vector set to be searched according to the i-level N-dimensional search angle set, wherein the i-level N-dimensional search angle vector set to be searched comprises a plurality of angle vectors to be searched, and each angle vector to be searched comprises N angle elements to be searched; inputting the angle vector set to be searched for the ith N-dimensional search into a preset search model to obtain a search result of the ith N-dimensional search; determining a target angle vector of the ith level N-dimensional search according to the search result of the ith level N-dimensional search; and if the ith N-dimensional search is the last N-dimensional search of the at least two N-dimensional searches, taking the search result of the ith N-dimensional search as the result of the last N-dimensional search.
In one embodiment, based on the ith interval value and the ith-1 target angle vector, selecting a plurality of angle elements to be searched from the initial angle set to be searched to form the ith angle set to be searched, including: determining a target candidate angle range from the initial angle set to be searched according to the i-1 target angle vector; and screening a plurality of angle elements to be searched from the target candidate angle range according to the ith interval value to form an ith angle set to be searched.
In one embodiment, determining a target candidate angle range from the initial set of angles to be searched according to the i-1 th target angle vector includes: determining an angle stepping value according to the i-1 th interval value; and determining a target candidate angle range from the initial angle set to be searched according to the angle stepping value and the i-1 target angle vector.
In one embodiment, obtaining the i-1 th interval value determines an angle step value, comprising: the angle step value is half of the i-1 th interval value.
In one embodiment, the method further comprises: and determining a1 st interval value according to the number of the angle elements to be searched included in the initial angle set to be searched.
In one embodiment, the method further comprises: for the same-level N-dimensional search, different interval values are adopted for multiple searches.
In one embodiment, the method further comprises: the initial angle set to be searched comprises a plurality of preset angle elements to be searched distributed according to the equal function difference value, and the number of the preset angles to be searched is larger than N.
In a second aspect, an azimuth determining device for a target, the device comprising:
the first acquisition module is used for acquiring a preset initial angle set to be searched;
the second acquisition module is used for acquiring the number N of the target objects;
the searching module is used for sequentially carrying out at least two-stage N-dimensional searching based on the maximum likelihood estimation and the initial angle set to be searched; and;
the azimuth determining module is used for acquiring azimuth angles of all targets based on the result of the last-stage N-dimensional search;
Wherein N is an integer greater than or equal to 1.
In a third aspect, a computer device comprises a memory storing a computer program and a processor implementing the steps of the method of the first aspect described above when the processor executes the computer program.
In a fourth aspect, a computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method of the first aspect described above.
In a fifth aspect, an integrated circuit, comprising:
A signal receiving and transmitting channel for transmitting radio signals and receiving echo signals;
The analog-to-digital circuit module is used for carrying out analog-to-digital conversion on the echo information to generate a digital signal; and
The digital signal processing module is used for acquiring a preset initial angle set to be searched based on the digital signal; obtaining the number N of target objects; sequentially performing at least two-stage N-dimensional search based on the maximum likelihood estimation and the initial angle set to be searched; based on the result of the last-stage N-dimensional search, acquiring azimuth angles of all targets;
Wherein N is an integer greater than or equal to 1.
In one embodiment, the radio signal is a millimeter wave signal; and/or the integrated circuit is a millimeter wave radar chip.
In a sixth aspect, a radio device includes:
a carrier;
An integrated circuit as in the fifth aspect, disposed on the carrier; and
And the antenna is arranged on the carrier and connected with the transmitting and receiving channel and is used for transmitting and receiving radio signals.
In a seventh aspect, a sensor includes:
A transmitting antenna for transmitting a detection signal;
A receiving antenna for receiving echo signals; and
The signal processing module is used for acquiring a preset initial angle set to be searched; obtaining the number N of target objects; sequentially performing at least two-stage N-dimensional search based on the maximum likelihood estimation and the initial angle set to be searched; based on the result of the last-stage N-dimensional search, acquiring azimuth angles of all targets;
Wherein N is an integer greater than or equal to 1.
In one embodiment, the signal processing module is further configured to implement the method for determining the azimuth angle of the target object according to any one of the first aspect.
In one embodiment, the sensor is a MIMO sensor.
In one embodiment, the receiving antenna comprises at least two.
In one embodiment, the sensor is a millimeter wave radar chip.
In one embodiment, the millimeter wave radar chip is AiP chips.
In an eighth aspect, an apparatus, comprises:
An equipment body; and
A radio device as in the sixth aspect described above, or a sensor as in any one of the seventh aspects described above, provided on the apparatus body;
wherein the radio is used for object detection and/or communication.
According to the azimuth determining method of the target object, the device, the computer equipment, the storage medium, the integrated circuit, the radio device, the sensor and the equipment, at least two levels of N-dimensional searching are performed based on the number N of the target object and the initial angle set to be searched, and the number of angle elements to be searched in each level of N-dimensional searching is reduced through hierarchical searching, so that the iterative operation amount is reduced.
Drawings
FIG. 1 is a schematic diagram of an application environment of a method for determining an azimuth angle of a target object in one embodiment;
FIG. 2 is a schematic diagram of another application environment of the method for determining the azimuth angle of the target object in one embodiment;
FIG. 3 is a flow chart illustrating a method for determining an azimuth angle of a target in one embodiment;
FIG. 4 is a schematic diagram of determining an angular range of a fine search in one embodiment;
FIG. 5 is a schematic diagram of obtaining a plurality of fine search results in one embodiment;
FIG. 6 is a flow diagram of a method of performing at least two levels of N-dimensional searching in one embodiment;
FIG. 7 is a flow diagram of a method of performing at least two levels of N-dimensional searching in another embodiment;
FIG. 8 is a flow diagram of a method of determining an ith set of angles to search in one embodiment;
fig. 9 is a schematic structural diagram of an azimuth determining device for a target object provided in one embodiment.
Detailed Description
The application provides a target azimuth determining method, device, equipment and storage medium, and aims to solve the problem of overlarge calculated amount in the traditional method. The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail by examples and with reference to the accompanying drawings. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Next, an implementation environment related to the azimuth determining method of the target object provided by the embodiment of the present application will be briefly described.
The method for determining the azimuth angle of the target object provided in this embodiment may be applicable to an application environment as shown in fig. 1. In fig. 1, a sensor 100 and a plurality of targets 200 are shown, where double-headed arrows between the sensor 100 and the targets 200 represent detection signals and echo signals, the sensor 100 includes a transmitting antenna for transmitting the detection signals, a receiving antenna for receiving the echo signals reflected by the targets 200, and a signal processing module for performing signal processing operations such as filtering, down-conversion, analog-to-digital conversion (ADC), sampling (Saip), two-dimensional fourier transform (2D-FFT), constant False Alarm Rate (CFAR), direction of arrival (DOA), and so on the echo signals, so as to obtain radial distance between the targets 200 and the sensors 100, and current speed, azimuth, and other parameters of the targets 200 relative to the sensors 100. Optionally, the signal processing module may be further configured to implement the method for determining the azimuth angle of the target object provided by the embodiment of the present application.
Alternatively, the sensor 100 may be a MIMO sensor.
Alternatively, the sensor 100 may have at least two receiving antennas, that is, the sensor 100 may be a one-to-multiple-transmit or multiple-to-multiple-receive sensor 100, and the distance between the transmitting antennas may be the same or different, which is not limited in this embodiment of the present application.
Alternatively, the sensor 100 may include a millimeter wave radar chip; for example, the millimeter wave radar chip may be AiP chips.
In an alternative implementation manner, the method for determining the azimuth angle of the target object provided in this embodiment may be applied to the integrated circuit 201 shown in fig. 2, where the integrated circuit 201 includes a signal transceiver channel 2011 for transmitting radio signals and receiving echo signals; an analog-to-digital circuit module 2012 for performing analog-to-digital conversion on the echo information to generate a digital signal; and a digital signal processing module 2013, configured to implement the method for determining the azimuth angle of the target object according to the embodiment of the present application. Alternatively, the radio signal may be a millimeter wave signal, and the integrated circuit is a millimeter wave radar chip.
Specifically, the integrated circuit may further include other digital circuits, a digital function module and an operation control device, where each type of digital circuit is a basic structure of the integrated circuit, different digital circuits may implement different functions of the integrated circuit, the digital function module is used to detect whether each digital circuit works normally, the operation control device may perform unified configuration management on the digital function module, a digital controller in the operation control device may send a control signal for performing function detection to the digital function module through a digital control interface, the configuration module stores configuration information and state information, the configuration information may be obtained from the outside, the state machine is used to control a workflow of the integrated circuit, the state machine may read the configuration information stored in the configuration module, and generate a corresponding control signal to the control digital controller to output to the digital function module so as to implement control of the digital function module to detect each digital circuit.
The integrated circuit can adopt a unified digital controller to be connected with the digital function module of the system on chip through the digital control interface, and then the configuration module and the state machine are used for realizing unified configuration management of the running state of the digital function module of the system on chip, so that the running control efficiency of the system on chip in the integrated circuit is improved.
Alternatively, in one embodiment, the integrated circuit may be a millimeter wave radar chip, and the radio signal may be a millimeter wave signal. The kind of digital functional modules in the integrated circuit can be determined according to the actual requirements. For example, in a millimeter wave radar chip, the digital function module may be a power detector or the like, which may be used to detect whether the voltage value of the antenna power amplifier is abnormal, and the operation control device may control the operation of the power detector.
In an alternative implementation manner, the method for determining the azimuth angle of the target object provided in this embodiment may be applied to a radio device, where the radio device includes: a carrier; the integrated circuit of the above embodiment, the integrated circuit being disposed on a carrier; the antenna is arranged on the carrier; the integrated circuit is connected with the antenna through a first transmission line and is used for receiving and transmitting radio signals. The carrier may be a printed circuit board PCB, and the first transmission line may be a PCB trace.
In an alternative implementation, the present application further provides an apparatus, including: an equipment body; and the radio device of the above embodiment, or the sensor of the above embodiment, provided on the apparatus body; wherein the radio is used for object detection and/or communication.
Specifically, in one embodiment of the present application, the radio device may be disposed outside the apparatus body, in another embodiment of the present application, the radio device may also be disposed inside the apparatus body, and in other embodiments of the present application, the radio device may also be disposed partially inside the apparatus body, and partially outside the apparatus body. The present application is not limited thereto, and is particularly applicable. It should be noted that the radio device may perform functions such as object detection and communication by transmitting and receiving signals.
In an alternative embodiment, the device body may be an intelligent transportation device (such as an automobile, a bicycle, a motorcycle, a ship, a subway, a train, etc.), a security device (such as a camera), an intelligent wearable device (such as a bracelet, glasses, etc.), an intelligent home device (such as a television, an air conditioner, an intelligent lamp, etc.), various communication devices (such as a mobile phone, a tablet computer, etc.), etc., and may also be various instruments for detecting vital sign parameters and various devices carrying the instruments, such as a barrier gate, an intelligent traffic indicator, an intelligent sign, a traffic camera, various industrial manipulators (or robots), etc. The radio device may be a radio device described in any embodiment of the present application, and the structure and working principle of the radio device are described in detail in the above embodiments, which are not described in detail herein.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application.
Referring to fig. 3, fig. 3 is a flow chart illustrating a method for determining an azimuth angle of a target object according to an embodiment. The method comprises the following steps:
Step 301, obtaining a preset initial set of angles to be searched.
Wherein the initial set of angles to be searched may include a plurality of angle elements to be searched.
In an alternative implementation, the initial set of angles to be searched is set to include a plurality of preset angle elements to be searched distributed according to the equal angle difference.
In another alternative implementation, the initial set of angles to be searched includes a plurality of preset angle elements to be searched distributed according to the equal function difference. The number of the plurality of preset angle elements to be searched is larger than N, and N is an integer larger than 1.
For example, the initial set of angles to be searched in the embodiment of the present application may be defined as:
θset＝{arc sin(sin Start+sin Step·n)|n＝0,1,2,……θnum-1}
Where θ set denotes an initial set of angles to be searched, θ num denotes the number of angle elements to be searched, sinStart denotes the sine value of the initial angle element to be searched, sinStep denotes the search step of the angle element to be searched over the sine domain.
In the embodiment of the present application, a function corresponding to a preset angle element to be searched may be represented by f (θ), and a relationship as shown in formula (1) exists between adjacent preset angle elements to be searched:
f (θ i)-f(θi+1)＝f(θi+1)-f(θi+2), equation (1).
Based on the formula (1), assuming that the difference of the functions of any two adjacent preset angle elements to be searched is 0.1, starting with 0 ° as the initial angle element to be searched, equations f (0) -f (θ i+1) =0.1 can be obtained, θ i+1 can be calculated based on the equations, θ i+2 can be calculated based on f (θ i+1)-f(θi+2) =0.1, and the other preset angle elements to be searched can be sequentially calculated by analogy. The radar may determine an initial set of angles to be searched according to the plurality of preset angle elements to be searched, and store the initial set of angles to be searched into the memory. When the radar needs to determine the target azimuth angle, the radar can acquire a preset initial angle set to be searched from a memory.
It should be noted that, the search step sinStep of the angle element to be searched on the sine domain may be designed in advance, and in the embodiment of the present application, the magnitude of the difference value of the functions of any two adjacent preset angle elements to be searched is not limited.
Alternatively, each function difference may be an equal sine function difference or a cosine function difference.
Step 302, the number N of target objects is obtained.
In the embodiment of the application, the target objects are radar searching objects, and the number N of the target objects can be determined by the radar based on echo signals reflected by the target objects. Wherein N is an integer greater than or equal to 1.
At least two levels of N-dimensional searches are performed in sequence based on the maximum likelihood estimates and the initial set of angles to be searched, step 303.
In the embodiment of the application, the process of sequentially carrying out at least two-stage N-dimensional search on the initial angle set to be searched comprises the following steps: n angles to be searched are selected from the initial angles to be searched set to be used as a combination, and a plurality of different combinations are obtained. The radar may then invoke a preset search model. For each combination, the radar may input the combination into a search model and obtain search results output by the search model. And selecting a target search result from the search results corresponding to each combination, and then performing the next-stage N-dimensional search according to the target search result.
The process of performing the next N-dimensional search according to the target search result may include: and determining a combination corresponding to the target search result as a target combination, selecting a new combination from the initial angle set to be searched according to the angle to be searched in the target combination, and then inputting each new combination into the search model to obtain a search result output by the search model, and the like until the search is finished.
Alternatively, in the embodiment of the present application, the expression of the search model may be: Wherein θ= [ θ 0,θ1,……θn-1 ] represents an initial set of angles to be searched, x HA(AHA)-1AH x is a cost function, and x= [ x 0,x1,……,xant-1]T ] is an echo signal received by a receiving antenna; a= [ a (θ 0),a(θ1),……a(θn-1) ] is a matrix composed of guide vectors corresponding to N angle elements to be searched in the combination; a=x Ha(θj);b＝xHa(θk); c=ant is the number of receiving antennas; d is an inner product value determined based on a preset function difference. /(I) The vector indicates a vector corresponding to the angle θ i, a (θ k) indicates a vector corresponding to the angle θ k, and d j indicates a ratio of the coordinate of the j-th receiving antenna with respect to the antenna array zero point to the signal wavelength λ.
Optionally, in the embodiment of the present application, the expression of the search model may also beWherein θ= [ θ 0,θ1,……θn-1 ] represents an initial set of angles to be searched, x HA(AHA)-1AH x is a cost function, and x= [ x 0,x1,……,xant-1]T ] is an echo signal received by a receiving antenna; a= [ a (θ 0),a(θ1),……a(θn-1) ] is a matrix composed of guide vectors corresponding to N preset angle elements to be searched in the combination; a=x Ha(θj);b＝xHa(θk); c=ant is the number of receiving antennas; d is an inner product value determined based on a preset function difference.
The vector indicates a vector corresponding to the angle θ i, a (θ k) indicates a vector corresponding to the angle θ k, and d j indicates a ratio of the coordinate of the j-th receiving antenna with respect to the antenna array zero point to the signal wavelength λ.
In an alternative implementation, the start values of the N-dimensional searches of each stage are different in the at least two-stage N-dimensional search process. The same level N-dimensional search may have the same or different start values when searching for different times. The probability of searching the initial angle set to be searched by using maximum likelihood estimation to obtain the global maximum value can be improved through the difference of the initial values of different levels of N-dimensional searches.
For example, the at least two-stage N-dimensional search includes a first-stage N-dimensional search (e.g., coarse search) and a second-stage N-dimensional search (e.g., fine search) performed sequentially, and since the initial values of the searches of each stage are different, it can be ensured that the initial set of angles to be searched is searched by using the maximum likelihood estimation to obtain the global maximum value.
Step 304, based on the result of the last-stage N-dimensional search, the azimuth angle of each target is obtained.
In the embodiment of the application, after the N-dimensional search result is obtained, the radar can determine the combination corresponding to the largest search result in the N-dimensional search result as the direction angle of the N targets.
Alternatively, after the N-dimensional search result is obtained, the radar may determine a combination corresponding to the smallest search result among the N-dimensional search results as the direction angles of the N targets.
Optionally, after obtaining the N-dimensional search result, the radar may determine, as the direction angles of the N targets, a combination corresponding to a search result greater than a preset threshold or less than a preset threshold among the N-dimensional search results.
In this embodiment, when at least two levels of N-dimensional search is performed on the initial set of angles to be searched based on the maximum likelihood estimation, the number of angle elements to be searched in each level of N-dimensional search is reduced by hierarchical search, so that the iterative computation amount is reduced.
Next, a process of sequentially performing two-stage N-dimensional search on an initial set of angles to be searched based on maximum likelihood estimation will be described, and the technical process includes the following steps:
In the embodiment of the present application, sequentially performing at least two levels of N-dimensional search on the initial set of angles to be searched based on the maximum likelihood estimation may refer to performing a coarse search on the initial set of angles to be searched based on the maximum likelihood estimation, and then performing a fine search on the basis of the coarse search, where the coarse search may include multiple coarse searches, and the fine search is a search performed based on the result of the coarse search, and details are described below.
In the embodiment of the present application, the initial set of angles to be searched may be represented as { θ 0,θ1,θ2,θ3,...,θn }, and when the rough search is performed, the angle elements to be searched may be selected from the initial set of angles to be searched according to the rough search interval value, so as to obtain a rough search initial set { θ 0,θstep,θ2step,...,θistep,...,θkstep }. Wherein step is the coarse search interval value. For example, step takes a value of 3, then the initial set of coarse searches may be referred to as { θ 0,θ3,θ6,...,θ3i,...,θ3k }.3k is less than n.
For different times of rough searches, the size of the rough search interval value can be changed to enable the initial set of rough searches to be different when each rough search is performed, and the initial search position of each rough search can be enabled to be not fixed based on different initial sets of rough searches. Thus, the detection accuracy of the azimuth angle of the target object can be improved.
After the rough search angle set is determined, selecting N angle elements to be searched from the rough search angle set according to the number N of the target objects to serve as a rough search vector, and obtaining a plurality of different rough search vectors. For example, if the number of objects is 2, the coarse search vector may be expressed as { θ i,θj }.
The coarse search vector may then be input into a search model. Wherein the search model may refer to the disclosure in step 303. The search model may be used to calculate from different coarse search vectors entered, resulting in a coarse search result for each coarse search vector. The calculation of the search model aims at finding the coarse search vector that maximizes the search model globally.
In the embodiment of the application, the radar can determine the coarse search vector meeting the preset condition from the coarse search results of each coarse search vector output by the search model, wherein the preset condition can be the maximum value in the coarse search results of each coarse search vector or the minimum value in the coarse search results of each coarse search vector, and further, the preset condition can be the coarse search results which are larger than or smaller than the preset threshold in the coarse search results of each coarse search vector.
In the embodiment of the application, for each coarse search, after the determined coarse search vector meeting the preset condition, fine search can be performed based on the coarse search vector meeting the preset condition. The process of the detail search is described in detail below. For convenience of description, the rough search vector satisfying the preset condition is determined as the target search angle vector as follows.
In the embodiment of the application, the fine search angle set can be determined according to the target search angle vector. Alternatively, as shown in fig. 4, an angle range to which each angle vector should be determined based on a preset threshold value may be centered on each angle in the target search angle vector, and a range of angle 1 and a range of angle 2 are exemplarily shown in fig. 4. A fine search angle set is determined based on all angles in an angle range to which a plurality of angles in the target search angle vector respectively correspond.
Alternatively, for an angle range to which each of the target search angle vectors should be applied, a plurality of angle elements to be searched may be determined from the angle range according to the equiangular difference. Wherein the equiangular difference may be referred to as disclosed in step 301.
Alternatively, for an angle range to which each of the target search angle vectors should be applied, a plurality of angle elements to be searched may be determined from the angle range according to the equal function difference. Wherein the isofunctional difference can be found in reference to step 301
Then, a plurality of angle elements to be searched which are determined from the angle range to which each of the target search angle vectors should be subjected are combined to obtain a fine search angle initial set.
After the initial set of fine search angles is obtained, a process of fine search is explained below.
For example, the initial set of fine search angles is { θ 0,θ1,θ2,θ3,...,θn }, when fine search is performed, some angle elements to be searched from the initial set of fine search angles may be selected according to the fine search interval value to form the initial set of fine search { θ 0,θstep,θ2step,...,θistep,...,θkstep }, where the fine search interval value step may have different values when fine search is performed for different times. For example, step takes a value of 5, then the initial set of fine searches may be referred to as { θ 0,θ5,θ10,...,θ5i,...,θ5k }.
After the fine search angle set is determined, selecting N angle elements to be searched from the fine search angle set according to the number N of the target objects as a fine search vector, and obtaining a plurality of different fine search vectors. For example, if the number of objects is 2, the fine search vector may be expressed as { θ h,θk }.
The fine search vector may then be input into the search model described above. And obtaining the fine search result of each fine search vector. The calculation of the search model aims at finding the fine search vector that maximizes the search model globally. Wherein the expression of the search model for fine search and the search model for coarse search may be the same.
In the embodiment of the application, the radar can determine the fine search vector meeting the preset condition from the fine search results of each fine search vector output by the search model, wherein the preset condition can be the maximum value in the fine search results of each fine search vector or the minimum value in the fine search results of each fine search vector, and further, the preset condition can be the fine search results of each fine search vector which are larger than the preset threshold or smaller than the preset threshold, and the embodiment of the application is not limited to the above.
As shown in fig. 5, when searching is performed, each coarse search may obtain a target search angle vector, and for each target search angle vector, multiple fine searches may be performed, and each fine search may also obtain a fine search result meeting a preset condition, so that a situation may occur in which multiple fine search results are finally obtained as shown in a frame in a dashed line frame in fig. 5. For a plurality of fine search results, in the embodiment of the present application, a fine search result satisfying a preset condition may be determined from the plurality of fine search results, and then an angle in a fine search vector corresponding to the fine search result satisfying the preset condition is determined as an azimuth angle of the target object.
The number of iterations required during the coarse search is: in the case of fine search, the number of iterations required is: step 2, then the total number of iterations required for coarse and fine searches is/> Which is much smaller than the number of iterative computations n 2 required for direct searching. Wherein n is the number of angle elements to be searched included in the initial angle set to be searched. Therefore, the scheme provided by the embodiment of the application reduces the data operation amount.
In another alternative implementation, the at least two-stage N-dimensional search includes a1 st stage N-dimensional search, and as shown in fig. 6, the technical process of sequentially performing the at least two-stage N-dimensional search on the initial set of angles to be searched based on the maximum likelihood estimation includes the following steps:
Step 601, a plurality of angle elements to be searched are screened from the initial angle set to be searched based on the 1 st interval value to form the 1 st angle set to be searched.
In the embodiment of the application, the 1 st interval value is a positive integer. The 1 st interval value is smaller than the total number of a plurality of angle elements to be searched in the initial angle set to be searched.
For example, the initial set of angles to be searched is { θ 0,θ1,θ2,θ3,...,θn }, the 1 st interval value is 3, and then the 1 st set of angles to be searched is { θ 0,θ3,θ6,...,θ3i,...,θ3k }.3k is less than or equal to n.
Step 602, performing N-dimensional search on the 1 st angle set to be searched based on the maximum likelihood estimation to obtain a1 st target angle vector.
In the embodiment of the application, a plurality of angle vectors are selected from the 1 st angle set to be searched, each angle vector comprises N angle elements to be searched,
And then, for each angle vector, inputting N angle elements to be searched, which are included in the angle vector, into the search model to obtain a search result output by the search model.
The radar may use an angle vector corresponding to a largest search result among search results corresponding to the respective angle vectors as the 1 st target angle vector. Or the angle vector corresponding to the smallest search result among the search results corresponding to the respective angle vectors may be regarded as the 1 st target angle vector. Or the angle vector corresponding to the search result larger than the preset threshold value in the search results corresponding to the angle vectors can be used as the 1 st target angle vector. Or the angle vector corresponding to the search result smaller than the preset threshold value in the search results corresponding to each angle vector may be used as the 1 st target angle vector, which is not limited in the embodiment of the present application.
In the embodiment of the application, the number of iterative computations required by the radar in the 1 st level N-dimensional search isN is the number of angle elements to be searched included in the initial angle set to be searched. The number of iterative computations required to perform the level 2N-dimensional search is step 2. The number of iterative calculations required in performing the level 3N-dimensional search is step 2, … …, based on which the total iterative calculation required in radar searching for targets is/>Less than the number of iterative computations required for direct search, n 2.
In another alternative implementation, the 1 st spacing value step is determined according to the number N of objects, optionally,N represents the number of angle elements to be searched included in the initial set of angles to be searched. Assuming that the at least two-stage N-dimensional search is a two-stage N-dimensional search, the number of times the radar actually needs to iterate in performing the two-stage N-dimensional search isMuch less than the number of iterative computations n 2 required for direct searching.
In summary, the number of iterative computations required for performing the fine search according to the rough search result is greatly reduced by performing the rough search on the target object, and the computation amount is further reduced.
In another alternative implementation, the at least two-stage N-dimensional search includes an i-th-stage N-dimensional search, and as shown in fig. 7, the technical process of sequentially performing the at least two-stage N-dimensional search on the initial set of angles to be searched based on the maximum likelihood estimation includes the following steps:
Step 701, a plurality of angle elements to be searched are screened from the initial angle set to be searched based on the 1 st interval value to form the 1 st angle set to be searched.
Step 702, performing N-dimensional search on the 1 st angle set to be searched based on the maximum likelihood estimation to obtain a1 st target angle vector.
Step 703, based on the ith interval value and the ith-1 target angle vector, selecting a plurality of angle elements to be searched from the initial angle set to form an ith angle set to be searched.
Wherein i is a natural number greater than or equal to 2, and the i-th interval value is smaller than the i-1-th interval value and greater than the i+1-th interval value.
For example, the N to-be-searched angle elements included in the i-1 target angle vector are theta0 and theta1, and then the to-be-searched angle range is determined by taking theta0 and theta1 as centers according to the positions of theta0 and theta1 in the initial to-be-searched angle set, and a plurality of to-be-searched angle elements are screened from the to-be-searched angle range according to the i interval value to form the i to-be-searched angle set.
In an alternative implementation, as shown in fig. 8, the process of determining the ith set of angles to be searched may include the steps of:
Step 801, determining a target candidate angle range from the initial angle set to be searched according to the i-1 target angle vector.
Optionally, in the embodiment of the present application, the position of each angle element to be searched in the initial set of angles to be searched may be determined based on N angle elements to be searched included in the i-1 th target angle vector, and then, the target candidate angle range may be determined with the preset threshold value as a radius and each angle element to be searched included in the i-1 th target angle vector as a center. The candidate angle range for angle 1 and the candidate angle range for angle 2 are exemplarily shown in fig. 4.
Optionally, in the embodiment of the present application, an angle step value may be determined according to the i-1 th interval value, and then the target candidate angle range may be determined from the initial set of angles to be searched according to the angle step value and the i-1 th target angle vector.
Optionally, the angular step value is half of the i-1 th interval value. For example, the i-1 th spacing value is step, then the angular step value may be 0.5step. Then, the N to-be-searched angle elements included in the i-1 target angle vector are respectively taken as centers, namely theta0 and theta1, and target candidate angle ranges are respectively theta0 < -0.5step,0.5step ] and theta1 < -0.5step,0.5step from the initial to-be-searched angle set according to the angle stepping value.
Step 802, screening a plurality of angle elements to be searched from the target candidate angle range according to the ith interval value to form an ith angle set to be searched.
And selecting a plurality of angle elements to be searched from the target candidate angle ranges theta < 0 > [ -0.5step,0.5step ] and theta < 1> [ -0.5step,0.5step ] according to the ith interval value to form an ith angle set to be searched.
Step 704, performing N-dimensional search on the ith angle set to be searched based on the maximum likelihood estimation to obtain an ith target angle set.
In the embodiment of the application, firstly, the radar can determine the angle vector set to be searched for the ith level N-dimensional search according to the ith angle set to be searched, namely, the radar can select N angle elements to be searched from a plurality of angle elements to be searched included in the ith angle set to form angle vectors to obtain a plurality of angle vectors to be searched, and the plurality of angle vectors to be searched form the angle vector set to be searched for the ith level N-dimensional search. Each angle vector to be searched comprises N angle elements to be searched;
Secondly, inputting the angle vector set to be searched for the ith N-dimensional search into a preset search model to obtain a search result of the ith N-dimensional search.
The radar can sequentially input the angle vectors to be searched into the search model to obtain search results corresponding to the angle vectors to be searched. The search model may refer to the disclosure of the above embodiment. And get
And finally, determining the target angle vector of the ith grade N-dimensional search according to the search result of the ith grade N-dimensional search.
The radar may use the angle vector to be searched corresponding to the largest search result among the search results corresponding to the angle vectors to be searched as the target angle vector of the i-th level N-dimensional search. Or the angle vector to be searched corresponding to the smallest search result in the search results corresponding to each angle vector to be searched can be used as the target angle vector of the ith N-dimensional search. Or the angle vector to be searched corresponding to the search result which is larger than the threshold value in the search results corresponding to the angle vectors to be searched can be used as the target angle vector of the ith level N-dimensional search. Or the angle vector to be searched corresponding to the search result smaller than the threshold value in the search results corresponding to each angle vector to be searched may be used as the target angle vector of the i-th level N-dimensional search, which is not limited in the embodiment of the present application.
Based on the disclosure of steps 703-704, the process is repeated until the multi-level N-dimensional search is completed. And if the ith N-dimensional search is the last N-dimensional search of the at least two N-dimensional searches, taking the search result of the ith N-dimensional search as the result of the last N-dimensional search.
In the embodiment of the application, multistage N-dimensional search is performed in a cyclic manner, and the number of the angle elements to be searched in each stage of N-dimensional search is reduced through hierarchical search, so that the iterative operation amount is reduced.
It should be understood that, although the steps in the flowcharts of fig. 3 to 8 are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 3-8 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or stages are performed necessarily occur sequentially, but may be performed alternately or alternately with at least a portion of other steps or sub-steps or stages of other steps.
Fig. 9 is a schematic structural diagram of an azimuth determining device 900 for a target object provided in an embodiment, and as shown in fig. 9, the azimuth determining device 900 for a target object includes: a first acquisition module 901, a second acquisition module 902, a search module 903 and an azimuth determination module 904, wherein: a first obtaining module 901, configured to obtain a preset initial set of angles to be searched; a second obtaining module 902, configured to obtain the number N of the target objects; the searching module 903 is configured to sequentially perform at least two levels of N-dimensional searching based on the maximum likelihood estimation and the initial set of angles to be searched; and; an azimuth determining module 904, configured to obtain azimuth angles of the targets based on a result of the last-stage N-dimensional search; wherein N is an integer greater than or equal to 1.
In one embodiment, the at least two levels of N-dimensional searches include a level 1N-dimensional search; the searching module 903 is specifically configured to screen a plurality of angle elements to be searched from the initial angle set to be searched based on the 1 st interval value to form a1 st angle set to be searched; and carrying out N-dimensional search on the 1 st angle set to be searched based on the maximum likelihood estimation to obtain a1 st target angle vector.
In one embodiment, the at least two levels of N-dimensional search further comprises an i-th level of N-dimensional search; the searching module 903 is specifically configured to screen a plurality of angle elements to be searched from the initial angle set to form an i-th angle set to be searched based on the i-th interval value and the i-1-th target angle vector; n-dimensional search is carried out on the ith angle set to be searched based on maximum likelihood estimation, and an ith target angle set is obtained; wherein i is a natural number greater than or equal to 2, and the i-th interval value is smaller than the i-1-th interval value and greater than the i+1-th interval value.
In one embodiment, the searching module 903 is specifically configured to determine an i-th level N-dimensional search to be searched angle vector set according to the i-th to be searched angle set, where the i-th level N-dimensional search to be searched angle vector set includes a plurality of to-be-searched angle vectors, and each to-be-searched angle vector includes N to-be-searched angle elements; inputting the angle vector set to be searched for the ith N-dimensional search into a preset search model to obtain a search result of the ith N-dimensional search; determining a target angle vector of the ith level N-dimensional search according to the search result of the ith level N-dimensional search; and if the ith N-dimensional search is the last N-dimensional search of the at least two N-dimensional searches, taking the search result of the ith N-dimensional search as the result of the last N-dimensional search.
In one embodiment, the searching module 903 is specifically configured to determine a target candidate angle range from the initial set of angles to be searched according to the i-1 th target angle vector; and screening a plurality of angle elements to be searched from the target candidate angle range according to the ith interval value to form an ith angle set to be searched.
In one embodiment, the search module 903 is specifically configured to determine an angle step value according to the i-1 th interval value; and determining a target candidate angle range from the initial angle set to be searched according to the angle stepping value and the i-1 target angle vector.
In one embodiment, the search module 903 is specifically configured to perform an angular step of one half of the i-1 th interval value.
In one embodiment, the searching module 903 is specifically configured to determine the 1 st interval value according to the number of angle elements to be searched included in the initial set of angles to be searched.
In one embodiment, the searching module 903 is specifically configured to perform multiple searches with different interval values for the same level of N-dimensional search.
In one embodiment, the first obtaining module 901 is specifically configured to the initial set of angles to be searched to include a plurality of preset angles to be searched elements distributed according to the equal function difference, where the number of the plurality of preset angles to be searched is greater than N.
For a specific definition of the azimuth determining device of an object, reference may be made to the definition of the azimuth determining method of the object hereinabove, and the description thereof will not be repeated here. The modules in the azimuth determining device of the object may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (22)
1. A method of determining azimuth of a target, the method comprising:
Acquiring a preset initial angle set to be searched, wherein the initial angle set to be searched comprises a plurality of preset angle elements to be searched distributed according to equal function difference values, and the number of the preset angles to be searched is larger than N;
obtaining the number N of target objects; sequentially performing at least two-stage N-dimensional search based on the maximum likelihood estimation and the initial angle set to be searched;
Acquiring azimuth angles of all targets based on the result of the last-stage N-dimensional search;
Wherein N is an integer greater than or equal to 1.
2. The method of claim 1, wherein the at least two levels of N-dimensional searches comprise a level 1N-dimensional search; the at least two-stage N-dimensional search is sequentially performed based on the maximum likelihood estimation and the initial angle set to be searched, and the method comprises the following steps:
screening a plurality of angle elements to be searched from the initial angle set to be searched based on the 1 st interval value to form a1 st angle set to be searched;
and carrying out N-dimensional search on the 1 st angle set to be searched based on maximum likelihood estimation to obtain a1 st target angle vector.
3. The method of claim 2, wherein the at least two levels of N-dimensional searches further comprise an i-th level of N-dimensional search; the at least two-stage N-dimensional search is sequentially performed based on the maximum likelihood estimation and the initial angle set to be searched, and the method comprises the following steps:
Based on the ith interval value and the ith-1 target angle vector, screening a plurality of angle elements to be searched from the initial angle set to form an ith angle set to be searched;
N-dimensional search is carried out on the ith angle set to be searched based on maximum likelihood estimation, so that an ith target angle set is obtained;
wherein i is a natural number greater than or equal to 2, and the i-th interval value is smaller than the i-1-th interval value and greater than the i+1-th interval value.
4. A method according to claim 3, wherein the performing N-dimensional search on the i-th set of angles to be searched based on the maximum likelihood estimation to obtain the i-th set of target angles comprises:
Determining an angle vector set to be searched for the i-th level N-dimensional search according to the i-th level N-dimensional search angle set, wherein the angle vector set to be searched for the i-th level N-dimensional search comprises a plurality of angle vectors to be searched for, and each angle vector to be searched comprises N angle elements to be searched for;
Inputting the angle vector set to be searched of the ith level N-dimensional search into a preset search model to obtain a search result of the ith level N-dimensional search;
Determining a target angle vector of the ith level N-dimensional search according to the search result of the ith level N-dimensional search;
and if the ith N-dimensional search is the last N-dimensional search of the at least two-stage N-dimensional searches, taking the search result of the ith N-dimensional search as the result of the last N-dimensional search.
5. The method of claim 3, wherein the screening the plurality of angle elements to be searched from the initial set of angles to be searched based on the ith interval value and the ith-1 target angle vector to form the ith set of angles to be searched comprises:
determining a target candidate angle range from the initial angle set to be searched according to the i-1 target angle vector;
And screening a plurality of angle elements to be searched from the target candidate angle range according to the ith interval value to form the ith angle set to be searched.
6. The method of claim 5, wherein said determining a target candidate angle range from said initial set of angles to be searched based on said i-1 th target angle vector comprises:
determining an angle stepping value according to the i-1 th interval value;
and determining the target candidate angle range from the initial angle set to be searched according to the angle stepping value and the i-1 target angle vector.
7. The method of claim 6, wherein determining the angular step value from the i-1 th interval value comprises:
the angle step value is half of the i-1 th interval value.
8. The method according to claim 2, wherein the method further comprises:
and determining a1 st interval value according to the number of the angle elements to be searched included in the initial angle set to be searched.
9. The method according to claim 1, wherein the method further comprises:
for the same-level N-dimensional search, different interval values are adopted for multiple searches.
10. An azimuth determining device for an object, the device comprising:
The first acquisition module is used for acquiring a preset initial angle set to be searched, wherein the initial angle set to be searched comprises a plurality of preset angle elements to be searched distributed according to equal function difference values, and the number of the preset angles to be searched is larger than N;
the second acquisition module is used for acquiring the number N of the target objects;
The searching module is used for sequentially carrying out at least two-stage N-dimensional searching based on the maximum likelihood estimation and the initial angle set to be searched; and;
the azimuth determining module is used for acquiring azimuth angles of all targets based on the result of the last-stage N-dimensional search;
Wherein N is an integer greater than or equal to 1.
11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1-9 when the computer program is executed.
12. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1-9.
13. An integrated circuit for detecting an azimuth of a target, comprising:
A signal receiving and transmitting channel for transmitting radio signals and receiving echo signals;
the analog-to-digital circuit module is used for performing analog-to-digital conversion on the echo signal to generate a digital signal; and
The digital signal processing module is used for acquiring a preset initial to-be-searched angle set based on the digital signal, wherein the initial to-be-searched angle set comprises a plurality of preset to-be-searched angle elements distributed according to equal function difference values, and the number of the plurality of preset to-be-searched angles is larger than N; obtaining the number N of target objects; sequentially performing at least two-stage N-dimensional search based on the maximum likelihood estimation and the initial angle set to be searched; based on the result of the last-stage N-dimensional search, acquiring azimuth angles of all targets;
Wherein N is an integer greater than or equal to 1.
14. The integrated circuit of claim 13, wherein the radio signal is a millimeter wave signal; and/or
The integrated circuit is a millimeter wave radar chip.
15. A radio device for detecting an azimuth of a target object, comprising:
a carrier;
an integrated circuit as claimed in claim 13 or 14, disposed on the carrier; and
And the antenna is arranged on the carrier and connected with the signal receiving and transmitting channel and is used for receiving and transmitting radio signals.
16. A sensor for detecting the azimuth of a target, comprising:
A transmitting antenna for transmitting a detection signal;
A receiving antenna for receiving echo signals; and
The signal processing module is used for acquiring a preset initial angle set to be searched, wherein the initial angle set to be searched comprises a plurality of preset angle elements to be searched distributed according to equal function difference values, and the number of the preset angles to be searched is larger than N; obtaining the number N of target objects; sequentially performing at least two-stage N-dimensional search based on the maximum likelihood estimation and the initial angle set to be searched; based on the result of the last-stage N-dimensional search, acquiring azimuth angles of all targets;
Wherein N is an integer greater than or equal to 1.
17. The sensor according to claim 16, wherein the signal processing module is further configured to implement the method of determining the azimuth angle of the object according to any one of claims 2-9.
18. The sensor of claim 16, wherein the sensor is a MIMO sensor.
19. The sensor of claim 16, wherein the receiving antenna comprises at least two.
20. The sensor of claim 16, wherein the sensor is a millimeter wave radar chip.
21. The sensor of claim 20, wherein the millimeter wave radar chip is a AiP chip.
22. An apparatus for detecting an azimuth of a target, comprising:
An equipment body; and
A radio device according to claim 15, or a sensor according to any of claims 16-21, disposed on the device body;
wherein the radio device is used for target detection and/or communication.
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