CN113176559A - Two-dimensional angle measurement vehicle-mounted radar system, radar two-dimensional angle measurement method and storage medium - Google Patents
Two-dimensional angle measurement vehicle-mounted radar system, radar two-dimensional angle measurement method and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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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
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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
Abstract
The invention discloses a two-dimensional angle measurement vehicle-mounted radar system, a radar two-dimensional angle measurement method and a storage medium, wherein the two-dimensional angle measurement vehicle-mounted radar system comprises a transmitting module, a plurality of transmitting antennas, a plurality of receiving antennas, a receiving module and a signal processing module; the transmitting antenna is a 45-degree linear polarization antenna; the transmitting module is provided with a plurality of output ports and is electrically connected with the plurality of transmitting antennas through the corresponding output ports; the receiving module is electrically connected with the receiving antenna and the transmitting module respectively, and the signal processing module is electrically connected with the transmitting module and the receiving module respectively. According to the two-dimensional angle measurement vehicle-mounted radar system, at least two rows of receiving antennas are arranged in the vertical direction, and each row is respectively provided with a plurality of receiving antennas, so that the radar system not only has the angle measurement function on an azimuth plane, but also has the angle measurement function on a pitching plane, and the detection performance of a radar is greatly improved.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a two-dimensional angle measurement vehicle-mounted radar system, a radar two-dimensional angle measurement method and a storage medium.
Background
The millimeter wave radar has the characteristics of small volume, light weight, small influence of weather and the like, and is widely applied to an advanced assistant driving system of an automobile. At present, a common vehicle-mounted millimeter wave radar system uses a working mode of frequency modulated continuous waves, transmits frequency modulated triangular waves or sawtooth waves through a transmitting antenna, and processes received echo signals through a plurality of receiving antennas distributed on an azimuth plane, so that the distance, the speed and the azimuth angle of a target are calculated. Two major disadvantages of such systems are that they lack angular measurement capability in the elevation direction, and the antennas of these vehicle-mounted radar systems are usually vertically polarized, which may miss targets with independent polarization scattering characteristics.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a two-dimensional angle measurement vehicle-mounted radar system which not only has an angle measurement function on an azimuth plane, but also has an angle measurement function on a pitching plane.
The invention also provides a two-dimensional angle measurement method for the radar.
The invention also provides a readable storage medium.
The two-dimensional angle measurement vehicle-mounted radar system comprises a plurality of transmitting antennas, a plurality of receiving antennas, a transmitting module, a receiving module and a signal processing module; the transmitting antennas are 45-degree linear polarization antennas, each transmitting antenna comprises a first feeder line and a plurality of first radiating patches, the first radiating patches are sequentially distributed on two sides of the first feeder line in a staggered manner along the extending direction of the first feeder line, every two adjacent first radiating patches are connected through the first feeder line, each first radiating patch is inclined at an angle of 45 degrees relative to the vertical upward direction, and a first impedance matching section is arranged at the input end of each first feeder line; the receiving antennas are arranged in at least two rows in the vertical direction, each row is provided with a plurality of receiving antennas, and the receiving antennas are dual-polarized antennas; the transmitting module is provided with a plurality of output ports, the transmitting module is electrically connected with the plurality of transmitting antennas through the corresponding output ports respectively, and the transmitting module is used for generating local oscillator signals and frequency modulated continuous wave signals, amplifying the frequency modulated continuous wave signals and transmitting the amplified frequency modulated continuous wave signals to the transmitting antennas, and transmitting radar signals outwards through the transmitting antennas; the receiving module is electrically connected with the receiving antenna and the transmitting module respectively, and is used for amplifying the signal from the receiving antenna and then mixing the amplified signal with the local oscillator signal to obtain an intermediate frequency signal; the signal processing module is electrically connected with the transmitting module and the receiving module respectively, and is used for processing the intermediate frequency signal so as to obtain the angle information of the target on the azimuth plane and the pitch plane.
The two-dimensional angle measurement vehicle-mounted radar system provided by the embodiment of the invention at least has the following beneficial effects: by adopting the 45-degree linear polarization transmitting antenna and the dual-polarization receiving antenna, the vertical polarization component and the horizontal polarization component of the echo signal of the target can be received simultaneously, and compared with a conventional single-polarization vehicle-mounted radar system, the single-polarization vehicle-mounted radar system can acquire one more-dimensional polarization information and has stronger target identification capability; through set up two at least lines of receiving antenna in the vertical direction, and every line has a plurality of receiving antenna respectively for radar system not only possesses the angle measurement function on the azimuth plane, still possesses the angle measurement function on the every single move face simultaneously, thereby improves the detection performance of radar greatly.
According to some embodiments of the present invention, the signal processing module includes a plurality of ADC units and a central processing unit, and the plurality of ADC units are electrically connected to the receiving module respectively; the central processing unit is electrically connected with the ADC units and the transmitting module respectively, and the ADC units convert the intermediate frequency signals into digital signals and transmit the digital signals to the central processing unit for processing so as to obtain angle information of the target on an azimuth plane and a pitch plane.
According to some embodiments of the invention, each two adjacent first radiating patches are spaced apart by one-half of a waveguide wavelength.
According to some embodiments of the invention, each two adjacent transmitting antennas are spaced apart by twice the operating wavelength.
According to some embodiments of the invention, the receiving antenna comprises a plurality of second radiating patches, a vertically polarized feed line and a horizontally polarized feed line; every two adjacent second radiation patches are mutually connected in series through the vertical polarization feeder line; the horizontal polarization feeder is arranged on one side of the plurality of second radiation patches and is electrically connected with each second radiation patch.
According to some embodiments of the invention, the input end of the vertically polarized feed line is provided with a second impedance matching section and the input end of the horizontally polarized feed line is provided with a third impedance matching section.
According to the radar two-dimensional angle measurement method in the embodiment of the second aspect of the invention, the method comprises the following steps: generating a control signal; generating a local oscillation signal and a frequency modulation continuous wave signal according to the control signal, and amplifying the frequency modulation continuous wave signal; transmitting the amplified frequency modulation continuous wave signal to a transmitting antenna, and transmitting a 45-degree linearly polarized electromagnetic wave outwards by the transmitting antenna; receiving echo signals of a target by a receiving antenna; mixing the local oscillator signal with a horizontal polarization component and a vertical polarization component of the echo signal respectively to obtain a horizontal polarization intermediate frequency signal and a vertical polarization intermediate frequency signal; and converting the intermediate frequency signal into a digital signal, and performing operation and processing to obtain the angle information of the target on the azimuth plane and the pitch plane.
The radar two-dimensional angle measurement method provided by the embodiment of the invention at least has the following beneficial effects: the method is realized based on the two-dimensional angle measurement vehicle-mounted radar system in the embodiment of the first aspect of the invention, and can obtain the angle information of the target on the azimuth plane and the angle information of the target on the elevation plane, so that the detection performance of the radar system is improved.
According to some embodiments of the present invention, the receiving antenna receives a horizontally polarized component and a vertically polarized component of an echo signal of a target; mixing the local oscillator signal with a horizontal polarization component and a vertical polarization component of the echo signal respectively to obtain a horizontal polarization intermediate frequency signal and a vertical polarization intermediate frequency signal; converting the intermediate frequency signal into a digital signal, and performing operation and processing to obtain angle information of the target on an azimuth plane and a pitch plane, specifically comprising: the receiving antennas arranged in the vertical direction receive horizontal polarization components and vertical polarization components of echo signals of a target and then transmit the echo signals to a receiving module; the receiving module mixes the local oscillator signal with the horizontal polarization component and the vertical polarization component of the echo signal respectively to obtain a horizontal polarization intermediate frequency signal and a vertical polarization intermediate frequency signal, and transmits the signals to the signal processing module; the signal processing module processes signals of a plurality of receiving antennas in the same row to obtain angle information of a target on an azimuth plane; and the signal processing module is used for processing the signals of the two rows of receiving antennas by adopting a sum-difference network method so as to obtain the angle information of the target on the pitching surface.
According to the readable storage medium of the embodiment of the third aspect of the present invention, the readable storage medium stores one or more programs, and one or more of the programs can be executed by one or more processors to implement the radar two-dimensional angle measurement method according to the embodiment of the second aspect of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a two-dimensional angle measurement vehicle-mounted radar system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a signal processing module according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a transmitting antenna and a receiving antenna according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an angle measurement principle of a two-dimensional angle measurement vehicle-mounted radar system in an azimuth plane according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the angle measurement principle of the two-dimensional angle measurement vehicle-mounted radar system in the pitching plane according to the embodiment of the invention;
FIG. 6 is a flow chart illustrating steps of a two-dimensional radar angle measurement method according to an embodiment of the present invention;
reference numerals:
a transmission module 100, an output port 110;
a transmitting antenna 200, a first feeder 210, a first impedance matching section 211, a first radiating patch 220;
a receiving antenna 300, a second radiating patch 310, a vertically polarized feed line 320, a second impedance matching section 321, a horizontally polarized feed line 330, a third impedance matching section 331;
a receiving module 400;
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 3, a two-dimensional goniometric on-board radar system according to an embodiment of the first aspect of the present invention includes a transmitting module 100, a plurality of transmitting antennas 200, a plurality of receiving antennas 300, a receiving module 400, and a signal processing module 500; the transmitting antenna 200 is a 45-degree linear polarization antenna, each transmitting antenna 200 includes a first feeder line 210 and a plurality of first radiating patches 220, the plurality of first radiating patches 220 are sequentially distributed on the left side and the right side of the first feeder line 210 in a staggered manner along the extending direction of the first feeder line 210, every two adjacent first radiating patches 220 are connected through the first feeder line 210, each first radiating patch 220 is inclined at an angle of 45 degrees relative to the vertical upward direction, and the input end of the first feeder line 210 is provided with a first impedance matching section 211; the transmitting module 100 has a plurality of output ports 110, and the transmitting module 100 is electrically connected to the plurality of transmitting antennas 200 through the corresponding output ports 110; the receiving module 400 is electrically connected to the receiving antenna 300 and the transmitting module 100, respectively, and the signal processing module 500 is electrically connected to the transmitting module 100 and the receiving module 400, respectively. After the signal processing module 500 sends a control signal to the transmitting module 100, the transmitting module 100 generates a local oscillation signal and a millimeter-wave-band frequency modulated continuous wave signal, the transmitting module 100 amplifies the frequency modulated continuous wave signal and transmits the amplified frequency modulated continuous wave signal to the transmitting antenna 200, and a radar signal is transmitted outwards through the transmitting antenna 200; the plurality of receiving antennas 300 are arranged in at least two upper and lower rows in the vertical direction, each row has a plurality of receiving antennas 300, and the receiving antennas 300 are dual-polarized antennas; after receiving an echo signal of a target, the receiving antenna 300 transmits a vertical polarization component and a horizontal polarization component of the signal to the receiving module 400 through a vertical polarization port and a horizontal polarization port, and the receiving module 400 amplifies the signal from the receiving antenna 300 and then mixes the amplified signal with a local oscillation signal of the transmitting module 100 to obtain an intermediate frequency signal; the signal processing module 500 processes the intermediate frequency signal to obtain angle information of the target in the azimuth plane and the pitch plane. The azimuth plane refers to a direction in which the vehicle travels, and the pitch plane refers to a direction above and below the vehicle travel direction.
Since the first radiation patches 220 are alternately distributed on the left and right sides of the first feed line 210, a phase difference of 180 ° is introduced to adjacent two first radiation patches 220. In order to form the in-phase current on the first radiation patch 220, the pitch of the first radiation patch 220 needs to be adjusted accordingly. In the present invention, the spacing between every two adjacent first radiation patches 220 is one-half of the waveguide wavelength. This introduces another 180 ° phase difference between two adjacent first radiating patches 220, and finally forms an in-phase current on the first radiating patches 220, so that the transmitted beam is directed on the normal of the antenna array, corresponding to the front of the radar. In order to match the input impedance of the transmitting antenna 200 and the feed to each other, a first impedance matching section 211 is provided at the input end of the first feed line 210, and the first impedance matching section 211 may be a quarter wavelength impedance transformer.
According to the two-dimensional angle measurement vehicle-mounted radar system disclosed by the embodiment of the invention, the vertical polarization component and the horizontal polarization component of the echo signal of the target can be simultaneously received by adopting the dual-polarized receiving antenna 300, and compared with a conventional single-polarized vehicle-mounted radar system, the two-dimensional angle measurement vehicle-mounted radar system can acquire polarization information with one more dimension, and the target identification capability is stronger; as shown in fig. 3, at least two rows of receiving antennas 300 are arranged in the vertical direction, and each row has a plurality of receiving antennas 300, so that the radar system not only has the angle measurement function on the azimuth plane, but also has the angle measurement function on the elevation plane, thereby greatly improving the detection performance of the radar.
As shown in fig. 2, in some embodiments of the present invention, the signal processing module 500 includes a plurality of ADC units 510 and a central processing unit 520, each ADC unit 510 is electrically connected to the receiving module 400, the central processing unit 520 is electrically connected to the plurality of ADC units 510 and the transmitting module 100, the ADC units 510 convert the intermediate frequency signals sent by the receiving module 400 into digital signals and transmit the digital signals to the central processing unit 520 for processing, and the central processing unit 520 processes the digital signals through a pre-stored algorithm to obtain the angle information of the target on the azimuth plane and the pitch plane.
As shown in fig. 3, in some embodiments of the present invention, receive antenna 300 includes a plurality of second radiating patches 310, a vertically polarized feed line 320, and a horizontally polarized feed line 330; wherein every two adjacent second radiation patches 310 are connected in series with each other through the vertical polarization feed line 320; the horizontally polarized feed line 330 is disposed at one side of the plurality of second radiation patches 310 and electrically connected to each of the second radiation patches 310. The receiving antenna 300 is a dual-polarized antenna, and is fed by a vertical polarized feed line 320 and a horizontal polarized feed line 330, and the feeding modes are series feeding. When the second radiation patch 310 receives the target echo, the vertical polarization component of the echo signal forms a vertical induced current on the second radiation patch 310, and after the induced currents are superimposed, the vertical polarization signal is input to the receiving module 400 by the vertical polarization feeder 320; for horizontal polarization, the horizontal polarization feed line 330 is disposed at one side of the plurality of second radiation patches 310 and extends along the arrangement direction of the plurality of second radiation patches 310, when the second radiation patches 310 receive a target echo, a horizontal polarization component of the echo signal forms an induced current in the horizontal direction on the second radiation patches 310, and after the induced currents are superimposed, the horizontal polarization feed line 330 inputs the horizontal polarization signal to the receiving module 400.
As shown in fig. 2, in some embodiments of the present invention, the input end of the vertically polarized feed line 320 is provided with a second impedance matching section 321, and the input end of the horizontally polarized feed line 330 is provided with a third impedance matching section 331. The second impedance matching section 321 and the third impedance matching section 331 may each employ a quarter-wave impedance transformer so that the input impedance of the receiving antenna 300 and the feed are matched with each other.
In some embodiments of the present invention, each adjacent two of the second radiating patches 310 are spaced apart by one-half of the waveguide wavelength. In practical applications, the currents on the second radiating patches 310 of the same receiving antenna 300 should be kept in phase, i.e. the phase difference between the centers of two adjacent second radiating patches 310 should be 0. Therefore, the length of the vertically polarized feed line 320 between two adjacent second radiation patches 310 needs to be adjusted accordingly. In the present invention, the total length of the vertical polarization feed line 320 between two adjacent second radiation patches 310 is about 1 wavelength, but in order to match the arrangement of the horizontal polarization feed line 330, the vertical polarization feed line 320 is provided with a bent section.
As shown in fig. 3, in some embodiments of the present invention, in order to meet the algorithm requirement of the signal processing module 500, the distance between every two adjacent transmitting antennas 200 is two times the operating wavelength 4 d; every two adjacent receiving antennas 300 in each row are spaced apart by one-half of the operating wavelength d, and every two adjacent receiving antennas 300 in each column are spaced apart by one-half of the operating wavelength d. One-half of the operating wavelength ensures that the radar system can scan the entire area in front of the radar.
The two-dimensional goniometric vehicle-mounted radar system according to an embodiment of the present invention is described in detail in one specific embodiment with reference to fig. 1 to 5, it being understood that the following description is only exemplary and not a specific limitation of the present invention.
As shown in fig. 1 to 3, the two-dimensional goniometric on-board radar system according to the embodiment of the present invention includes a transmitting module 100, two transmitting antennas 200 (the specific number is not limited), eight receiving antennas 300 (the specific number is not limited), a receiving module 400, and a signal processing module 500.
Wherein, the two transmitting antennas 200 are both 45 ° linear polarization antennas, each transmitting antenna 200 has four first radiating patches 220 (the specific number is not limited), the four first radiating patches 220 are all inclined at an angle of 45 ° and are distributed on the left and right sides of the first feeder line 210 in a staggered manner, and the four first radiating patches 220 are connected in series by the first feeder line 210; meanwhile, the distance between two adjacent first radiation patches 220 is 0.5 times of the waveguide wavelength, so that in-phase current is formed on the first radiation patches 220, and a 45-degree linearly polarized wave is radiated outwards; in order to match the input impedance of the transmitting antenna 200 with the feed, a first impedance matching section 211 is provided at the input end of the first feed line 210.
As shown in fig. 3, the eight receiving antennas 300 are arranged in two rows in the vertical direction, each row having four receiving antennas 300. Each receiving antenna 300 feeds the second radiating patch 310 by a vertical polarization feed 320 and a horizontal polarization feed 330 respectively, and the feeding modes are series feeding; each receiving antenna 300 has four second radiating patches 310, and the spacing between two adjacent second radiating patches 310 is one-half of the waveguide wavelength. For vertical polarization, the second radiation patches 310 are connected in series by the vertical polarization feeder 320, the total length of the feeder section between two adjacent second radiation patches 310 is about 1 times of the waveguide wavelength, when the second radiation patches 310 receive echoes from a target, the vertical polarization components of echo signals form induced currents in the vertical direction on the second radiation patches 310, the induced currents form in-phase superposition, and then the vertical polarization signals are input to the receiving module 400 by the vertical polarization feeder 320; for horizontal polarization, the horizontal polarization feeder line 330 is disposed at one side of the four second radiation patches 310 and extends along the arrangement direction of the four second radiation patches 310, when the second radiation patches 310 receive echoes from a target, horizontal polarization components of echo signals form induced currents in the horizontal direction on the second radiation patches 310, the induced currents form in-phase superposition, and then the horizontal polarization feeder line 330 inputs the horizontal polarization signals to the receiving module 400; for input impedance matching, a second impedance matching section 321 is provided at the input end of the vertical polarization feed line 320, and a third impedance matching section 331 is provided at the input end of the horizontal polarization feed line 330.
For the transmitting module 100, after receiving the control signal sent by the signal processing module 500, it generates a local oscillation signal and a millimeter-wave-band frequency modulated continuous wave signal, amplifies the frequency modulated continuous wave signal, and transmits the amplified frequency modulated continuous wave signal to the transmitting antenna 200; the transmitting module 100 has two output ports electrically connected to the two transmitting antennas 200, respectively. The transmitting module 100 includes an amplitude and phase control circuit, and after receiving the control signal, the transmitting module 100 generates two channels of amplitude modulated continuous wave signals, and transmits the two channels of amplitude modulated continuous wave signals to the two transmitting antennas 200, and the two channels of amplitude modulated continuous wave signals are transmitted by the antennas. It is understood that the transmitting module 100 of the radar is a conventional technology known to those skilled in the art, and thus will not be described herein.
As shown in fig. 3, the distance between two transmitting antennas 200 is two times the operating wavelength 4d, the distance between two upper and lower rows of receiving antennas 300 is one half of the operating wavelength d, and the distance between two adjacent receiving antennas 300 in each row is one half of the operating wavelength d. Because the layout of the antenna greatly affects the performance of the vehicle-mounted radar, the layout of the transmitting and receiving antenna needs to be designed according to the requirements of the angle measurement precision and the angle resolution of the angle radar and the requirement of the algorithm. According to the requirement of the algorithm of the signal processing module 500, the distance between the transmitting antennas 200 is four times of the distance between the receiving antennas 300, so that a virtual one-eight-receiving antenna array can be formed, and the multi-target identification and high-precision and unambiguous angle measurement of the angle radar can be realized.
For the receiving module 400, after amplifying the signal from the receiving antenna 300, mixing the amplified signal with the local oscillator signal sent by the transmitting module 100 to obtain an intermediate frequency signal, and transmitting the intermediate frequency signal to the signal processing module 500; the receiving module 400 has 16 receiving ports connected to two polarized ports of each receiving antenna 300, respectively. It is understood that the receiving module 400 of the radar is a conventional technology known to those skilled in the art, and thus will not be described herein.
The signal processing module 500 includes a plurality of ADC units 510 and a central processing unit 520, and the ADC units 510 convert the intermediate frequency signals sent by the receiving module 400 into digital signals and transmit the digital signals to the central processing unit 520 for processing. The central processor 520 processes the signals of the four receiving antennas 300 on the same horizontal line, so as to obtain the angle information of the target on the azimuth plane; the signals of the two groups of receiving antennas 300 in the vertical direction are processed to obtain the angle information of the target on the pitching surface, so that the two-dimensional angle measurement function is realized.
For the azimuth planeReferring to fig. 4, assume that the receiving antenna 300 is plane wave incident, the incident angle is α, and the phase difference between the receiving signals of two adjacent receiving antennas 300 is
According to the formula
The angle α between the target and the normal of the receiving antenna 300 in the azimuth plane can be calculated. Where λ is the operating wavelength and d is the spacing between adjacent receiving antennas 300. The radar needs to achieve the effect of unambiguous angle measurement, the smaller the d/lambda is, the better the radar is, and the larger the d/lambda is, the better the radar angle measurement accuracy is. That is, if the distance between the receiving antennas 300 is too large, the problem of ambiguity of angle measurement is caused, so the distance between the receiving antennas 300 should not be too large, and it is better to take one half of the working wavelength according to the calculation of the scanning angle of the radar system; however, if the pitch of the receiving antennas 300 is too small, the angle measurement accuracy is deteriorated, and in order to solve this problem, the number of receiving antennas 300 is increased, and four receiving antennas 300 are provided for each row, thereby improving the angle measurement accuracy.
The elevation surface angle measurement principle is realized through an algorithm of a sum and difference network, the sum and difference network respectively constructs a sum beam and a difference beam through a weight value, the sum beam forms a peak value in the angle direction of a target, and the difference beam forms a null in the angle direction of the target; since the null is easy to detect, the value of the difference beam is compared with the value of the sum beam, which enables the null to be formed in the target direction, thereby enabling detection of the angle of the target in the pitch plane. Referring to fig. 5, the specific method is as follows: four receiving antennas 300 located above form an antenna subarray 1, four receiving antennas 300 located below form an antenna subarray 2, signals of the upper and lower subarrays are obtained, and then multiplied by weights W Σ [1,1], W Δ ═ 1, -1, respectively, and a sum signal P Σ and a difference signal P Δ are obtained; then according to the formula:
the target angle theta, which is the angle between the target and the normal direction of the receiving antenna 300 on the pitching plane, can be calculated. In the formula, theta0Is the lead angle in the sum and difference network algorithm. Md is the distance between the centers of the two receive antenna arrays in elevation, which is equal to 4d herein.
As shown in fig. 6, a two-dimensional angle measurement method for a radar according to a second aspect of the present invention is based on the two-dimensional angle measurement vehicle-mounted radar system according to the first aspect of the present invention, and specifically includes the following steps:
s100: generating a control signal; and generating a local oscillator signal and a frequency modulation continuous wave signal according to the control signal, and amplifying the frequency modulation continuous wave signal.
In the present invention, the central processing unit 520 in the signal processing module 500 sends out a control signal, and the transmitting module 100 generates a local oscillation signal and a frequency modulated continuous wave signal after receiving the control signal, and amplifies the frequency modulated signal and transmits the amplified signal to the transmitting antenna 200.
S200: and transmitting the amplified frequency-modulated continuous wave signal to a transmitting antenna 100, and transmitting a 45-degree linearly polarized electromagnetic wave outwards by the transmitting antenna 100.
S300: the receiving antenna 300 receives an echo signal of a target; and respectively mixing the local oscillator signals with the horizontal polarization component and the vertical polarization component of the echo signal to obtain a horizontal polarization intermediate frequency signal and a vertical polarization intermediate frequency signal.
After receiving the horizontal polarization component and the vertical polarization component of the echo signal of the target, the two rows of receiving antennas 300 arranged in the vertical direction transmit to the receiving module 400; the receiving module 400 mixes the local oscillator signal with the horizontal polarization component and the vertical polarization component of the echo signal to obtain a horizontal polarized intermediate frequency signal and a vertical polarized intermediate frequency signal, and transmits the signals to the signal processing module 500; the signal processing module 500 processes signals of a plurality of receiving antennas 300 in the same row to obtain angle information of the target on an azimuth plane; the signal processing module 500 processes the signals of the two rows of receiving antennas 300 by using a sum-difference network method to obtain the angle information of the target on the pitching surface. Please refer to the above description for a specific processing method.
According to the readable storage medium of the embodiment of the third aspect of the present invention, the readable storage medium stores one or more programs, which are executable by one or more processors to implement the radar two-dimensional angle measurement method of the embodiment of the second aspect of the present invention.
In the description herein, references to the description of "one embodiment," "a further embodiment," "some specific embodiments," or "some examples," etc., mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A two-dimensional goniometric on-board radar system, comprising:
the antenna comprises a plurality of transmitting antennas, a plurality of radiating antennas and a plurality of antenna control units, wherein the transmitting antennas are 45-degree linear polarization antennas, each transmitting antenna comprises a first feeder line and a plurality of first radiating patches, the first radiating patches are sequentially distributed on two sides of the first feeder line in a staggered manner along the extending direction of the first feeder line, every two adjacent first radiating patches are connected through the first feeder line, each first radiating patch is inclined at an angle of 45 degrees relative to the vertical upward direction, and the input end of each first feeder line is provided with a first impedance matching section;
the receiving antennas are arranged in at least two rows in the vertical direction, each row is provided with a plurality of receiving antennas, and the receiving antennas are dual-polarized antennas;
the transmitting module is provided with a plurality of output ports and is respectively and electrically connected with the plurality of transmitting antennas through the corresponding output ports, and the transmitting module is used for generating local oscillator signals and frequency modulation continuous wave signals, amplifying the frequency modulation continuous wave signals and transmitting the amplified frequency modulation continuous wave signals to the transmitting antennas and transmitting radar signals to the outside through the transmitting antennas;
the receiving module is electrically connected with the receiving antenna and the transmitting module respectively, and is used for amplifying the signal from the receiving antenna and then mixing the amplified signal with the local oscillator signal to obtain an intermediate frequency signal;
and the signal processing module is electrically connected with the transmitting module and the receiving module respectively and is used for processing the intermediate frequency signal so as to obtain the angle information of the target on the azimuth plane and the pitch plane.
2. The two-dimensional goniometric vehicle radar system according to claim 1, characterized in that said signal processing module comprises:
the ADC units are respectively electrically connected with the receiving module and are used for converting the intermediate frequency signals into digital signals;
and the central processing unit is electrically connected with the plurality of ADC units and the transmitting module respectively and is used for processing the digital signals so as to obtain the angle information of the target on the azimuth plane and the pitch plane.
3. The two-dimensional goniometric vehicular radar system according to claim 1, wherein each two adjacent first radiating patches are spaced apart by one-half of a waveguide wavelength.
4. A two-dimensional goniometric vehicle radar system according to claim 1 or 3, characterized in that each two adjacent transmitting antennas are spaced apart by twice the operating wavelength.
5. The two-dimensional goniometric vehicular radar system according to claim 1, characterized in that said receiving antenna comprises:
a plurality of second radiating patches;
every two adjacent second radiation patches are mutually connected in series through the vertical polarization feeder;
and the horizontal polarization feeder line is arranged on one side of the plurality of second radiation patches and is electrically connected with each second radiation patch respectively.
6. The two-dimensional goniometric vehicular radar system according to claim 5, wherein the input end of the vertically polarized feed line is provided with a second impedance matching section, and the input end of the horizontally polarized feed line is provided with a third impedance matching section.
7. A radar two-dimensional angle measurement method is characterized by comprising the following steps:
generating a control signal;
generating a local oscillation signal and a frequency modulation continuous wave signal according to the control signal, and amplifying the frequency modulation continuous wave signal;
transmitting the amplified frequency modulation continuous wave signal to a transmitting antenna, and transmitting a 45-degree linearly polarized electromagnetic wave outwards by the transmitting antenna;
receiving echo signals of a target by a receiving antenna;
mixing the local oscillator signal with a horizontal polarization component and a vertical polarization component of the echo signal respectively to obtain a horizontal polarization intermediate frequency signal and a vertical polarization intermediate frequency signal;
and converting the intermediate frequency signal into a digital signal, and performing operation and processing to obtain the angle information of the target on the azimuth plane and the pitch plane.
8. The radar two-dimensional angle measurement method according to claim 7, wherein the reception antenna receives a horizontally polarized component and a vertically polarized component of an echo signal of a target; mixing the local oscillator signal with a horizontal polarization component and a vertical polarization component of the echo signal respectively to obtain a horizontal polarization intermediate frequency signal and a vertical polarization intermediate frequency signal; converting the intermediate frequency signal into a digital signal, and performing operation and processing to obtain angle information of the target on an azimuth plane and a pitch plane, specifically comprising:
the receiving antennas arranged in the vertical direction receive horizontal polarization components and vertical polarization components of echo signals of a target and then transmit the echo signals to a receiving module; the receiving module mixes the local oscillator signal with the horizontal polarization component and the vertical polarization component of the echo signal respectively to obtain a horizontal polarization intermediate frequency signal and a vertical polarization intermediate frequency signal, and transmits the signals to the signal processing module; the signal processing module processes signals of a plurality of receiving antennas in the same row to obtain angle information of a target on an azimuth plane; and the signal processing module is used for processing the signals of the two rows of receiving antennas by adopting a sum-difference network method so as to obtain the angle information of the target on the pitching surface.
9. A readable storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the radar two-dimensional goniometry method according to claim 7 or 8.
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