CN113176559B - 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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- 238000000691 measurement method Methods 0.000 title claims abstract description 8
- 238000005259 measurement Methods 0.000 title abstract description 33
- 230000010287 polarization Effects 0.000 claims description 67
- 230000005855 radiation Effects 0.000 claims description 40
- 238000000034 method Methods 0.000 claims description 25
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- 238000001514 detection method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
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Classifications
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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; wherein the transmitting antenna is a 45-degree linear polarized antenna; the transmitting module is provided with a plurality of output ports, and is respectively and electrically connected with a plurality of transmitting antennas through the corresponding output ports; the receiving module is respectively and electrically connected with the receiving antenna and the transmitting module, and the signal processing module is respectively and electrically connected with the transmitting module and the receiving module. 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 provided with the plurality of receiving antennas, so that the radar system not only has an angle measurement function on an azimuth plane, but also has an angle measurement function on a nodding plane, and the detection performance of the 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
Millimeter wave radar is widely applied to advanced auxiliary driving systems of automobiles due to the characteristics of small volume, light weight, small influence of weather and the like. The conventional vehicle-mounted millimeter wave radar system uses a working mode of frequency modulation continuous wave, transmits frequency modulation triangular wave or saw tooth wave through a transmitting antenna, and processes received echo signals through distributing a plurality of receiving antennas on an azimuth plane, so that the distance, speed and azimuth angle of a target are calculated. Such systems suffer from two major drawbacks, one of which is their lack of angular capability in the pitch direction, and the other of which is that the antennas of these vehicle radar systems are typically vertically polarized, which may miss targets with independently polarized scattering properties.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in 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 depression plane.
The invention also provides a radar two-dimensional angle measurement method.
The invention also proposes 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 polarized antennas, each transmitting antenna comprises a first feeder line and a plurality of first radiation patches, the plurality of first radiation patches are sequentially distributed on two sides of the first feeder line in a staggered mode along the extending direction of the first feeder line, every two adjacent first radiation patches are connected through the first feeder line, each first radiation 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 plurality of receiving antennas are arranged into at least two rows in the vertical direction, each row is provided with a plurality of receiving antennas, and each receiving antenna is a dual-polarized antenna; the transmitting module is provided with a plurality of output ports, the transmitting module is respectively and electrically connected with a plurality of transmitting antennas through the corresponding output ports, and the transmitting module is used for generating local oscillation signals and frequency modulation continuous wave signals, amplifying the frequency modulation continuous wave signals and then transmitting the amplified signals to the transmitting antennas, and the transmitting antennas transmit radar signals outwards; the receiving module is respectively and electrically connected with the receiving antenna and the transmitting module, and is used for amplifying signals from the receiving antenna and then mixing the signals with the local oscillation signals to obtain intermediate frequency signals; the signal processing module is respectively and electrically connected with the transmitting module and the receiving module, and is used for processing the intermediate frequency signals so as to obtain angle information of the target on the azimuth plane and the nodding plane.
The two-dimensional angle measurement vehicle-mounted radar system provided by the embodiment of the invention has at least the following beneficial effects: by adopting the 45-degree linear polarized transmitting antenna and the dual-polarized 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 the conventional single-polarized vehicle-mounted radar system, the method has the advantages that polarization information with more than one dimension can be obtained, and the target identification capability is higher; through setting up two at least lines receiving antenna on 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 depression plane 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, where the plurality of ADC units are electrically connected to the receiving module respectively; the central processing unit is respectively and electrically connected with the ADC units and the transmitting module, 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 the azimuth plane and the nodding plane.
According to some embodiments of the invention, each adjacent two of the first radiating patches are spaced apart by one half of a waveguide wavelength.
According to some embodiments of the invention, the distance between every two adjacent transmitting antennas is 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 connected in series with each other through the vertical polarization feeder line; 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.
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 a second aspect of the invention, a radar two-dimensional angle measuring 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 45-degree linear polarized electromagnetic waves outwards by the transmitting antenna; the receiving antenna receives an echo signal of a target; mixing the local oscillation 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 angle information of the target on the azimuth plane and the nodding plane.
The radar two-dimensional angle measurement method provided by the embodiment of the invention has at least the following beneficial effects: the method is realized based on the two-dimensional angle measurement vehicle-mounted radar system disclosed by the embodiment of the first aspect of the invention, so that the angle information of the target on the azimuth plane can be obtained, and the angle information of the target on the pitching plane can be obtained, thereby improving the detection performance of the radar system.
According to some embodiments of the invention, the receiving antenna receives a horizontal polarization component and a vertical polarization component of an echo signal of a target; mixing the local oscillation 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 the azimuth plane and the nodding plane, wherein the method specifically comprises the following steps: two rows of receiving antennas arranged in the vertical direction receive the horizontal polarization component and the vertical polarization component of the echo signal of the target and then transmit the horizontal polarization component and the vertical polarization component to a receiving module; the receiving module mixes the local oscillation signal with a horizontal polarization component and a vertical polarization component of the echo signal respectively to obtain a horizontal intermediate frequency signal and a vertical intermediate frequency signal, and transmits the signals to the signal processing module; the signal processing module processes signals of a plurality of receiving antennas positioned in the same row to obtain angle information of a target on an azimuth plane; and the signal processing module processes signals of the two rows of receiving antennas by adopting a sum-difference network method so as to obtain angle information of the target on the pitching surface.
According to an 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 may be executed by one or more processors to implement the radar two-dimensional angle measuring 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 foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a schematic structural diagram of a two-dimensional angle measurement vehicle 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 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 the two-dimensional angle measurement vehicle-mounted radar system in the azimuth plane according to the embodiment of the invention;
fig. 5 is a schematic diagram of an angle measurement principle of the two-dimensional angle measurement vehicle-mounted radar system in a pitching plane according to an embodiment of the present invention;
FIG. 6 is a flow chart of steps of a radar two-dimensional goniometry method in accordance with an embodiment of the present invention;
reference numerals:
a transmitting module 100 and 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 320, a second impedance matching section 321, a horizontally polarized feed 330, a third impedance matching section 331;
a receiving module 400;
a signal processing module 500, an ADC unit 510, and a central processing unit 520.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed 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 explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1 to 3, a two-dimensional goniometric vehicle-mounted 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 antennas 200 are 45-degree linear polarized antennas, each transmitting antenna 200 comprises a first feeder line 210 and a plurality of first radiation patches 220, the plurality of first radiation 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 radiation patches 220 are connected through the first feeder line 210, each first radiation 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 is provided with a plurality of output ports 110, and the transmitting module 100 is respectively and electrically connected with a 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, and the signal processing module 500 is electrically connected to the transmitting module 100 and the receiving module 400. 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 modulation continuous wave signal, the transmitting module 100 amplifies the frequency modulation continuous wave signal and then transmits the amplified frequency modulation 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 is provided with a plurality of receiving antennas 300, and the receiving antennas 300 are dual-polarized antennas; after receiving the echo signal of the target, the receiving antenna 300 transmits the vertical polarization component and the horizontal polarization component of the signal to the receiving module 400 through the vertical polarization port and the horizontal polarization port, and the receiving module 400 amplifies the signal from the receiving antenna 300 and mixes the amplified signal with the 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 on the azimuth plane and the elevation plane. The azimuth plane refers to the traveling direction of the vehicle, and the pitch plane refers to the upper and lower directions of the traveling direction of the vehicle.
Since the first radiation patches 220 are alternately arranged on the left and right sides of the first feeder line 210, a phase difference of 180 ° is introduced to the adjacent two first radiation patches 220. In order to form in-phase currents on the first radiating patch 220, the pitch of the first radiating patch 220 needs to be adjusted accordingly. In the present invention, the spacing between every two adjacent first radiating patches 220 is one-half the waveguide wavelength. In this way, an additional 180 ° phase difference can be introduced on two adjacent first radiating patches 220, and finally an in-phase current is formed on the first radiating patches 220, so that the direction of the transmitting beam is on the normal of the antenna array surface, corresponding to the front of the radar. In order to match the input impedance of the transmitting antenna 200 with the feed source, a first impedance matching section 211 is provided at the input end of the first feeder 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 provided 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 the conventional single-polarized vehicle-mounted radar system, the two-dimensional angle measurement vehicle-mounted radar system can acquire polarization information of more than one dimension, and has stronger target recognition capability; as shown in fig. 3, at least two rows of receiving antennas 300 are arranged in the vertical direction, and each row is provided with 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 then transmit the digital signals to the central processing unit 520 for processing, and the central processing unit 520 processes the signals through a pre-stored algorithm to obtain the angle information of the target on the azimuth plane and the elevation plane.
As shown in fig. 3, in some embodiments of the present invention, the receiving antenna 300 includes a plurality of second radiating patches 310, a vertically polarized feed 320, and a horizontally polarized feed 330; wherein every two adjacent second radiating patches 310 are connected in series with each other by a vertically polarized feeder 320; the horizontal polarization feeder 330 is disposed at one side of the plurality of second radiation patches 310 and is electrically connected to each of the second radiation patches 310. The receiving antennas 300 are dual polarized antennas, and are fed by a vertical polarized feeder 320 and a horizontal polarized feeder 330 respectively, and the feeding modes are all series feeding. When the second radiation patch 310 receives the target echo, the vertical polarization component of the echo signal forms an induced current in the vertical direction on the second radiation patch 310, and after the induced currents are overlapped, the vertical polarization signal is input to the receiving module 400 by the vertical polarization feeder 320; for horizontal polarization, the horizontal polarization feeder 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, and when the second radiation patches 310 receive the target echo, the 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 feeder 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-wavelength impedance transformer so that the input impedance of the receiving antenna 300 and the feed are matched to 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 remain in phase, i.e. the phase difference between the centers of two adjacent second radiating patches 310 should be 0. Accordingly, the length of the vertically polarized feed 320 between two adjacent second radiating patches 310 needs to be adjusted accordingly. In the present invention, the total length of the vertically polarized feed lines 320 between two adjacent second radiating patches 310 is about 1 time the waveguide wavelength, but in order to match the arrangement of the horizontally polarized feed lines 330, the vertically polarized feed lines 320 are provided with bending sections.
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 4d, which is twice the operating wavelength; the spacing between every two adjacent receiving antennas 300 in each row is one half of the operating wavelength d, and the spacing between every two adjacent receiving antennas 300 in each column is 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 radar system of the embodiments of the present invention will be described in detail in a specific embodiment with reference to fig. 1 to 5, it being understood that the following description is only illustrative and not limiting in nature.
As shown in fig. 1 to 3, the two-dimensional goniometric vehicle-mounted radar system according to an embodiment of the present invention includes a transmitting module 100, two transmitting antennas 200 (a specific number is not limited), eight receiving antennas 300 (a specific number is not limited), a receiving module 400, and a signal processing module 500.
Wherein, the two transmitting antennas 200 are 45 ° linearly polarized antennas, each transmitting antenna 200 has four first radiating patches 220 (the specific number is not limited), the four first radiating patches 220 are inclined at an angle of 45 ° and are distributed on the left and right sides of the first feeder 210 in a staggered manner, and the four first radiating patches 220 are connected in series by the first feeder 210; meanwhile, the interval 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 45-degree linearly polarized waves are 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 feeder 210.
As shown in fig. 3, eight receiving antennas 300 are arranged in two rows in the vertical direction, each row having four receiving antennas 300. Each receiving antenna 300 is fed to the second radiation patch 310 by a vertical polarized feeder 320 and a horizontal polarized feeder 330 respectively, and the feeding modes are all series feeding; each receiving antenna 300 has four second radiating patches 310, with adjacent two second radiating patches 310 being spaced apart by one-half the waveguide wavelength. For vertical polarization, the vertical polarization feeder 320 connects the second radiation patches 310 in series, the total length of the feeder section between two adjacent second radiation patches 310 is about 1 time of the waveguide wavelength, when the second radiation patches 310 receive the echo from the target, the vertical polarization component of the echo signal forms a vertical induced current on the second radiation patches 310, the induced currents form an in-phase superposition, and then the vertical polarization signal is input to the receiving module 400 by the vertical polarization feeder 320; for horizontal polarization, the horizontal polarization feeder 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 the targets, horizontal polarization components of the 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 signals are input to the receiving module 400 by the horizontal polarization feeder 330; in order to perform matching of input impedance, a second impedance matching section 321 is provided at the input end of the vertically polarized feed line 320, and a third impedance matching section 331 is provided at the input end of the horizontally polarized 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 frequency modulation continuous wave signal with millimeter wave band, and amplifies the frequency modulation continuous wave signal and then transmits the amplified frequency modulation 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 when receiving the control signal, the transmitting module 100 generates two paths of amplitude modulated continuous wave signals, and transmits the two paths of amplitude modulated continuous wave signals to the two transmitting antennas 200, and the two paths of amplitude modulated continuous wave signals are transmitted by the antennas. It is understood that the radar transmitting module 100 is a conventional technical means well known to those skilled in the art, and thus will not be described herein.
As shown in fig. 3, the space between two transmitting antennas 200 is twice the operating wavelength 4d, the space between two receiving antennas 300 in the upper and lower rows is half the operating wavelength d, and the space between two adjacent receiving antennas 300 in each row is half the operating wavelength d. Because the layout of the antenna has great influence on the performance of the vehicle radar, the layout of the transceiver antenna needs to be designed according to the requirements of the angle measurement precision and the angle resolution of the angle radar and the algorithm. According to the algorithm requirement of the signal processing module 500, the space between the transmitting antennas 200 should be four times of the space between the receiving antennas 300, so that a virtual one-transmitting-eight-receiving antenna array can be formed, and the multi-target identification and high-precision and non-fuzzy angle measurement of the angle radar are realized.
For the receiving module 400, after amplifying the signal from the receiving antenna 300, it mixes with the local oscillation signal sent by the transmitting module 100 to obtain an intermediate frequency signal, and sends 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 radar receiving module 400 is a conventional technical means well known to those skilled in the art, and thus will not be described herein.
For the signal processing module 500, it includes a plurality of ADC units 510 and a central processing unit 520, where the ADC units 510 convert the intermediate frequency signal sent by the receiving module 400 into a digital signal, and transmit the digital signal to the central processing unit 520 for processing. The central processing unit 520 processes the signals of the four receiving antennas 300 on the same horizontal line, thereby obtaining the angle information of the target on the azimuth plane; signals of the two sets of receiving antennas 300 in the vertical direction are processed, so that angle information of the target on the pitching surface is obtained, and a two-dimensional angle measurement function is realized.
For the angle measurement principle of the azimuth plane, please refer to fig. 4, it is assumed that the receiving antenna 300 is plane wave incident, the incident angle is α, and the phase difference of the received signals of two adjacent receiving antennas 300 isAccording to the formula->The angle alpha of the target in the azimuth plane to the normal of the receiving antenna 300 can be calculated. Where λ is the operating wavelength and d is the spacing between adjacent receive antennas 300. The smaller d/lambda is required to be, the better the radar achieves the effect of fuzzeless angle measurement, and the larger d/lambda is required to be, the better the angle measurement precision of the radar is. That is, if the spacing between the receiving antennas 300 is too large, the problem of angular ambiguity may occur, so the spacing between the receiving antennas 300The method is not excessively large, and is calculated according to the scanning angle of the radar system, and preferably half of the working wavelength is taken; however, if the pitch of the receiving antennas 300 is too small, the angular accuracy becomes poor, and in order to solve this problem, the number of receiving antennas 300 is increased, and four receiving antennas 300 are provided in each row, thereby improving the angular accuracy.
The angle measurement principle of the nodding face is realized through an algorithm of a sum-difference network, the sum-difference network respectively constructs sum beams and difference beams through weights, the sum beams form peaks in the angle direction of the target, and the difference beams form nulls in the angle direction of the target; since the zero point is easy to detect, the value of the difference beam is compared with the value of the sum beam, and by doing so, the zero point can be formed in the target direction, thereby realizing the detection of the angle of the target in the prone face. Referring to fig. 5, the specific method is as follows: four receiving antennas 300 located at the upper side form an antenna subarray 1, four receiving antennas 300 located at the lower side form an antenna subarray 2, and after signals of an upper subarray and a lower subarray are obtained, weights W sigma= [1,1], wdelta= [1, -1] are multiplied respectively, and a sum signal P sigma and a difference signal P delta are obtained respectively; and then according to the formula:
the target angle θ can be calculated, where θ refers to the angle between the target and the normal direction of the receiving antenna 300 on the elevation plane. In θ 0 Is the lead angle in the sum and difference network algorithm. Md is the center-to-center spacing of the two receive antenna arrays in the pitch direction, which is equal to 4d in this context.
As shown in fig. 6, a two-dimensional angle measurement method for a radar according to an embodiment of the second aspect of the present invention, based on the two-dimensional angle measurement vehicle radar system according to the embodiment of the first aspect of the present invention, specifically includes the following steps:
s100: generating a control signal; and 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.
In the present invention, the central processor 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 modulation continuous wave signal after receiving the control signal, and amplifies the frequency modulation signal and transmits the amplified frequency modulation signal to the transmitting antenna 200.
S200: the amplified frequency modulated continuous wave signal is transmitted to the transmitting antenna 100, and 45-degree linearly polarized electromagnetic waves are transmitted outwards by the transmitting antenna 100.
S300: the receiving antenna 300 receives an echo signal of a target; and mixing the local oscillation 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.
Two rows of receiving antennas 300 arranged in the vertical direction receive the horizontal polarization component and the vertical polarization component of the echo signal of the target and then transmit the received signals to the receiving module 400; the receiving module 400 mixes the local oscillation signal with the horizontal polarization component and the vertical polarization component of the echo signal to obtain a horizontal intermediate frequency signal and a vertical intermediate frequency signal, and transmits the signals to the signal processing module 500; the signal processing module 500 processes signals of the plurality of receiving antennas 300 in the same row to obtain angle information of a target on an azimuth plane; the signal processing module 500 processes the signals of the two rows of receiving antennas 300 by adopting a sum-difference network method to obtain angle information of the target on the pitching surface. For a specific processing method, please refer to the above description.
According to an embodiment of the third aspect of the present invention, the readable storage medium stores one or more programs executable by one or more processors to implement the radar two-dimensional goniometry method according to the embodiment of the second aspect of the present invention.
In the description of the present specification, a description referring to the terms "one embodiment," "further embodiment," "some specific embodiments," or "some examples," etc., means 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, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A two-dimensional goniometric vehicle-mounted radar system, comprising:
the antenna comprises a plurality of transmitting antennas, wherein each transmitting antenna is a 45-degree linear polarized antenna, each transmitting antenna comprises a first feeder line and a plurality of first radiating patches, the plurality of 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 plurality of receiving antennas are arranged into at least two rows in the vertical direction, each row is provided with a plurality of receiving antennas, and each receiving antenna is a dual-polarized antenna; the receiving antenna includes: the antenna comprises a plurality of second radiation patches, vertical polarization feeder lines and horizontal polarization feeder lines, wherein every two adjacent second radiation patches are connected in series through the vertical polarization feeder lines, and the horizontal polarization feeder lines are arranged on one sides of the second radiation patches and are respectively and electrically connected with each second radiation patch;
the transmitting module is provided with a plurality of output ports, the transmitting module is respectively and electrically connected with a plurality of transmitting antennas through the corresponding output ports, and is used for generating local oscillation signals and frequency modulation continuous wave signals, amplifying the frequency modulation continuous wave signals and then transmitting the amplified frequency modulation continuous wave signals to the transmitting antennas, and the transmitting antennas transmit radar signals outwards;
the receiving module is respectively and electrically connected with the receiving antenna and the transmitting module, and is used for amplifying signals from the receiving antenna and then mixing the signals with the local oscillation signals to obtain intermediate frequency signals;
and the signal processing module is respectively and electrically connected with the transmitting module and the receiving module and is used for processing the intermediate frequency signals so as to obtain angle information of the target on the azimuth plane and the nodding plane.
2. The two-dimensional goniometric vehicle-mounted radar system of claim 1, wherein the signal processing module comprises:
the ADC units are respectively and electrically connected with the receiving module and are used for converting the intermediate frequency signals into digital signals;
and the central processing unit is respectively and electrically connected with the ADC units and the transmitting module, and is used for processing the digital signals so as to obtain the angle information of the target on the azimuth plane and the nodding plane.
3. The two-dimensional goniometric vehicle-mounted radar system of claim 1, wherein each adjacent two of said first radiating patches are spaced apart by one-half a waveguide wavelength.
4. A two-dimensional goniometric vehicle-mounted radar system according to claim 1 or 3, wherein the spacing between each adjacent two of said transmitting antennas is twice the operating wavelength.
5. The two-dimensional goniometric vehicle-mounted radar system of claim 4, wherein an input of the vertically polarized feed line is provided with a second impedance matching section and an input of the horizontally polarized feed line is provided with a third impedance matching section.
6. A radar two-dimensional angle measurement method, comprising the steps of:
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 45-degree linear polarized electromagnetic waves outwards by the transmitting antenna;
the receiving antenna receives an echo signal of a target; the receiving antenna includes: the antenna comprises a plurality of second radiation patches, vertical polarization feeder lines and horizontal polarization feeder lines, wherein every two adjacent second radiation patches are connected in series through the vertical polarization feeder lines, and the horizontal polarization feeder lines are arranged on one sides of the second radiation patches and are respectively and electrically connected with each second radiation patch;
mixing the local oscillation 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 angle information of the target on the azimuth plane and the nodding plane.
7. The radar two-dimensional goniometry method of claim 6, wherein said receiving antenna receives a horizontally polarized component and a vertically polarized component of an echo signal of a target; mixing the local oscillation 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 the azimuth plane and the nodding plane, wherein the method specifically comprises the following steps:
two rows of receiving antennas arranged in the vertical direction receive the horizontal polarization component and the vertical polarization component of the echo signal of the target and then transmit the horizontal polarization component and the vertical polarization component to a receiving module; the receiving module mixes the local oscillation signal with a horizontal polarization component and a vertical polarization component of the echo signal respectively to obtain a horizontal intermediate frequency signal and a vertical intermediate frequency signal, and transmits the signals to the signal processing module; the signal processing module processes signals of a plurality of receiving antennas positioned in the same row to obtain angle information of a target on an azimuth plane; and the signal processing module processes signals of the two rows of receiving antennas by adopting a sum-difference network method so as to obtain angle information of the target on the pitching surface.
8. A readable storage medium storing one or more programs executable by one or more processors to implement the radar two-dimensional goniometry method of claim 6 or 7.
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| CN113625063B (en) * | 2021-08-04 | 2024-01-02 | 上海无线电设备研究所 | Method for evaluating single pulse performance of antenna under complete machine condition |
| CN116755093B (en) * | 2023-08-18 | 2023-10-31 | 中国电子科技集团公司第十四研究所 | Method, device and computer medium for improving scanning polarization SAR blurring |
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