CN113782984B - Single-station positioning method combining UWB ranging and interferometer direction finding and antenna array - Google Patents
Single-station positioning method combining UWB ranging and interferometer direction finding and antenna array Download PDFInfo
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- CN113782984B CN113782984B CN202110900397.XA CN202110900397A CN113782984B CN 113782984 B CN113782984 B CN 113782984B CN 202110900397 A CN202110900397 A CN 202110900397A CN 113782984 B CN113782984 B CN 113782984B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/007—Details of, or arrangements associated with, antennas specially adapted for indoor communication
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/48—Earthing means; Earth screens; Counterpoises
Abstract
The invention discloses an indoor single-station positioning antenna array combining UWB ranging and interferometer direction finding, which comprises a medium substrate, a metal grounding plate, three metal radiation rods and an SMA coaxial connector, wherein the medium substrate is provided with a first metal radiation rod and a second metal radiation rod; the metal radiation rod is positioned on the metal grounding plate and penetrates through the metal grounding plate and the dielectric substrate to be connected with the SMA coaxial connector; the SMA coaxial connector and the metal radiation rod form a monopole antenna which is a main structure of a single-station positioning antenna array for receiving and transmitting signals, the monopole antenna is arranged in a rotational symmetry mode, and the position of the monopole antenna forms an equilateral triangle; the metal grounding plate structure of the antenna is three rotationally symmetrical regular hexagons. The invention can emit ultra-wideband pulse signals to measure distance and measure direction by the direction-finding principle of an interferometer, thereby realizing high-precision positioning. Meanwhile, the method has the characteristic that a phase directional diagram changes along with the pitching angle monotonously, and can avoid positioning errors caused by phase difference multiple values. The device has the advantages of compact structure, low processing cost and high reliability.
Description
Technical Field
The invention relates to the technical field of microwave antennas, in particular to a positioning method combining ultra-wideband pulse ranging and interferometer direction finding, and a corresponding single-station positioning antenna array with good phase difference single-valued property.
Background
With the popularization of 5G and the Internet of things, all industries develop towards informatization and intellectualization, and position-based services become more and more common and bring huge requirements for indoor positioning.
Currently, common indoor positioning technologies include WiFi, bluetooth, ultra Wideband (UWB), etc., but all have different drawbacks. Technologies such as WiFi and Bluetooth are high in maturity and low in cost, but the positioning accuracy is only 3m-10m, and the requirement for indoor high-accuracy positioning cannot be met. The UWB technology has the characteristics of strong multi-path resolution capability and high positioning precision, the theoretical ranging precision can reach centimeter or even sub-centimeter level, and the requirement of indoor high-precision positioning can be met. However, a single UWB site can only achieve one-dimensional high-precision ranging, UWB positioning needs to be supported by more than 3 base stations, cost is high, and when the number of rooms is large, the number of base stations required by the UWB site is multiplied by the number of rooms. Meanwhile, a multi-base station positioning system needs a high-precision clock synchronization requirement, and in order to ensure accurate clock synchronization among all base stations, the main method adopted at present is through wired connection, which brings great difficulty to system installation and deployment. The array antenna based on the interferometer direction finding method can realize direction finding only by single equipment, dependence on an installation environment can be reduced, and installation and deployment cost is reduced. At present, the interferometer direction-finding antenna array mainly adopts the basic antenna forms of monopole antennas, patch antennas and the like in the antenna form, and the array form comprises linear arrays, circular arrays and the like. The precision of the direction finding of the interferometer mainly depends on the phase discrimination precision, and in order to improve the performance of the direction finding of the interferometer, the current research is mainly developed from an algorithm level, and methods for knowing phase difference ambiguity, channel amplitude and phase correction, data processing and the like are provided. However, the improvement of the direction-finding positioning accuracy from the level of algorithm, software and the like is limited, and the maximum improvement limit is determined by the accuracy level which can be achieved by the positioning antenna hardware. In order to improve the performance of the ambiguity resolution algorithm, a small amount of research is carried out on the antenna array arrangement aspect, and the arrangement space of the antenna array is optimized mainly by adopting a correlation coefficient so as to improve the ambiguity resolution capability of the interferometer direction-finding antenna array. However, the existing researches do not fundamentally solve the problem of phase difference single value of the direction-finding antenna array of the interferometer, and once multiple values appear during phase measurement, direction-finding blurring can be caused.
Therefore, based on the current situation, the current general indoor positioning technology is difficult to meet the market demands of high technical maturity and low cost in terms of precision and cost.
Disclosure of Invention
In order to solve the technical problem, the invention provides a positioning method combining ultra-wideband pulse ranging and interferometer direction finding and a corresponding single-station positioning antenna array. The invention discloses a positioning method combining UWB ranging and interferometer direction finding, which transmits and receives UWB pulse signals through a single-station antenna and utilizes the time and space resolution capability of narrow pulse UWB signals to realize stronger multipath resistance capability in indoor complex environment; high-precision distance measurement is realized by utilizing the high distance distinguishing precision of the UWB signals. And the indoor single-station high-precision positioning is realized by combining angle measurement information obtained by an array consisting of three or more antennas. The single-station positioning antenna array disclosed by the invention combines the high-precision distance measurement capability and the multipath resolution capability of UWB and the angle measurement capability of an interferometer antenna array, realizes high-precision positioning and simultaneously avoids the defects of a multi-base-station system in the aspects of installation and deployment, clock synchronization and the like. Meanwhile, the invention optimizes the antenna layout and design, directly obtains the positioning antenna with the phase directional diagram changing along with the pitching angle, ensures the single value of the phase difference during positioning, and can directly avoid the positioning ambiguity and error caused by multiple values, thereby greatly improving the direction finding positioning efficiency and precision of the positioning antenna.
The complete technical scheme of the invention comprises the following steps:
an indoor single-station positioning antenna array combining UWB ranging and interferometer direction finding is characterized in that the indoor single-station positioning antenna array comprises a medium substrate, a metal grounding plate, three metal radiation rods and three SMA coaxial connectors;
the metal grounding plate is positioned on the medium substrate, the SMA coaxial connector is positioned below the medium substrate, and the metal radiation rod is positioned on the metal grounding plate and penetrates through the metal grounding plate and the medium substrate to be connected with the SMA coaxial connector;
the first SMA coaxial connector and the first metal radiating rod form a first monopole antenna, the second SMA coaxial connector and the second metal radiating rod form a second monopole antenna, and the third SMA coaxial connector and the third metal radiating rod form a third monopole antenna;
the first, second and third monopole antennas are arranged in a rotational symmetry mode, and the positions of the first, second and third monopole antennas form an equilateral triangle;
the shape of the metal grounding plate of the antenna is three rotationally symmetric regular hexagons or the shape of the three rotationally symmetric regular hexagons after being overlapped, and the angles of the regular hexagons are 120 degrees;
the phase directional diagram of the indoor single-station positioning antenna array changes monotonously along with the change of the pitch angle;
the dielectric substrate of the antenna can be processed into a corresponding shape according to the installation environment.
In a preferred embodiment, the triangle side length is one third of the wavelength corresponding to the antenna operating frequency.
In a preferred embodiment, the height of the metal radiating rod is about 0.23 times of the corresponding wavelength of the working frequency of the antenna.
In a preferred embodiment, the metal ground plate is an integral structure, and the side length of the hexagon is about 0.65 times of the wavelength corresponding to the operating frequency of the antenna.
In a preferred embodiment, the substrate is circular in shape and has a radius of about 0.8 times the wavelength corresponding to the operating frequency of the antenna.
In a preferred embodiment, the indoor single-station positioning antenna array has an operating frequency band of 3.69 to 4.79GHz, and can transmit ultra-wideband pulse signals exceeding 500 MHz.
In a preferred embodiment, the metal ground plate is a split structure, the split structure is three rotationally symmetric regular hexagons, three slots are formed at intersections of the hexagons, and the side length of each hexagon is about 0.45 times of the wavelength corresponding to the operating frequency of the antenna.
In a preferred embodiment, the substrate is circular in shape and has a radius of about 0.65 times the wavelength corresponding to the operating frequency of the antenna.
In a preferred embodiment, the operating frequency band of the indoor single-station positioning antenna array is 3.80 to 4.66GHz, and ultra-wide band pulse signals exceeding 500MHz can be transmitted.
The method for positioning by using the antenna array comprises the following steps:
(1) The indoor single-station positioning antenna array combining the UWB ranging and the interferometer direction finding transmits and receives a narrow pulse UWB signal, and the distance between an antenna and a positioning target is obtained by utilizing the time difference and the wavelength information of the transmitted and received signal;
(2) Acquiring the phase of a positioning signal received by each antenna in an antenna array, and calculating the angle of a positioning target relative to the antennas according to the distance between the antennas, the phase difference and the wavelength information of the signal received by each antenna;
(3) And determining the position of the positioning target by combining the distance and the angle between the antenna and the positioning target, so as to realize positioning.
Compared with the prior art, the antenna provided by the invention can emit ultra-wideband pulse signals, and meanwhile, the antenna adopts a three-antenna structure, direction finding can be carried out by an interferometer direction finding principle, and high-precision positioning is realized by combining ultra-wideband pulse distance measurement and an interferometer direction finding method. Meanwhile, the antenna has the characteristic that a phase directional diagram changes along with a pitching angle monotonously, can solve the problem of positioning errors caused by phase difference multiple values in the prior positioning technology, and has the advantages of compact structure, low processing cost and high reliability.
Drawings
Fig. 1 is a schematic diagram of a ground-plane non-slotted single-station positioning antenna array structure according to an embodiment of the present invention.
Fig. 2 is a schematic side view of the non-slotted ground-plane single-station positioning antenna array of the embodiment shown in fig. 1.
Fig. 3 is an exploded view of the ground-plane, non-slotted, single-station positioning antenna array of the embodiment of fig. 1.
Fig. 4 is a schematic top view of a ground-plane, non-slotted, single-station positioning antenna array in the embodiment of fig. 1.
Fig. 5 is a side view of a ground-plane, non-slotted, single-station positioning antenna array in the embodiment of fig. 1.
Fig. 6 is a return loss diagram of a ground-plane, non-slotted, single-station positioning antenna array in an exemplary embodiment.
Fig. 7 is a schematic diagram of phase patterns of different pitch angles of elements in a ground plane non-slotted single station positioning antenna array in an embodiment.
Fig. 8 is a schematic diagram of a ground-plane slotted single-station positioning antenna array structure in an embodiment of the present invention.
Fig. 9 is a schematic side view of the ground-plane slotted single-station positioning antenna array of the embodiment of fig. 8.
Fig. 10 is an exploded view of the ground-plane slotted single-station positioning antenna array of the embodiment of fig. 8.
Fig. 11 is a top dimensional schematic diagram of a ground-plane slotted single station positioning antenna array in the embodiment of fig. 8.
Fig. 12 is a side view of a ground plate slotted single station positioning antenna array in the embodiment of fig. 8.
Fig. 13 is a return loss diagram of a ground-plane slotted single station positioning antenna array in an exemplary embodiment.
Fig. 14 is a schematic diagram of phase patterns of different pitch angles of the elements of a ground-plane slotted single-station positioning antenna array in an embodiment.
In the figure: 1-metal radiation rod, 2-metal grounding plate, 3-dielectric substrate and 4-SMA coaxial connector.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
In order to facilitate an understanding of the invention, reference will now be made in detail to two specific embodiments.
In the antenna structures shown in fig. 1-3 and 8-10, the indoor single-station positioning antenna array disclosed by the invention comprises a dielectric substrate 3, a metal grounding plate 2, three metal radiating rods 1 and three SMA coaxial connectors 4;
the metal grounding plate 2 is positioned on the dielectric substrate 3, the SMA coaxial connectors 4 are positioned below the dielectric substrate 3, and the three metal radiant bars 1 are positioned on the metal grounding plate 2, penetrate through the metal grounding plate 2 and the dielectric substrate 3 and are respectively connected with the three SMA coaxial connectors 4;
the three SMA coaxial connectors 4 and the metal radiation rod 1 form three monopole antennas which are the main structure of the single station positioning antenna array for receiving and transmitting signals, the monopole antennas are arranged in a rotational symmetry mode, and the positions of the monopole antennas form an equilateral triangle.
The design concept and mode of the indoor single-station positioning antenna array disclosed by the invention are further described as follows:
in the three-element antenna array according to the present invention, the distance between the three antenna elements (hereinafter referred to as antenna element 0, antenna element 1 and antenna element 2) and the center of the antenna array is r, and the azimuth angle at which a signal is incident is r
The pitch angle is alpha, the phase difference between the signal transmitted to the center of the antenna array and the antenna unit 0, the antenna unit 1 and the antenna unit 2 is theta c0 、θ c1 、θ c2 。
The azimuth angle and the pitch angle of the signal are obtained by the following formula:
therefore, theoretically, by measuring the phase difference between the unit antennas, the azimuth angle and the pitch angle of the signal can be determined by using a three-channel interferometer.
However, in the actual operation process, due to the influence of mutual coupling and shielding between the antenna units, the direct use of the above formula cannot be calculated due to the existence of multiple values of phase difference.
In order to realize phase difference single value performance of the antenna array disclosed by the invention, the antenna array disclosed by the invention is subjected to parameter design around the characteristic. The method is specifically determined by the following steps:
first, for any 2 omnidirectional receiving antenna units in the present invention, let its spacing be d and signal incident angle be θ i The wavelength of the signal is lambda, and the phase difference of the signal reaching 2 antennas is theta c Then, there are:
in the formula, N is a natural number, and only the phase difference value theta in the main value interval can be obtained during phase measurement c And the integer N cannot be determined, so for a value theta c With multiple angles of incidence theta i Correspondingly, to ensure that the phase difference is unity, the theta is limited c Taking values in the main value interval, according to the above thought, the distance d between any 2 antenna units is designed to be smaller than half wavelength of the incident signal. Meanwhile, when the distance is too small, the coupling between the antenna array units is increased, and strong mutual coupling can bring about the distortion of a phase directional diagram and also cause multiple values. Therefore, the invention sets the distance between the antenna units to be about one third of the wavelength of the incident signal after calculation and practical verification are carried out by comprehensively considering the limit of the interferometer principle and the influence of antenna mutual coupling.
Meanwhile, the invention discovers that the directional diagrams of the units in the antenna array are distorted under the influence of the surrounding units and the metal grounding plate, and in order to ensure the consistency of the directional diagrams of the units in the array, the invention designs that the arrangement of the antenna and the grounding plate structure both adopt a rotational symmetry structure. Meanwhile, in order to ensure that the phase pattern of the antenna unit can be changed along with the pitching angle monotonously, the size of the grounding plate of the antenna unit is calculated and analyzed in the array, and the side length of the grounding plate is determined to be about 0.65 times of the wavelength. The metal radiating rod of the antenna gives priority to the matching characteristics of each unit, and the height of the antenna is reduced as much as possible, and is determined to be about 0.23 times of the wavelength.
In one embodiment, the antenna array of the present invention is a structure in which the ground plate is not slotted (i.e., an integral ground plate), as shown in fig. 1-3, the centers of three monopole antennas are respectively arranged at three vertices of an equilateral triangle, and the side length D of the triangle is about one third of the wavelength corresponding to the operating frequency of the antenna; the ground plate structure of the antenna is in a shape formed by superposing three rotationally symmetrical regular hexagons (the angle between the hexagons is 120 degrees), and the side length W of each hexagon is about 0.65 times of the wavelength corresponding to the working frequency of the antenna; the height H of the metal radiation rod is about 0.23 time of the corresponding wavelength of the working frequency of the antenna; the dielectric substrate of the antenna can be processed into a corresponding shape according to the installation environment, and in a preferred embodiment, the substrate is circular, and the minimum radius R of the substrate is about 0.8 times of the corresponding wavelength of the operating frequency of the antenna.
The size of the antenna array is shown in fig. 4 and 5, for manufacturing a single-station positioning antenna working at 4GHz, the center-to-center distance D of three monopole antennas is 25mm, the side length W of a hexagonal ground plate of the antenna is 46mm, the height H of a metal radiation rod is 16.8mm, and the radius R of a dielectric substrate is 60.43mm. The return loss result of the antenna is shown in fig. 6, and it can be seen that the operating frequency band of the single-station positioning antenna adopting the above design is 3.69 to 4.79GHz, the operating frequency is set to be 4GHz, and ultra-wideband pulse signals exceeding 500MHz can be transmitted. As shown in fig. 7, the phase pattern of the antenna changes monotonously with the change of the pitch angle, and it is possible to ensure the single-valued property of the phase difference at the time of positioning.
In another embodiment, the antenna array of the present invention is a structure of slotting the ground plate (i.e. split type ground plate), as shown in fig. 8-10, the centers of three monopole antennas are respectively arranged at three vertices of an equilateral triangle, and the side length D1 of the triangle is one third of the wavelength corresponding to the operating frequency of the antenna; the grounding plate structure of the antenna is three rotationally symmetric regular hexagons, three gaps are formed at the intersection of the hexagons, at the moment, the side length W1 of each hexagon is about 0.45 times of the corresponding wavelength of the working frequency of the antenna, and the size of the grounding plate is smaller compared with that of a scheme without the gaps; the height H1 of the metal radiation rod is about 0.23 time of the wavelength corresponding to the working frequency of the antenna; the dielectric substrate of the antenna can be processed into a corresponding shape according to the installation environment, and preferably, when the substrate is in a circular shape, the minimum radius R1 of the substrate is about 0.65 times of the wavelength corresponding to the working frequency of the antenna.
The size of the antenna array is as shown in fig. 11 and 12, a single-station positioning antenna working at 4GHz is manufactured, a slot is formed at the hexagonal intersection of the grounding plate, and the width G of the slot is 3mm. The center-to-center distance D1 of the three monopole antennas is 25mm, the side length W1 of the hexagonal grounding plate of the antenna is 34mm, the height H1 of the metal radiation rod is 16.8mm, and the radius R1 of the dielectric substrate is 48.43mm. The return loss result of the antenna is shown in fig. 13, and it can be seen that the operating frequency band of the single-station positioning antenna adopting the above design is 3.80 to 4.66GHz, the operating frequency is set to be 4GHz, and ultra-wideband pulse signals exceeding 500MHz can be transmitted. As shown in fig. 14, the phase pattern of the antenna changes monotonously with changes in the pitch angle, and it is possible to ensure the uniqueness of the phase difference at the time of positioning.
The specific positioning method comprises the following steps:
(1) The indoor single-station positioning antenna array transmits and receives narrow pulse UWB signals, and obtains the distance between the antenna and a positioning target by utilizing the time difference and wavelength information of the transmitted and received signals;
(2) Acquiring the phase of a positioning signal received by each antenna in an antenna array, and calculating the angle of a positioning target relative to the antennas according to the distance between the antennas, the phase difference and the wavelength information of the signal received by each antenna;
(3) And determining the position of the positioning target by combining the distance and the angle between the antenna and the positioning target, so as to realize positioning.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (9)
1. An indoor single-station positioning antenna array combining UWB ranging and interferometer direction finding is characterized in that the indoor single-station positioning antenna array comprises a medium substrate, a metal grounding plate, three metal radiation rods and three SMA coaxial connectors;
the metal grounding plate is positioned on the medium substrate, the SMA coaxial connector is positioned below the medium substrate, and the metal radiation rod is positioned on the metal grounding plate and penetrates through the metal grounding plate and the medium substrate to be connected with the SMA coaxial connector;
the first SMA coaxial connector and the first metal radiating rod form a first monopole antenna, the second SMA coaxial connector and the second metal radiating rod form a second monopole antenna, and the third SMA coaxial connector and the third metal radiating rod form a third monopole antenna;
the first, second and third monopole antennas are arranged in a rotational symmetry mode, and the positions of the first, second and third monopole antennas form an equilateral triangle;
the metal ground plate of the antenna is in a shape of three rotationally symmetrical regular hexagons or a shape of three rotationally symmetrical regular hexagons after being superposed, and the angles among the regular hexagons are 120 degrees;
the phase directional diagram of the indoor single-station positioning antenna array changes monotonously along with the change of the pitch angle;
the dielectric substrate of the antenna can be processed into a corresponding shape according to the installation environment, and the side length of the triangle is one third of the wavelength corresponding to the working frequency of the antenna.
2. An indoor single station positioning antenna array combining UWB ranging and interferometer direction finding as defined in claim 1 wherein the height of the metal radiating rods is 0.23 times the corresponding wavelength of the antenna operating frequency.
3. An indoor single-station positioning antenna array combining UWB ranging and interferometer direction finding according to any of claims 1-2, wherein the metal grounding plate is a one-piece structure, and the side length of the hexagon is 0.65 times of the corresponding wavelength of the antenna working frequency.
4. An indoor single station positioning antenna array combining UWB ranging and interferometer direction finding according to claim 3, wherein the substrate shape is circular with radius of 0.8 times the corresponding wavelength of the antenna operating frequency.
5. An indoor single-station positioning antenna array combining UWB ranging and interferometer direction finding according to claim 3, wherein the indoor single-station positioning antenna array is operated at 3.69 to 4.79GHz, and can transmit ultra-wideband pulse signals exceeding 500 MHz.
6. An indoor single-station positioning antenna array combining UWB ranging and interferometer direction finding according to any one of claims 1-2, wherein the metal grounding plate is a split structure, the split structure is three rotationally symmetric regular hexagons, three slots are opened at the intersections of the hexagons, and the side length of each hexagon is 0.45 times of the corresponding wavelength of the antenna working frequency.
7. An indoor single station positioning antenna array combining UWB ranging and interferometer direction finding according to claim 6, wherein the substrate shape is circular with radius of 0.65 times the corresponding wavelength of the antenna operating frequency.
8. The indoor single-station positioning antenna array combining UWB ranging and interferometer direction finding according to claim 6, wherein the indoor single-station positioning antenna array is operated at 3.80 to 4.66GHz, and can transmit ultra-wideband pulse signals exceeding 500 MHz.
9. A method for performing positioning using an antenna array according to any of claims 1-8, comprising the steps of:
(1) The indoor single-station positioning antenna array combining the UWB ranging and the interferometer direction finding transmits and receives a narrow pulse UWB signal, and the distance between an antenna and a positioning target is obtained by utilizing the time difference and the wavelength information of the transmitted and received signal;
(2) Acquiring the phase of a positioning signal received by each antenna in an antenna array, and calculating the angle of a positioning target relative to the antennas according to the distance between the antennas, the phase difference and the wavelength information of the signal received by each antenna;
(3) And determining the position of the positioning target by combining the distance and the angle between the antenna and the positioning target, so as to realize positioning.
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| CN114156640A (en) * | 2021-12-16 | 2022-03-08 | 歌尔科技有限公司 | Antenna assembly, unmanned aerial vehicle and unmanned aerial vehicle positioning method |
| CN114512803A (en) * | 2022-01-12 | 2022-05-17 | 北京航空航天大学 | Single-station positioning antenna array and method for positioning in and near automobile |
| CN115036716A (en) * | 2022-08-10 | 2022-09-09 | 盛纬伦(深圳)通信技术有限公司 | Multi-beam array antenna for gigabit wireless communication network |
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| "A compact and ultra-wideband three-element quasi-Yagi MIMO antenna system for wireless applications";Amar D. Chaudhari, K. P. Ray;《International Journal of RF and Microwave Computer Aided Engineering》;20210223;全文 * |
| "Novel Miniaturized All-Metal UWB Magneto-Electric Monopole (MEM) Antenna for Multistandard Applications";Chungang Zhang etc.;《IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION》;20201221;全文 * |
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| CN113782984A (en) | 2021-12-10 |
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