CN117973234B - Two-dimensional vehicle-mounted MIMO radar antenna array design method and device based on self-adaptive differential evolution algorithm - Google Patents
Two-dimensional vehicle-mounted MIMO radar antenna array design method and device based on self-adaptive differential evolution algorithm Download PDFInfo
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Abstract
The invention discloses a two-dimensional vehicle-mounted MIMO radar antenna array design method and device based on a self-adaptive differential evolution algorithm, wherein the method comprises the following steps: according to constraint conditions and fitness functions of antenna array information, azimuth and elevation directions, solving by utilizing a self-adaptive differential evolution algorithm to obtain optimal array arrangement; the constraint conditions of azimuth and pitching include azimuth aperture constraint, azimuth spacing constraint, pitching aperture constraint, pitching spacing constraint of array elements in the same chip and feeder length constraint; the azimuth aperture constraint is determined according to a preset azimuth angle resolution, the elevation aperture constraint is determined according to a preset elevation angle resolution, and the elevation feeder length constraint is determined based on an elevation reference and a feeder length. The invention gives consideration to the angular resolution of azimuth and pitching directions, also considers the feeder line length, reduces the possibility of sinking into local optimum in advance, and improves the global searching capability.
Description
Technical Field
The invention relates to the technical field of antenna array design, in particular to a two-dimensional vehicle MIMO radar antenna array design method and device based on a self-adaptive differential evolution algorithm.
Background
The MIMO radar is provided with a plurality of transmitting antennas and receiving antennas, can provide a plurality of independent sub-channels for transmitting orthogonal signals which are not related to each other, and the receiving end receives echo signals scattered by a target and separates the echo signals in a time domain or a frequency domain through a matched filter, so that a virtual array with a larger aperture is formed, and the resolution of the system is improved. Furthermore, MIMO radar systems may adaptively adjust the transmit and receive modes under different environments to increase robustness.
At present, the design of the MIMO sparse array is mostly a design method based on pattern optimization, wherein an intelligent optimization algorithm is widely applied to the layout design of the sparse array due to the advantages of high-dimensional data search, global optimization and the like, for example, the sidelobe level of the pattern is reduced by intelligent optimization algorithms such as a genetic algorithm, a differential evolution algorithm, a particle swarm algorithm and the like, so that the optimal array design is obtained. The differential evolution algorithm is relatively simple to implement, does not need too much parameter adjustment and special processing, and can effectively seek an optimal solution. However, when designing a MIMO radar sparse array design, the differential evolution algorithm is prone to constraint problems such as aperture fixation and feeder length.
Disclosure of Invention
The invention provides a two-dimensional vehicle-mounted MIMO radar antenna array design method and device based on a self-adaptive differential evolution algorithm, and aims to effectively solve the technical problems.
According to a first aspect of the invention, the invention provides a two-dimensional vehicle-mounted MIMO radar antenna array design method based on a self-adaptive differential evolution algorithm, which comprises the following steps:
acquiring antenna array information, wherein the antenna array information comprises the number of transmitting array elements, the number of receiving array elements and the number of chips;
According to the antenna array information, constraint conditions of azimuth and elevation directions and an adaptability function, solving by utilizing a self-adaptive differential evolution algorithm to obtain optimal array arrangement;
The constraint conditions of azimuth and pitching comprise azimuth aperture constraint, azimuth spacing constraint, pitching aperture constraint, pitching spacing constraint of array elements in the same chip and feeder length constraint;
The azimuth aperture constraint is determined according to preset azimuth angle resolution, the elevation aperture constraint is determined according to preset elevation angle resolution, the elevation feeder length constraint is determined based on elevation reference and feeder length, and the elevation reference refers to preset array elements on different chips.
Further, the step of obtaining the optimal array arrangement according to the constraint conditions and the fitness function of the antenna array information, the azimuth direction and the elevation direction and by solving through a self-adaptive differential evolution algorithm comprises the following steps:
Initializing a population according to the antenna array information and the constraint conditions of azimuth and elevation, wherein each individual in the population comprises azimuth positions and elevation positions of transmitting array elements and receiving array elements;
a mutation and crossover step, wherein mutation and crossover operation is carried out on the individual to obtain a new individual;
A fitness calculating step, namely performing fitness calculation on the new individual and the initialized individual by using the fitness function, and determining a new population according to the fitness value obtained by calculation;
And repeating the mutation and crossing steps until the fitness calculation step reaches a preset ending condition, and obtaining the optimal array arrangement from the new population.
Further, the array element positions of the azimuth transmitting and receiving individuals are respectively as follows:
；
For convenience in describing that the azimuthal aperture meets resolution requirements and adjacent pitch requirements, ，/>Wherein/>Azimuth position information of the ith transmitting array element; /(I)The information of the azimuth position of the j-th receiving array element; /(I)Position information representing the i-th transmitting array element minus the constraint of the adjacent array elements; /(I)The j-th receiving array element subtracts the position information of the constraint of the adjacent array element; /(I)Is the minimum distance between adjacent array elements in azimuth;
the array element positions of the pitching transmitting and receiving individuals are respectively as follows:
；
The pore size constraint of the azimuth corresponds to the following formula:
；
In the method, in the process of the invention, For the 1 st transmitting array element position of azimuth,/>For the 1 st receiving array element position of azimuth,/>Position of Mth transmitting array element in azimuth,/>For the N-th receiving array element position of azimuth,/>For the maximum array element position of azimuth transmitting array element,/>For the maximum array element position of the azimuth receiving array element,/>Position information obtained by subtracting constraint of adjacent array elements from the 1 st transmitting array element in azimuth,/>Subtracting the position information after the constraint of the adjacent array elements from the 1 st receiving array element in the azimuth direction,/>Subtracting the position information after the constraint of the adjacent array elements from the Mth transmitting array element in the azimuth direction,/>Subtracting the position information after the constraint of the adjacent array elements from the Nth receiving array element in the azimuth direction,/>For the minimum distance between adjacent array elements in azimuth, M is the number of transmitting array elements, N is the number of receiving array elements,/>Subtracting the position information after the constraint of the adjacent array elements for the p-th transmitting array element in the azimuth direction,/>For/>Chip,/>Subtracting the position information after the constraint of the adjacent array elements from the q-th receiving array element in the azimuth direction,/>For/>Chip,/>，/>，/>Representing an upward rounding;
The pitch-wise aperture constraint corresponds to the following formula:
；
In the method, in the process of the invention, For pitching to transmitting the maximum array element position of array element,/>For pitching the maximum array element position of the receiving array element,For pitching transmitting array element reference,/>For receiving array element reference in pitching direction,/>To remove any transmitting element outside the transmitting element reference,/>In order to remove any receiving array element except the receiving array element reference, and ensure that the pitching transmitting array element reference and the pitching receiving array element reference are not in the same chip;
the formula corresponding to the feeder length constraint in the pitching direction is as follows:
；
In the method, in the process of the invention, For/>Transmitting array element pitching direction position information on each chip,/>For/>Receiving array element pitching direction position information on each chip,/>For/>Pitch position information of individual chips,/>For the pitch distance of the b-th transmitting array element,/>For the pitch distance of the d-th receiving array element, R is the constrained feeder length, and b is the/>The first transmitting array element on the chip, d is the/>The first one on the chip receives the array element.
Further, the azimuth spacing constraint is as follows:
；
In the method, in the process of the invention, For the azimuth position information of the ith transmitting array element,/>For the azimuth position information of the j-th transmitting array element,/>For the i-th receiving array element azimuth position information,/>For the j-th receiving array element azimuth position information,/>Is the minimum distance between adjacent array elements in azimuth;
the pitch direction interval constraint of the array elements in the same chip is as follows:
；
In the method, in the process of the invention, Pitch position information for the ith transmit element,/>Pitch position information for j-th transmitting array element,/>For the i-th receiving array element pitching position information,/>For j-th receiving array element pitching position information,/>Is the maximum distance between pitching array elements in the same chip.
Further, the fitness function is determined according to the directivity pattern, the sidelobe levels of the azimuth and elevation directions, and the duty ratio degree for adjusting the azimuth and elevation directions.
Further, the fitness function is formulated as follows:
；
Wherein, ，
In the method, in the process of the invention,Representing pitch angle/>Side lobe interval of time azimuth direction diagram,/>Representing azimuth/>Side lobe interval of time pitching direction pattern,/>To the extent of duty cycle,/>As a function of the azimuth pattern,/>As a pitch-to-direction pattern function; /(I)For pitch distance from the reference point,/>Is the azimuthal spacing from the reference point.
Further, the mutation and crossover step includes:
performing differential mutation operation on a preset number of individuals in the population by using the cross probability to obtain new individuals after differential mutation;
Determining a new crossed individual according to the retention probability, the differential variation probability and the new differential variation individual, and determining a new population based on the new crossed individual and the new differential variation individual; the retention probability and the differential variation probability are adaptively updated along with the change of the population evolution times.
According to a second aspect of the present invention, the present invention further provides a two-dimensional vehicle MIMO radar antenna array design apparatus based on an adaptive differential evolution algorithm, the apparatus comprising:
The antenna information acquisition module is used for acquiring antenna array information, wherein the antenna array information comprises the number of transmitting array elements, the number of receiving array elements and the number of chips;
The optimal solving module is used for solving according to constraint conditions and fitness functions of the antenna array information, azimuth direction and pitching direction and by utilizing a self-adaptive differential evolution algorithm to obtain optimal array arrangement;
The constraint conditions of azimuth and pitching comprise azimuth aperture constraint, azimuth spacing constraint, pitching aperture constraint, pitching spacing constraint of array elements in the same chip and feeder length constraint;
The azimuth aperture constraint is determined according to preset azimuth angle resolution, the elevation aperture constraint is determined according to preset elevation angle resolution, the elevation feeder length constraint is determined based on elevation reference and feeder length, and the elevation reference refers to preset array elements on different chips.
According to a third aspect of the present invention, there is also provided an electronic device, including a memory, a processor and a computer program stored on the memory and executable on the processor, the steps of the two-dimensional vehicle MIMO radar antenna array design method based on the adaptive differential evolution algorithm being implemented when the processor executes the program.
According to a fourth aspect of the present invention, there is also provided a storage medium having stored therein a plurality of instructions adapted to be loaded by a processor to perform the steps of the two-dimensional on-board MIMO radar antenna array design method based on the adaptive differential evolution algorithm as described above.
Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved: according to the antenna array information, constraint conditions of azimuth and elevation and an adaptability function, and solving by utilizing a self-adaptive differential evolution algorithm, the optimal array arrangement is obtained, wherein the constraint conditions of azimuth and elevation comprise aperture constraint of azimuth, aperture constraint of elevation and feeder length constraint, not only are the angular resolution of azimuth and the angular resolution of elevation considered, but also the practical problem of feeder length considered, so that the finally obtained optimal array arrangement can meet the angular resolution of azimuth and the angular resolution of elevation, and the routing loss is small. In addition, the possibility of sinking into local optimum in advance in the solving process can be reduced through the self-adaptive differential evolution algorithm, and the global searching capability is improved.
Drawings
The technical solution and other advantageous effects of the present invention will be made apparent by the following detailed description of the specific embodiments of the present invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of a two-dimensional vehicle MIMO radar antenna array design method based on an adaptive differential evolution algorithm according to an embodiment of the present invention;
fig. 2 is a second flowchart of a two-dimensional vehicle MIMO radar antenna array design method based on an adaptive differential evolution algorithm according to an embodiment of the present invention;
fig. 3 is a third flowchart of a two-dimensional vehicle MIMO radar antenna array design method based on an adaptive differential evolution algorithm according to an embodiment of the present invention;
FIG. 4a is a schematic diagram of an optimal individual according to an embodiment of the present invention;
FIG. 4b is a schematic diagram of the position distribution of array elements of the azimuth equivalent virtual array according to the embodiment of the present invention;
FIG. 4c is a normalized azimuth pattern provided by an embodiment of the present invention;
fig. 4d is a schematic diagram of the position distribution of the array elements of the pitching equivalent virtual array according to the embodiment of the present invention;
FIG. 4e is a normalized pitch pattern provided by an embodiment of the present invention;
FIG. 5a is a diagram of one-dimensional simulation results of DOA estimation in azimuth provided by an embodiment of the present invention;
FIG. 5b is a two-dimensional simulation result diagram of azimuth DOA estimation provided by an embodiment of the present invention;
FIG. 6a is a graph of one-dimensional simulation results of a DOA estimation of pitch provided by an embodiment of the present invention;
FIG. 6b is a graph of two-dimensional simulation results of a DOA estimation of pitch provided by an embodiment of the present invention;
Fig. 7 is a schematic structural diagram of a two-dimensional vehicle-mounted MIMO radar antenna array design apparatus based on an adaptive differential evolution algorithm according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
fig. 9 is a schematic diagram of an iterative fitness evolution curve of an adaptive differential evolution algorithm according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and defined otherwise, the term "and/or" herein is merely an association relationship describing associated objects, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. The character "/" herein generally indicates that the associated object is an "or" relationship unless otherwise specified.
At present, according to the distribution condition of array elements, the linear array can be divided into a uniform linear array and a sparse linear array, wherein the sparse array is an improvement on the basis of the uniform array, and is realized by reducing the number of antennas and increasing the distance between the antennas. However, the phase information of the conventional uniform array has a great amount of redundancy, and the sparse array can obtain higher resolution than the uniform array by using the same array element number. For havingIndividual emission channels/>MIMO radar system with multiple receiving channels, which can realize/>, by designing the arrangement mode of the transmitting and receiving arraysThe virtual aperture of the array of channels is much larger than the actual physical aperture (/ >)) MIMO radar can therefore provide higher resolution. Meanwhile, under the condition that the same number of transmitting and receiving array elements is met, the virtual aperture can be further increased by combining the design of the MIMO and the sparse array, so that higher angular resolution can be obtained. With the continuous improvement of the performance requirements of the radar system, the MIMO radar system needs to pay attention to the angular resolution of the azimuth direction and also needs to consider the additional pitching angular resolution so as to meet the application requirements of the 4-dimensional vehicle-mounted radar.
Therefore, the invention needs to consider the angular resolution of azimuth and the angular resolution of pitching in the array design process so as to meet the four-dimensional requirement of the vehicle-mounted radar.
The invention provides a two-dimensional vehicle-mounted MIMO radar antenna array design method and device based on a self-adaptive differential evolution algorithm by combining with a drawing.
In one embodiment, as shown in fig. 1, a two-dimensional vehicle MIMO radar antenna array design method based on an adaptive differential evolution algorithm includes the following steps:
S101, acquiring antenna array information, wherein the antenna array information comprises the number of transmitting array elements, the number of receiving array elements and the number of chips.
S102, solving by utilizing a self-adaptive differential evolution algorithm according to the constraint conditions of the antenna array information, azimuth and elevation directions and the fitness function, and obtaining the optimal array arrangement.
The constraint conditions of azimuth and pitching include azimuth aperture constraint, azimuth spacing constraint, pitching aperture constraint, pitching spacing constraint of array elements in the same chip and feeder length constraint.
The azimuth aperture constraint is determined according to preset azimuth angle resolution, the elevation aperture constraint is determined according to preset elevation angle resolution, the elevation feeder length constraint is determined based on elevation reference and feeder length, and the elevation reference refers to preset array elements on different chips.
According to the two-dimensional vehicle-mounted MIMO radar antenna array design method based on the self-adaptive differential evolution algorithm, according to the antenna array information, the constraint conditions of azimuth and elevation and the fitness function, the self-adaptive differential evolution algorithm is utilized for solving, and the optimal array arrangement is obtained, wherein the constraint conditions of azimuth and elevation comprise the aperture constraint of azimuth, the aperture constraint of elevation and the feeder length constraint, the angular resolution of azimuth and the angular resolution of elevation are considered, the practical problem of feeder length is considered, and therefore the finally obtained optimal array arrangement not only can meet the angular resolution of azimuth and the angular resolution of elevation, but also is small in routing loss. In addition, the possibility of sinking into local optimum in advance in the solving process can be reduced through the self-adaptive differential evolution algorithm, and the global searching capability is improved.
In some embodiments provided by the present invention, the array element positions of the azimuth transmitting and receiving individuals are respectively:
；
For convenience in describing that the azimuthal aperture meets resolution requirements and adjacent pitch requirements, ，/>Thus,/>And/>Can be expressed alternatively as，/>Wherein/>，/>，，/>，/>Azimuth position information of the ith transmitting array element; /(I)The information of the azimuth position of the j-th receiving array element; /(I)Position information representing the i-th transmitting array element minus the constraint of the adjacent array elements; /(I)The j-th receiving array element subtracts the position information of the constraint of the adjacent array element; /(I)Is the minimum distance between adjacent array elements in azimuth. The array element positions of the pitching transmitting and receiving individuals are respectively as follows:
；
Wherein, And/> ,/>And/> And/>，/>Therein, wherein，/>According to/>=/>AndObtained,/>Is the minimum distance between adjacent array elements in the azimuth direction between the array elements.
The pore size constraint of the azimuth corresponds to the following formula:
；
In the method, in the process of the invention, For the 1 st transmitting array element position of azimuth,/>For the 1 st receiving array element position of azimuth,/>Position of Mth transmitting array element in azimuth,/>For the N-th receiving array element position of azimuth,/>For the maximum array element position of azimuth transmitting array element,/>For the maximum array element position of the azimuth receiving array element,/>Position information obtained by subtracting constraint of adjacent array elements from the 1 st transmitting array element in azimuth,/>Subtracting the position information after the constraint of the adjacent array elements from the 1 st receiving array element in the azimuth direction,/>Subtracting the position information after the constraint of the adjacent array elements from the Mth transmitting array element in the azimuth direction,/>Subtracting the position information after the constraint of the adjacent array elements from the Nth receiving array element in the azimuth direction,/>For the minimum distance between adjacent array elements in azimuth, M is the number of transmitting array elements, N is the number of receiving array elements,/>Subtracting the position information after the constraint of the adjacent array elements for the p-th transmitting array element in the azimuth direction,/>For/>Chip,/>Subtracting the position information after the constraint of the adjacent array elements from the q-th receiving array element in the azimuth direction,/>For/>Chip,/>，/>，/>Representing an upward rounding.
The pitch-wise aperture constraint corresponds to the following formula:
；
In the method, in the process of the invention, For pitching to transmitting the maximum array element position of array element,/>For pitching the maximum array element position of the receiving array element,For pitching transmitting array element reference,/>For receiving array element reference in pitching direction,/>To remove any transmitting element outside the transmitting element reference,/>In order to remove any receiving array element except the receiving array element reference, the pitching transmitting array element reference and the pitching receiving array element reference are ensured not to be in the same chip.
Illustratively, the first transmitting array element of the 1 st chip at the left end of the 4 chipsAnd the first receiving array element/>, of the left-end 2 nd chipAs an example of a pitch reference, the pitch aperture constraint is:
。
the formula corresponding to the feeder length constraint in the pitching direction is as follows:
；
In the method, in the process of the invention, For/>Transmitting array element pitching direction position information on each chip,/>For/>Receiving array element pitching direction position information on each chip,/>For/>Pitch position information of individual chips,/>For the pitch distance of the b-th transmitting array element,/>For the pitch distance of the d-th receiving array element, R is the constrained feeder length, and b is the/>The first transmitting array element on the chip, d is the/>The first one on the chip receives the array element.
Azimuth spacing constraint, the formula is as follows:
；
In the method, in the process of the invention, For the azimuth position information of the ith transmitting array element,/>For the azimuth position information of the j-th transmitting array element,/>For the i-th receiving array element azimuth position information,/>For the j-th receiving array element azimuth position information,/>Is the minimum distance between adjacent array elements in azimuth.
The pitch direction interval constraint of array elements in the same chip is as follows:
；
In the method, in the process of the invention, Pitch position information for the ith transmit element,/>Pitch position information for j-th transmitting array element,/>For the i-th receiving array element pitching position information,/>For j-th receiving array element pitching position information,/>Is the maximum distance between pitching array elements in the same chip.
In some embodiments of the invention, the fitness function is determined from the directivity pattern, the sidelobe levels of azimuth and elevation directions, and the degree of duty cycle for adjusting azimuth and elevation directions.
Specifically, the fitness function is formulated as follows:
；
Wherein, ，
In the method, in the process of the invention,Representing pitch angle/>Side lobe interval of time azimuth direction diagram,/>Representing azimuth/>Side lobe interval of time pitching direction pattern,/>To the extent of duty cycle,/>As a function of the azimuth pattern,/>As a pitch-to-direction pattern function; /(I)For pitch distance from the reference point,/>Is the azimuthal spacing from the reference point.
The larger the fitness value obtained by the fitness function calculation is, the better the individual is determined, that is, the better the array arrangement performance represented by the individual is.
In some embodiments of the present invention, the step of obtaining the optimal array configuration according to the constraint conditions of the antenna array information, azimuth and elevation directions and the fitness function and solving by using an adaptive differential evolution algorithm includes:
and initializing a population according to the antenna array information and the constraint conditions of azimuth and elevation, wherein each individual in the population comprises azimuth positions and elevation positions of transmitting array elements and receiving array elements.
And a mutation and crossover step, wherein mutation and crossover operation is carried out on the individual to obtain a new individual.
And calculating the fitness, namely calculating the fitness of the new individual and the initialized individual by using the fitness function, and determining a new population according to the calculated fitness value. That is, the fitness values are ordered from large to small, and the top-ranked NP individuals are taken as the new population.
And repeating the mutation and crossing steps until the fitness calculation step reaches a preset ending condition, and obtaining the optimal array arrangement from the new population. The preset end condition may be a preset number of iterations or others. At least one individual is selected from the new population through the fitness value to serve as an optimal individual, the optimal individual comprises azimuth positions and pitching positions for arranging the transmitting array elements and the receiving array elements, and the optimal array arrangement finally output can be one or a plurality of optimal array arrangements according to actual requirements.
Wherein the mutation and crossover steps include:
and carrying out differential mutation operation on a preset number of individuals in the population by using the cross probability to obtain new individuals after differential mutation.
Taking the differential mutation operation for 3 individuals in the parent as an example,In the above, the ratio of/>,And/>Is/>Three distinct random integers, NP is population size,/>For cross probability,/>Is the (th) >, in the (th) generationIndividuals,/>Is the (th) >, in the (th) generationIndividuals,/>Is the (th) >, in the (th) generationIndividuals,/>Is a new individual after the difference mutation of the ith generation of the ith individual.
Determining a new crossed individual according to the retention probability, the differential variation probability and the new differential variation individual, and determining a new population based on the new crossed individual and the new differential variation individual, wherein the retention probability and the differential variation probability are adaptively updated along with the change of the population evolution times. Namely:
；
In the method, in the process of the invention, Retention probability for the ith individual generation r,/>The probability of differential variation for the ith individual generation r,For new individuals introduced at random,/>Is the current parent individual.
It should be noted that, the retention probability and the differential variation probability of the population will change in the loop iteration, specifically:
；
；
In the method, in the process of the invention, For fitness value of individual,/>For the average fitness value of the population,/>For the regulatory factor, the retention probability and the differential variation probability of the population are/>, respectively，/>In the above, the ratio of/>And (3) withIs a scale factor used to control the range of probabilities; /(I)And/>For determining the shape of the probability curve, r is the r-th iteration,And/>And G is the number of iterations, which is used to control the lower bound of probability. When the individual fitness value in each generation is larger than the average population level, the fitness value is adjusted according to the evolution trend of the population; and when the individual fitness value is smaller than the population average level, the individual fitness value is adjusted according to the respective evolution trend.
In another embodiment of the present invention, the solution using the adaptive differential evolution algorithm is as shown in fig. 2, and includes the following steps:
s201, determining an aperture index of the radar system, wherein the aperture index comprises information such as the number of transmitting antennas, the number of receiving antennas, the number of chips, the preset azimuth and elevation angular resolution and the like.
S202, determining conditions for constraining individual azimuth and pitching arrays, namely azimuth aperture constraint and adjacent array element spacing constraint, pitching aperture constraint, feeder length constraint and same intra-chip array element spacing constraint.
S203, initializing parameters and populations of a differential evolution algorithm according to the determined aperture indexes and constraint conditions.
S204, carrying out fitness calculation on the initialized individual by utilizing a preset adaptive function to obtain a fitness value.
S205, adaptively adjusting and optimizing relevant parameters in the differential evolution algorithm.
S206, performing differential variation, random introduction, inheritance of parent and other operations based on the adjusted parameters, and obtaining new individuals of the offspring.
S207, constraining the new individual according to the constraint conditions.
S208, calculating the fitness value of the new individual, merging and sequencing the fitness value obtained by calculation in S204, and obtaining a new population according to the magnitude relation of the fitness value.
S209, it is determined whether or not the termination condition is satisfied, and if satisfied, the process proceeds to S210, and if not satisfied, S205 to S209 are repeatedly executed.
S210, outputting the optimal array design.
As shown in fig. 3, the two-dimensional vehicle-mounted MIMO radar antenna array design method based on the adaptive differential evolution algorithm includes the following steps:
S301, determining the number M of array transmitting array elements and the number N of receiving array elements, and determining the number I of required chips, wherein in the MIMO radar, one transmitting antenna can comprise a plurality of transmitting array elements, and one receiving antenna comprises a plurality of receiving array elements. In this embodiment, M may be set to 12, n to 16, and i to 4.
S302, considering actual processing influence, setting the grid size of the sparse array as，/>Is the signal wavelength.
S303, considering the size of the array elements, restraining the minimum distance between the azimuth direction adjacent array elementsI.e.K is a positive integer.
S304, determining array apertures in azimuth and elevation according to preset angle resolution requirements, grid sizes and resolution calculation formulas, and determining the number of azimuth array elements and the number of elevation array elements based on the array apertures in azimuth and elevation.
At a preset azimuthal resolutionAnd resolution in pitch direction/>For example, the azimuthal array aperture/>, is obtained from a resolution calculation formulaAnd pitch array aperture/>：
；
；
In the method, in the process of the invention,Is azimuth angle/>Is the pitch angle.
Then, according to the determinationAnd/>Determining the number of azimuth array elements/>And pitching array element number/>。/>
S305, considering that the number of receiving array elements is more than the number of transmitting array elements, according to the MIMO virtual array principle and the determined number of azimuth array elements and the determined number of pitching array elements, carrying out random division on the number of azimuth array elements and the number of pitching array elements.
The number of the array elements in the azimuth directionAnd pitching array element number/>For example, the number of azimuth and elevation array elements in the transmit array may be/>, respectivelyAnd/>; The number of array elements in the azimuth direction and the pitching direction of the receiving array can be/>, respectivelyAnd/>; Wherein/>，/>。
S306, according to the number of chipsRestricting the azimuth distribution range of the array elements, dividing the transmitting array elements and the receiving array elements into/>Subintervals.
In the present embodiment, since the radar system described above employsThe chip 3 sends out 4 and receives radar chip cascade, therefore divide the azimuth aperture of the transmitting and receiving array into 4 subintervals respectively, let/>，Expressed as the size of the transmit and receive array azimuth subintervals, respectively,/>Representation pair/>Rounding up, each interval range is expressed as:
；
the number of the transmitting array elements in the azimuth direction and the number of the receiving array elements in the azimuth direction obtained by the calculation are respectively calculated to obtain the sizes of the azimuth sub-intervals of the transmitting array and the receiving array ，/>。
S307, considering the loss of the feeder line in the actual PCB layout, respectively taking a certain transmitting array element and a receiving array element of different chips as references to limit the length of the feeder line to be inIn, f is a positive integer, and the pitch spacing of the same chip antenna is limited to be withinIn, l is a positive integer.
In this embodiment, the first transmitting array element of the 1 st chip and the first receiving array element of the 2 nd chip are used as the reference of pitching direction to limit the feeder length to be inWithin the range, i.e./>; Simultaneously restricting the pitching spacing of the transmitting array element and the receiving array element in the same chip to be/>Interior, i.e./>。
It should be noted that, in other embodiments, the pitch reference may be the second transmitting element on the 1 st chip and the first receiving element on the 2 nd chip, or other transmitting elements and receiving elements not on the same chip, which is not limited in the present invention.
And S308, optimizing the design of the MIMO radar sparse antenna array by applying a self-adaptive differential evolution algorithm, initializing a population according to the constraint conditions determined in S301-S307, wherein each individual in the population comprises the azimuth position and the elevation position of the transmitting and receiving array, namely, each individual represents a sparse array arrangement mode design.
In this step, the number of individuals in the population isThe azimuth and elevation of the transmitting array element is/>Vector of dimensions, azimuth and elevation of the receiving array element are/>Vector of dimension, obtaining initialized population according to the constraint condition, wherein each individual in the population comprises 4 position vectors, namely the first/>, respectivelyFirst/>, in the generation populationPosition vector/>, of azimuth and elevation of transmitting and receiving array elements of individual，/>，/>，/>。
S309, designing fitness functions by comprehensively considering azimuth and pitching sidelobe levels, adaptively adjusting related parameters in a differential evolution optimization algorithm, calculating fitness function values of each individual in the population, carrying out differential mutation and crossover operation on the individuals to obtain a child population, merging a parent population and the child population, sequencing according to the fitness function values, and updating the population.
In this step, the fitness function value of each individual in the offspring population is calculated, the parent population and the offspring population are combined, and the parent population and the offspring population are sorted from the big to the small according to the fitness value, and the parent population and the offspring population are taken beforeIndividuals constitute a new population.
The adaptive adjustment of relevant parameters in the differential evolution optimization algorithm means that the retention probability and the differential variation probability of the population change along with the change of the iteration number, and particularly, the calculation formulas of the retention probability and the differential variation probability are referred to.
After a new individual is obtained, the constraint condition is verified, and the individual which does not meet the condition is reassigned.
In this example, population sizeEvolutionary iteration number/>Crossover probability/>Regulatory factor/>，/>. Retention probability/>And differential variation probability/>The values of the relevant parameters of (a) are as follows: /(I) ，/>,/>，/>，/>Thereby obtaining an fitness value evolution curve as shown in fig. 9.
And S310, judging whether a termination condition is met, outputting an optimal sparse array arrangement mode if the termination condition is met, and iterating S309 until the termination condition is met if the termination condition is not met.
Taking the specific values of the parameters related to the self-adaptive differential evolution algorithm, the preset number of transmitting antennas, the preset number of receiving antennas, the number of chips, the azimuth resolution, the pitching resolution and the like as examples, determining an optimal individual according to the fitness value from the new population obtained by the last iteration, wherein the array element positions of the azimuth transmitting and receiving individuals of the optimal individual are expressed as follows:
；
The array element positions of the transmitting and receiving individuals in the pitching direction are expressed as follows:
。
based on the optimal individual obtained by the solution, a schematic diagram shown in fig. 4a-4e is obtained, wherein fig. 4a is an overall schematic diagram of the optimal array arrangement, fig. 4b is a schematic diagram of position distribution of azimuth equivalent virtual array elements in the optimal array arrangement, fig. 4c is an azimuth normalization pattern, fig. 4d is a schematic diagram of position distribution of pitching equivalent virtual array elements in the optimal array arrangement, and fig. 4e is a pitching normalization pattern.
In order to verify whether the azimuth resolution of the obtained optimized array meets the requirement, the angle of a target 1 (an object to be positioned) is set as follows: ; the target 2 angle is: /(I) As shown in FIG. 5a and FIG. 5b, simulation results show that although the measurement result is slightly different from the actual target position, the obtained optimized array can distinguish the phase difference in azimuth/>, and the obtained optimized array can be used for 1-dimensional DOA estimation and 2-dimensional DOA estimation of the target by using the MUSIC algorithmIs described.
In order to verify whether the pitching resolution ratio of the obtained optimized array meets the requirement, a target 1 angle is set as follows: ; the target 2 angle is: /(I) The MUSIC algorithm is also adopted to perform 1-dimensional DOA estimation and 2-dimensional DOA estimation on the target, as shown in fig. 6a and 6b respectively, and the simulation result shows that the obtained optimized array can accurately distinguish the phase difference/>, in the pitching directionIs described.
In summary, by the two-dimensional vehicle-mounted MIMO radar antenna array design method based on the self-adaptive differential evolution algorithm, the obtained optimal array arrangement can give consideration to the azimuth angle resolution and the elevation angle resolution, and the practical problems of the number of chips, the positions of the chips, the length of feeder lines, the layout size of a PCB and the like are also considered.
Based on any one of the above embodiments, another embodiment of the present invention further provides a two-dimensional vehicle MIMO radar antenna array design device based on an adaptive differential evolution algorithm, and fig. 7 is a schematic structural diagram of the two-dimensional vehicle MIMO radar antenna array design device based on the adaptive differential evolution algorithm provided by the present invention, as shown in fig. 7, where the two-dimensional vehicle MIMO radar antenna array design device based on the adaptive differential evolution algorithm includes:
The antenna information obtaining module 701 is configured to obtain antenna array information, where the antenna array information includes a number of transmitting array elements, a number of receiving array elements, and a number of chips.
And the optimal solving module 702 is configured to solve according to the constraint conditions and the fitness function of the antenna array information, the azimuth direction and the elevation direction, and by using an adaptive differential evolution algorithm, obtain optimal array arrangement.
The constraint conditions of azimuth and pitching include azimuth aperture constraint, azimuth spacing constraint, pitching aperture constraint, pitching spacing constraint of array elements in the same chip and feeder length constraint.
The azimuth aperture constraint is determined according to preset azimuth angle resolution, the elevation aperture constraint is determined according to preset elevation angle resolution, the elevation feeder length constraint is determined based on elevation reference and feeder length, and the elevation reference refers to preset array elements on different chips.
The two-dimensional vehicle-mounted MIMO radar antenna array design device based on the self-adaptive differential evolution algorithm corresponds to the two-dimensional vehicle-mounted MIMO radar antenna array design method based on the self-adaptive differential evolution algorithm, and is not described in detail herein.
Based on any of the foregoing embodiments, another embodiment of the present invention further provides an electronic device, as shown in fig. 8, where the electronic device may include: processor 810 (Processor), communication interface 820 (Communications Interface), memory 830 (Memory), and communication bus 840, wherein Processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform the two-dimensional on-vehicle MIMO radar antenna array design method based on the adaptive differential evolution algorithm described above.
Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Further, the logic instructions in the memory described above may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
On the other hand, the embodiment of the invention also provides a storage medium, on which a plurality of instructions are stored, the instructions are suitable for being loaded by a processor to execute the two-dimensional vehicle-mounted MIMO radar antenna array design method based on the adaptive differential evolution algorithm provided by the above embodiments.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
In summary, although the present invention has been described in terms of the preferred embodiments, the preferred embodiments are not limited to the above embodiments, and various modifications and changes can be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention is defined by the appended claims.
Claims (8)
1. A two-dimensional vehicle-mounted MIMO radar antenna array design method based on a self-adaptive differential evolution algorithm is characterized by comprising the following steps:
acquiring antenna array information, wherein the antenna array information comprises the number of transmitting array elements, the number of receiving array elements and the number of chips;
According to the antenna array information, constraint conditions of azimuth and elevation directions and an adaptability function, solving by utilizing a self-adaptive differential evolution algorithm to obtain optimal array arrangement;
The constraint conditions of azimuth and pitching comprise azimuth aperture constraint, azimuth spacing constraint, pitching aperture constraint, pitching spacing constraint of array elements in the same chip and feeder length constraint;
The azimuth aperture constraint is determined according to preset azimuth angle resolution, the elevation aperture constraint is determined according to preset elevation angle resolution, the elevation feeder length constraint is determined based on elevation reference and feeder length, and the elevation reference refers to preset array elements on different chips;
The array element positions of the azimuth transmitting and receiving individuals are respectively as follows:
；
For convenience in describing that the azimuthal aperture meets resolution requirements and adjacent pitch requirements, ，Wherein/>Azimuth position information of the ith transmitting array element; /(I)The information of the azimuth position of the j-th receiving array element; /(I)Position information representing the i-th transmitting array element minus the constraint of the adjacent array elements; /(I)The j-th receiving array element subtracts the position information of the constraint of the adjacent array element; /(I)Is the minimum distance between adjacent array elements in azimuth;
the array element positions of the pitching transmitting and receiving individuals are respectively as follows:
；
The pore size constraint of the azimuth corresponds to the following formula:
；
In the method, in the process of the invention, For the 1 st transmitting array element position of azimuth,/>For the 1 st receiving array element position of azimuth,/>Position of Mth transmitting array element in azimuth,/>For the N-th receiving array element position of azimuth,/>For the maximum array element position of azimuth transmitting array element,/>For the maximum array element position of the azimuth receiving array element,/>Position information obtained by subtracting constraint of adjacent array elements from the 1 st transmitting array element in azimuth,/>Subtracting the position information of adjacent array element constraint for the 1 st receiving array element in azimuth,Subtracting the position information after the constraint of the adjacent array elements from the Mth transmitting array element in the azimuth direction,/>Subtracting the position information after the constraint of the adjacent array elements from the Nth receiving array element in the azimuth direction,/>For the minimum distance between adjacent array elements in azimuth, M is the number of transmitting array elements, N is the number of receiving array elements,/>Subtracting the position information after the constraint of the adjacent array elements for the p-th transmitting array element in the azimuth direction,/>For/>Chip,/>Subtracting the position information after the constraint of the adjacent array elements from the q-th receiving array element in the azimuth direction,/>For/>Chip,/>，/>，/>Representing an upward rounding;
The pitch-wise aperture constraint corresponds to the following formula:
；
In the method, in the process of the invention, For pitching to transmitting the maximum array element position of array element,/>For pitching to receiving the maximum array element position of array element,/>For pitching transmitting array element reference,/>For receiving array element reference in pitching direction,/>To remove any transmitting element outside the transmitting element reference,/>In order to remove any receiving array element except the receiving array element reference, and ensure that the pitching transmitting array element reference and the pitching receiving array element reference are not in the same chip;
the formula corresponding to the feeder length constraint in the pitching direction is as follows:
；
In the method, in the process of the invention, For/>Transmitting array element pitching direction position information on each chip,/>For/>Receiving array element pitching direction position information on each chip,/>For/>Pitch position information of individual chips,/>For the pitch distance of the b-th transmitting array element,/>For the pitch distance of the d-th receiving array element, R is the constrained feeder length, and b is the/>The first transmitting array element on the chip, d is the/>The first receiving array element on the chip;
The azimuth interval constraint is as follows:
；
In the method, in the process of the invention, For the azimuth position information of the ith transmitting array element,/>For the azimuth position information of the j-th transmitting array element,/>For the i-th receiving array element azimuth position information,/>For the j-th receiving array element azimuth position information,/>Is the minimum distance between adjacent array elements in azimuth;
the pitch direction interval constraint of the array elements in the same chip is as follows:
；
In the method, in the process of the invention, Pitch position information for the ith transmit element,/>For the j-th transmitting array element pitching direction position information,For the i-th receiving array element pitching position information,/>For j-th receiving array element pitching position information,/>Is the maximum distance between pitching array elements in the same chip.
2. The method for designing a two-dimensional vehicle-mounted MIMO radar antenna array based on the adaptive differential evolution algorithm as set forth in claim 1, wherein the step of obtaining the optimal array arrangement by solving by the adaptive differential evolution algorithm according to the antenna array information, the constraint conditions of azimuth and elevation directions and the fitness function comprises the steps of:
Initializing a population according to the antenna array information and the constraint conditions of azimuth and elevation, wherein each individual in the population comprises azimuth positions and elevation positions of transmitting array elements and receiving array elements;
a mutation and crossover step, wherein mutation and crossover operation is carried out on the individual to obtain a new individual;
A fitness calculating step, namely performing fitness calculation on the new individual and the initialized individual by using the fitness function, and determining a new population according to the fitness value obtained by calculation;
And repeating the mutation and crossing steps until the fitness calculation step reaches a preset ending condition, and obtaining the optimal array arrangement from the new population.
3. The method for designing a two-dimensional vehicle-mounted MIMO radar antenna array based on the adaptive differential evolution algorithm of claim 1, wherein the fitness function is determined according to a directivity pattern, side lobe levels of azimuth and elevation directions, and a degree of duty cycle for adjusting the azimuth and elevation directions.
4. The method for designing a two-dimensional vehicle-mounted MIMO radar antenna array based on the adaptive differential evolution algorithm of claim 3, wherein the formula of the fitness function is as follows:
；
Wherein, ，
In the method, in the process of the invention,Representing pitch angle/>Side lobe interval of time azimuth direction diagram,/>Representing azimuth/>Side lobe interval of time pitching direction pattern,/>To the extent of duty cycle,/>As a function of the azimuth pattern,/>As a pitch-to-direction pattern function; /(I)For pitch distance from the reference point,/>Is the azimuthal spacing from the reference point.
5. The method for designing a two-dimensional vehicle-mounted MIMO radar antenna array based on the adaptive differential evolution algorithm of claim 2, wherein the mutation and crossover step comprises:
performing differential mutation operation on a preset number of individuals in the population by using the cross probability to obtain new individuals after differential mutation;
Determining a new crossed individual according to the retention probability, the differential variation probability and the new differential variation individual, and determining a new population based on the new crossed individual and the new differential variation individual; the retention probability and the differential variation probability are adaptively updated along with the change of the population evolution times.
6. Two-dimensional vehicle-mounted MIMO radar antenna array design device based on self-adaptive differential evolution algorithm, which is characterized by comprising:
The antenna information acquisition module is used for acquiring antenna array information, wherein the antenna array information comprises the number of transmitting array elements, the number of receiving array elements and the number of chips;
The optimal solving module is used for solving according to constraint conditions and fitness functions of the antenna array information, azimuth direction and pitching direction and by utilizing a self-adaptive differential evolution algorithm to obtain optimal array arrangement;
The constraint conditions of azimuth and pitching comprise azimuth aperture constraint, azimuth spacing constraint, pitching aperture constraint, pitching spacing constraint of array elements in the same chip and feeder length constraint;
The azimuth aperture constraint is determined according to preset azimuth angle resolution, the elevation aperture constraint is determined according to preset elevation angle resolution, the elevation feeder length constraint is determined based on elevation reference and feeder length, and the elevation reference refers to preset array elements on different chips;
The array element positions of the azimuth transmitting and receiving individuals are respectively as follows:
；
For convenience in describing that the azimuthal aperture meets resolution requirements and adjacent pitch requirements, ，Wherein/>Azimuth position information of the ith transmitting array element; /(I)The information of the azimuth position of the j-th receiving array element; /(I)Position information representing the i-th transmitting array element minus the constraint of the adjacent array elements; /(I)The j-th receiving array element subtracts the position information of the constraint of the adjacent array element; /(I)Is the minimum distance between adjacent array elements in azimuth;
the array element positions of the pitching transmitting and receiving individuals are respectively as follows:
；
The pore size constraint of the azimuth corresponds to the following formula:
；
In the method, in the process of the invention, For the 1 st transmitting array element position of azimuth,/>For the 1 st receiving array element position of azimuth,/>Position of Mth transmitting array element in azimuth,/>For the N-th receiving array element position of azimuth,/>For the maximum array element position of azimuth transmitting array element,/>For the maximum array element position of the azimuth receiving array element,/>Position information obtained by subtracting constraint of adjacent array elements from the 1 st transmitting array element in azimuth,/>Subtracting the position information of adjacent array element constraint for the 1 st receiving array element in azimuth,Subtracting the position information after the constraint of the adjacent array elements from the Mth transmitting array element in the azimuth direction,/>Subtracting the position information after the constraint of the adjacent array elements from the Nth receiving array element in the azimuth direction,/>For the minimum distance between adjacent array elements in azimuth, M is the number of transmitting array elements, N is the number of receiving array elements,/>Subtracting the position information after the constraint of the adjacent array elements for the p-th transmitting array element in the azimuth direction,/>For/>Chip,/>Subtracting the position information after the constraint of the adjacent array elements from the q-th receiving array element in the azimuth direction,/>For/>Chip,/>，/>，/>Representing an upward rounding;
The pitch-wise aperture constraint corresponds to the following formula:
；
In the method, in the process of the invention, For pitching to transmitting the maximum array element position of array element,/>For pitching to receiving the maximum array element position of array element,/>For pitching transmitting array element reference,/>For receiving array element reference in pitching direction,/>To remove any transmitting element outside the transmitting element reference,/>In order to remove any receiving array element except the receiving array element reference, and ensure that the pitching transmitting array element reference and the pitching receiving array element reference are not in the same chip;
the formula corresponding to the feeder length constraint in the pitching direction is as follows:
；
In the method, in the process of the invention, For/>Transmitting array element pitching direction position information on each chip,/>For/>Receiving array element pitching direction position information on each chip,/>For/>Pitch position information of individual chips,/>For the pitch distance of the b-th transmitting array element,/>For the pitch distance of the d-th receiving array element, R is the constrained feeder length, and b is the/>The first transmitting array element on the chip, d is the/>The first receiving array element on the chip;
The azimuth interval constraint is as follows:
；
In the method, in the process of the invention, For the azimuth position information of the ith transmitting array element,/>For the azimuth position information of the j-th transmitting array element,/>For the i-th receiving array element azimuth position information,/>For the j-th receiving array element azimuth position information,/>Is the minimum distance between adjacent array elements in azimuth;
the pitch direction interval constraint of the array elements in the same chip is as follows:
；
In the method, in the process of the invention, Pitch position information for the ith transmit element,/>For the j-th transmitting array element pitching direction position information,For the i-th receiving array element pitching position information,/>For j-th receiving array element pitching position information,/>Is the maximum distance between pitching array elements in the same chip.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the two-dimensional on-board MIMO radar antenna array design method based on the adaptive differential evolution algorithm according to any one of claims 1 to 6 when the program is executed.
8. A storage medium having stored therein a plurality of instructions adapted to be loaded by a processor to perform the steps of the two-dimensional on-board MIMO radar antenna array design method based on the adaptive differential evolution algorithm as claimed in any one of claims 1 to 6.
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