CN118091639A - Target three-dimensional identification method and device based on millimeter wave radar system - Google Patents

Target three-dimensional identification method and device based on millimeter wave radar system Download PDF

Info

Publication number
CN118091639A
CN118091639A CN202410360541.9A CN202410360541A CN118091639A CN 118091639 A CN118091639 A CN 118091639A CN 202410360541 A CN202410360541 A CN 202410360541A CN 118091639 A CN118091639 A CN 118091639A
Authority
CN
China
Prior art keywords
target
millimeter wave
radar system
wave radar
virtual
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202410360541.9A
Other languages
Chinese (zh)
Inventor
陈鸿杰
毕承俊
吴家镇
杨万涛
农组观
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huaneng Lancang Upstream Hydropower Co ltd
Huaneng Lancang River Hydropower Co Ltd
Original Assignee
Huaneng Lancang Upstream Hydropower Co ltd
Huaneng Lancang River Hydropower Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huaneng Lancang Upstream Hydropower Co ltd, Huaneng Lancang River Hydropower Co Ltd filed Critical Huaneng Lancang Upstream Hydropower Co ltd
Priority to CN202410360541.9A priority Critical patent/CN118091639A/en
Publication of CN118091639A publication Critical patent/CN118091639A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
    • G01B15/06—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons for measuring the deformation in a solid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a target three-dimensional identification method and device based on a millimeter wave radar system, wherein the method comprises the steps of obtaining a Chirp signal emitted to a target based on the millimeter wave radar system; performing two-dimensional FFT on echo signals reflected by a target to obtain a distance Doppler spectrum, and obtaining target distance and deformation information based on the distance Doppler spectrum; obtaining a multichannel signal reflected by a target based on a virtual array related to a millimeter wave radar system, and performing FFT on the multichannel signal to obtain target angle information; and carrying out target recognition based on the target distance and deformation information and the target angle information to obtain a target recognition result. The method can effectively solve the problem that the non-fuzzy interval is reduced when the target deformation is detected due to the channel time division multiplexing of the conventional TDM-MIMO.

Description

Target three-dimensional identification method and device based on millimeter wave radar system
Technical Field
The invention relates to the technical field of millimeter wave radar systems, in particular to a target three-dimensional identification method and device based on a millimeter wave radar system.
Background
The radar angular resolution is related to the number of antennas, and the radar resolution is higher as the number of antennas is larger, so that the aim of obtaining higher angular resolution can be achieved by arranging more radar antennas. However, each antenna needs its own separate processing chain to perform signal processing such as filtering, mixing, sampling, etc., and the more the number of antennas means the more complex the hardware structure, it is often difficult to arrange enough antennas on the radar due to the limitation of hardware conditions. Therefore, when a large scene target is identified, the problems of inaccurate accuracy and the like of the identified target are often caused, and meanwhile, the problem that a non-fuzzy interval is reduced when the target deformation is detected is caused by the conventional TDM-MIMO (time division multiplexing).
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent.
Therefore, the invention provides a target three-dimensional identification method based on a millimeter wave radar system, which can effectively solve the problem that the non-fuzzy interval is reduced when the target deformation is detected due to channel time division multiplexing of conventional TDM-MIMO.
Another object of the present invention is to provide a three-dimensional target recognition device based on a millimeter wave radar system.
In order to achieve the above object, in one aspect, the present invention provides a method for three-dimensional recognition of a target based on a millimeter wave radar system, comprising:
Acquiring a Chirp signal emitted to a target based on a millimeter wave radar system;
performing two-dimensional FFT on echo signals reflected by a target to obtain a distance Doppler spectrum, and obtaining target distance and deformation information based on the distance Doppler spectrum;
obtaining a multichannel signal reflected by a target based on a virtual array related to a millimeter wave radar system, and performing FFT on the multichannel signal to obtain target angle information;
and carrying out target recognition based on the target distance and deformation information and the target angle information to obtain a target recognition result.
The target three-dimensional identification method based on the millimeter wave radar system provided by the embodiment of the invention can also have the following additional technical characteristics:
in one embodiment of the present invention, the millimeter wave radar system includes at least a transmitting array element and a receiving array element; the method for obtaining the multichannel signal reflected by the target based on the virtual array related to the millimeter wave radar system comprises the following steps:
Identifying the transmitting array elements corresponding to the receiving array elements based on the independence among the signals to obtain an array element identification result;
Based on the array element identification result, each pair of transmitting array elements and receiving array elements are equivalent to virtual position array elements;
And the millimeter wave radar system is equivalent to a transmitting array element and NT.NR virtual receiving array elements which are positioned at the origin based on the virtual position array elements, and the multichannel signals reflected by the target are received based on the virtual receiving array elements.
In one embodiment of the present invention, a millimeter wave radar system based on NT of said transmitting array elements and NR of said receiving array elements comprises NT of NR independent channels from transmission to reception.
In one embodiment of the invention, the position of the virtual receive element is related to the corresponding transmit and receive element positions; the coordinates of the virtual receiving array element are the sum of the coordinates of a pair of transmitting array element and receiving array element.
In one embodiment of the invention, the Chirp signal is a set of mutually orthogonal or partially correlated signals; the Chirp signals form a wide beam after spatial superposition.
To achieve the above object, another aspect of the present invention provides a target three-dimensional recognition device based on a millimeter wave radar system, including:
The target signal transmitting module is used for acquiring a Chirp signal transmitted to a target based on the millimeter wave radar system;
The distance deformation determining module is used for carrying out two-dimensional FFT on echo signals reflected by the target to obtain a distance Doppler spectrum and obtaining target distance and deformation information based on the distance Doppler spectrum;
The angle information determining module is used for obtaining a multi-channel signal reflected by a target based on a virtual array related to the millimeter wave radar system, and performing FFT on the multi-channel signal to obtain target angle information;
and the target three-dimensional recognition module is used for carrying out target recognition based on the target distance, the deformation information and the target angle information so as to obtain a target recognition result.
According to the target three-dimensional identification method and device based on the millimeter wave radar system, the problem that the non-fuzzy interval is reduced when the target deformation is detected due to channel time division multiplexing in conventional TDM-MIMO can be effectively solved by optimizing the arrangement of the antenna array elements.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a method for three-dimensional identification of targets based on a millimeter wave radar system according to an embodiment of the invention;
Fig. 2 is a schematic diagram of a three-transmit four-receive antenna array and its corresponding virtual array according to an embodiment of the present invention;
Fig. 3 (a) and fig. 3 (b) are schematic diagrams of representation of a stationary point of a target in a coordinate system of a MIMO radar sensor and representation of a moving target change track coordinate according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of federated Chirp data interception in accordance with an embodiment of the present invention;
Fig. 5 is a schematic structural view of a target three-dimensional recognition device based on a millimeter wave radar system according to an embodiment of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
The following describes a target three-dimensional recognition method and device based on a millimeter wave radar system according to an embodiment of the present invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of a target three-dimensional recognition method based on a millimeter wave radar system according to an embodiment of the present invention.
As shown in fig. 1, the method includes, but is not limited to, the steps of:
S1, acquiring a Chirp signal emitted to a target based on a millimeter wave radar system;
S2, performing two-dimensional FFT on echo signals reflected by the target to obtain a distance Doppler spectrum, and obtaining target distance and deformation information based on the distance Doppler spectrum;
s3, obtaining a multi-channel signal reflected by a target based on a virtual array related to the millimeter wave radar system, and performing FFT on the multi-channel signal to obtain target angle information;
and S4, carrying out target recognition based on the target distance, the deformation information and the target angle information to obtain a target recognition result.
In one embodiment of the present invention, the MIMO radar generally includes a plurality of transmitting antennas and receiving antennas, the signals are transmitted by the plurality of transmitting antennas, the signals reflected by the target are collected by the plurality of receiving antennas, and the received multipath signals are sent to a subsequent signal processing module for signal processing after passing through the multipath receiver. The transmit signals in a MIMO radar system are a set of mutually orthogonal or partially correlated signals, and no longer a set of coherent signals. Such a set of signals will form a wide beam after spatial superposition and be low-gain, but not a high-gain narrow beam, so that these signals can simultaneously achieve energy coverage over a large spatial range, thereby enabling simultaneous identification and tracking of multiple targets over a large range.
For a MIMO radar with NT transmit and NR receive elements, there are NT x NR independent channels from transmit to receive due to orthogonality between the signals. And identifying the corresponding transmitting end by utilizing the independence among signals at the receiving end, wherein each pair of receiving and transmitting array elements can be equivalent to an array element at a virtual position, and the whole system can be equivalent to a transmitting array element at an origin and NT x NR virtual receiving array elements. At this time, only nt+nr physical array elements exist in the radar, but the equivalent result includes nt×nr virtual array elements, which indicates that the number of array elements can be extended by using the MIMO technique. The equivalent virtual receive element position is associated with the corresponding transmit and receive element positions, the coordinates of which are the sum of the coordinates of a pair of transmit and receive elements.
In one embodiment of the present invention, fig. 2 is a three-transmit-four-receive antenna array and a corresponding virtual array thereof, and as can be seen from fig. 2, in the three-transmit-four-receive antenna arrangement, two transmitting antennas have a spacing of 4d and are located at the same level as the remaining four receiving antennas; the third transmitting antenna is positioned at the center of the other two transmitting antennas in the horizontal direction, is higher than the other two transmitting antennas in the vertical direction and has a distance d. Thus, 3X4 = 12 virtual antennas can be formed, wherein eight virtual antennas are located at the same level and are called azimuth antennas, and the other four virtual antennas are located at the other level and are called elevation antennas, and the antenna spacing is d. Assuming an antenna spacing d=λ/2, the radar virtual antenna includes eight azimuth antennas RX1-RX8 and four elevation antennas RX9-RX 12. A radar three-dimensional coordinate system as shown in fig. 3 (a) and 3 (b) is established centering on a radar transmitting antenna. In fig. 3 (a) and 3 (b), the Y axis points in the radar forward direction, the Z axis is vertically upward, and the X axis and the Z-Y axis form the right-hand system.
In one embodiment of the present invention, fig. 3 (a) and 3 (b) show representations of single-point reflection targets in a MIMO radar sensor coordinate system, where fig. 3 (a) is a representation of a stationary point of a target and fig. 3 (b) is a moving target change track coordinate representation. x, y and z describe the position of the point in radar Cartesian space, radius r, elevation angle θ and azimuth angleRepresenting the position in the spherical coordinate system,/>Representing the radial rate of change between the target point and the radar, it can be decomposed into three components v x、vy、vz, assuming the velocity of the target at time n is v n, as shown in fig. 3 (b). the position of the target n-2、targetn-1、targetn target at the times n-2, n-1 and n is represented by the following coordinates corresponding to each time:
Further, the target distance, deformation and angle can be obtained simultaneously by the time division multiplexing multiple-input multiple-output frequency modulation continuous (Time Division Multiplexing-Multiple Input Multiple Output Frequency Modulated Continuous Wave,TDM-MIMO FMCW) millimeter wave radar target detection algorithm. By optimizing the arrangement of the antenna array elements, the problem that the non-fuzzy interval is reduced when the target deformation is detected due to the channel time division multiplexing of the conventional TDM-MIMO can be effectively solved.
Specifically, the invention develops researches on the problem of processing the TDM-MIMO FMCW time-division multiplexing multi-input multi-output frequency modulation continuous wave vehicle millimeter wave radar signal. TDM-MIMO FMCW radars typically transmit as a radar transmit waveform to a target with a fast Chirp signal, with each frame of Chirp data having post-FFT data as shown in fig. 4, with each Chirp FFT being transverse, i.e., distance-to-FFT, and each column being longitudinal, referred to as a slow time dimension. In the invention, firstly, two-dimensional FFT is carried out on the echo reflected by the target to obtain a Range-Doppler (RD) spectrum, and then the target distance and deformation information are obtained; and then, carrying out FFT on the multichannel signals obtained by the virtual array formed by the TDM-MIMO to obtain target angle information. Thus, distance, deformation, and angle information of the target are obtained through the above FFT operation of 3 dimensions, and thus are called a three-dimensional FFT (3D-FFT) detection algorithm.
In the embodiment of the invention, the transmitting array elements corresponding to the receiving array elements are identified based on the independence among signals so as to obtain an array element identification result; based on the array element identification result, each pair of transmitting array elements and receiving array elements are equivalent to virtual position array elements; and the MIMO radar system is equivalent to a transmitting array element and NT virtual receiving array elements which are positioned at the origin based on the virtual position array elements, and the multichannel signals reflected by the target are received based on the virtual receiving array elements.
The target three-dimensional identification method based on the millimeter wave radar system can realize energy coverage to a larger airspace range at the same time, so that a plurality of targets in a larger range can be identified and tracked at the same time, and the problem that a non-fuzzy interval is reduced when the targets are detected due to channel time division multiplexing in conventional TDM-MIMO can be effectively solved by optimizing antenna array element arrangement.
In order to implement the above-described embodiment, as shown in fig. 5, there is further provided a target three-dimensional recognition device 10 based on a millimeter wave radar system, the device 10 including a target signal transmitting module 100, a distance deformation determining module 200, an angle information determining module 300, and a target three-dimensional recognition module 400;
a target signal transmitting module 100, configured to acquire a Chirp signal transmitted to a target based on a millimeter wave radar system;
The distance deformation determining module 200 is configured to perform two-dimensional FFT on an echo signal reflected by the target to obtain a distance doppler spectrum, and obtain target distance and deformation information based on the distance doppler spectrum;
The angle information determining module 300 is configured to obtain a multi-channel signal reflected by a target based on a virtual array related to the millimeter wave radar system, and perform FFT on the multi-channel signal to obtain target angle information;
The target three-dimensional recognition module 400 is configured to perform target recognition based on the target distance and deformation information and the target angle information to obtain a target recognition result.
Further, the millimeter wave radar system at least comprises a transmitting array element and a receiving array element; the angle information determining module 300 is further configured to:
Identifying the transmitting array elements corresponding to the receiving array elements based on the independence among the signals to obtain an array element identification result;
Based on the array element identification result, each pair of transmitting array elements and receiving array elements are equivalent to virtual position array elements;
and the millimeter wave radar system is equivalent to a transmitting array element and NT virtual receiving array elements which are positioned at the origin based on the virtual position array elements, and the multichannel signals reflected by the target are received based on the virtual receiving array elements.
Further, a millimeter wave radar system based on NT transmitting array elements and NR receiving array elements comprises nt×nr independent channels from transmission to reception.
Further, the position of the virtual receiving array element is related to the positions of the corresponding transmitting array element and receiving array element; the coordinates of the virtual receive array element are the sum of the coordinates of a pair of transmit and receive array elements.
Further, the Chirp signal is a set of mutually orthogonal or partially correlated signals; the Chirp signal forms a wide beam after spatial superposition.
The target three-dimensional identification device based on the millimeter wave radar system can realize energy coverage to a larger airspace range at the same time, so that a plurality of targets in a larger range can be identified and tracked at the same time, and the problem that a non-fuzzy interval is reduced when the targets are detected due to channel time division multiplexing in conventional TDM-MIMO can be effectively solved by optimizing antenna array element arrangement.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Claims (10)

1. The target three-dimensional identification method based on the millimeter wave radar system is characterized by comprising the following steps of:
Acquiring a Chirp signal emitted to a target based on a millimeter wave radar system;
performing two-dimensional FFT on echo signals reflected by a target to obtain a distance Doppler spectrum, and obtaining target distance and deformation information based on the distance Doppler spectrum;
obtaining a multichannel signal reflected by a target based on a virtual array related to a millimeter wave radar system, and performing FFT on the multichannel signal to obtain target angle information;
and carrying out target recognition based on the target distance and deformation information and the target angle information to obtain a target recognition result.
2. The method of claim 1, wherein the millimeter wave radar system comprises at least a transmit array element and a receive array element; the method for obtaining the multichannel signal reflected by the target based on the virtual array related to the millimeter wave radar system comprises the following steps:
Identifying the transmitting array elements corresponding to the receiving array elements based on the independence among the signals to obtain an array element identification result;
Based on the array element identification result, each pair of transmitting array elements and receiving array elements are equivalent to virtual position array elements;
And the millimeter wave radar system is equivalent to a transmitting array element and NT.NR virtual receiving array elements which are positioned at the origin based on the virtual position array elements, and the multichannel signals reflected by the target are received based on the virtual receiving array elements.
3. The method of claim 2, wherein the millimeter wave radar system based on NT of said transmit elements and NR of said receive elements comprises NT x NR independent channels from transmit to receive.
4. A method according to claim 3, wherein the position of the virtual receive element is related to the corresponding transmit and receive element positions; the coordinates of the virtual receiving array element are the sum of the coordinates of a pair of transmitting array element and receiving array element.
5. The method of claim 1, wherein the Chirp signal is a set of mutually orthogonal or partially correlated signals; the Chirp signals form a wide beam after spatial superposition.
6. A target three-dimensional recognition device based on a millimeter wave radar system, comprising:
The target signal transmitting module is used for acquiring a Chirp signal transmitted to a target based on the millimeter wave radar system;
The distance deformation determining module is used for carrying out two-dimensional FFT on echo signals reflected by the target to obtain a distance Doppler spectrum and obtaining target distance and deformation information based on the distance Doppler spectrum;
The angle information determining module is used for obtaining a multi-channel signal reflected by a target based on a virtual array related to the millimeter wave radar system, and performing FFT on the multi-channel signal to obtain target angle information;
and the target three-dimensional recognition module is used for carrying out target recognition based on the target distance, the deformation information and the target angle information so as to obtain a target recognition result.
7. The apparatus of claim 6, wherein the millimeter wave radar system comprises at least a transmit array element and a receive array element; the angle information determining module is further configured to:
Identifying the transmitting array elements corresponding to the receiving array elements based on the independence among the signals to obtain an array element identification result;
Based on the array element identification result, each pair of transmitting array elements and receiving array elements are equivalent to virtual position array elements;
And the millimeter wave radar system is equivalent to a transmitting array element and NT.NR virtual receiving array elements which are positioned at the origin based on the virtual position array elements, and the multichannel signals reflected by the target are received based on the virtual receiving array elements.
8. The apparatus of claim 7 wherein said millimeter wave radar system based on NT said transmit elements and NR said receive elements comprises NT x NR independent channels from transmit to receive.
9. The apparatus of claim 8, wherein the position of the virtual receive element is related to the corresponding transmit and receive element positions; the coordinates of the virtual receiving array element are the sum of the coordinates of a pair of transmitting array element and receiving array element.
10. The apparatus of claim 6, wherein the Chirp signal is a set of mutually orthogonal or partially correlated signals; the Chirp signals form a wide beam after spatial superposition.
CN202410360541.9A 2024-03-27 2024-03-27 Target three-dimensional identification method and device based on millimeter wave radar system Pending CN118091639A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410360541.9A CN118091639A (en) 2024-03-27 2024-03-27 Target three-dimensional identification method and device based on millimeter wave radar system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410360541.9A CN118091639A (en) 2024-03-27 2024-03-27 Target three-dimensional identification method and device based on millimeter wave radar system

Publications (1)

Publication Number Publication Date
CN118091639A true CN118091639A (en) 2024-05-28

Family

ID=91158642

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202410360541.9A Pending CN118091639A (en) 2024-03-27 2024-03-27 Target three-dimensional identification method and device based on millimeter wave radar system

Country Status (1)

Country Link
CN (1) CN118091639A (en)

Similar Documents

Publication Publication Date Title
US11340342B2 (en) Automotive radar using 3D printed luneburg lens
KR102653129B1 (en) Radar Apparatus and Antenna Apparatus therefor
CN108845295B (en) Device, method and radar system for determining the position of an object
CN108693511B (en) Moving target angle calculation method of time division multiplexing MIMO radar
CN114280593B (en) Radar system and vehicle
JP7027579B2 (en) MIMO radar sensor for automobiles
US11668809B2 (en) Radar and antenna built in radar
EP3572838B1 (en) Radar device
WO2021129581A1 (en) Signal processing method and apparatus
CN109765529B (en) Millimeter wave radar anti-interference method and system based on digital beam forming
CN111257879B (en) Method for solving millimeter wave MIMO radar target splitting based on two norms
CN109375213A (en) Frequency diversity array signal processing method based on Subarray partition
CN111656213A (en) Radar and antenna built in radar
CN114488154A (en) Signal processing method and device for MIMO radar, radar and storage medium
CN114814817A (en) Moving object speed deblurring method and device, electronic equipment and storage medium
US11876582B2 (en) Hybrid beam steering radar
EP3978951A1 (en) Mimo radar system for an aerial vehicle
CN116990794A (en) MIMO radar target detection method and device based on DDMA waveform modulation
CN118091639A (en) Target three-dimensional identification method and device based on millimeter wave radar system
EP3951428A1 (en) Radar device and antenna device used in radar device
CN114265058A (en) MIMO radar target angle measurement method and device, electronic equipment and storage medium
EP3825718A1 (en) Radar device and antenna device used in radar device
CN114690178A (en) Target tracking method, device, equipment and storage medium
CN116047462B (en) Method and device for selecting optimal array element number and array element spacing of end-shooting array airborne radar
EP4254003A1 (en) Radar having multiple antennas arranged in horizontal and vertical intervals

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination