KR20220017777A - Target location determine apparatus and method thereof - Google Patents

Abstract

Disclosed is a target positioning device, which comprises: a radar device for emitting a radar signal, and receiving the radar signal reflected from a target through a plurality of channels; and a processor for determining a position of the target on the basis of the received radar signal. The processor applies discrete fourier transform (DFT) to the radar signal received through the channels, predicts an angle of the target on the basis of the radar signal to which the DFT is applied, determines the position of the target using the radar signal received through an odd- or even-numbered channel among the channels and a preset high-resolution algorithm when the predicted angle of the target is within a preset angle range, and determines the position of the target using the radar signal received through the channels and a high-resolution algorithm when the predicted angle of the target is out of the preset angle range. Accordingly, the position of the target can be detected with a small amount of calculation.

Description

Target positioning device and method

The present disclosure relates to an apparatus and method for determining a target position, and to a method and method for determining a target position capable of determining a target position with low complexity while improving angular resolution.

The angle estimation method in the radar system includes a mechanical scanning method and a method using a phased array system. In a phased array system, the angular resolution increases as the number of antennas increases.

However, there are limitations in increasing the number of antennas due to cost and space constraints. In this regard, conventionally, a method of improving the resolution using a high-resolution algorithm while maintaining the number of antennas has been used.

However, since complexity increases when a high-resolution algorithm is used, a method for estimating angles with reduced complexity is required.

Accordingly, an object of the present disclosure is to provide a target positioning method and method capable of determining a target position with low complexity while improving angular resolution.

A target positioning device according to the present disclosure for achieving the above object is a radar device that emits a radar signal and receives a radar signal reflected from a target through a plurality of channels, and based on the received radar signal, the a processor for determining a position of a target, wherein the processor applies a Discrete Fourier Transform (DFT) to the radar signal received through the plurality of channels, and based on the radar signal to which the discrete Fourier transform is applied If the angle of the target is predicted and the predicted angle of the target is within a preset angle range, the position of the target is determined using a radar signal received through an odd channel or an even channel among the plurality of channels and a preset high-resolution algorithm. and, when the predicted angle of the target is out of the preset angle range, the location of the target is determined using the radar signal received through the plurality of channels and the high-resolution algorithm.

In this case, the plurality of channels are channels for receiving a radar signal received from each of the phased array antennas arranged at an interval of λ/2, and the processor is configured to, when the predicted angle of the target is within a preset angle range, The position of the target may be determined using a radar signal received through a channel arranged at intervals of λ among antennas and a preset high-resolution algorithm.

Meanwhile, the high-resolution algorithm may be a multiple signal classification algorithm (MUSIC).

Meanwhile, the preset angle may be 30 degrees.

Meanwhile, the method for determining a target position according to an embodiment of the present disclosure includes applying a discrete Fourier transform (DFT) to a radar signal received through a plurality of channels, based on the radar signal to which the discrete Fourier transform is applied. predicting the angle of the target, determining whether the predicted angle of the target is within a preset angular range, and if the predicted angle of the target is within the preset angular range, an odd channel among the plurality of channels or When the target position is determined using a radar signal received through an even channel and a high-resolution algorithm, or when the predicted angle of the target is out of the preset angle range, the radar signal received through the plurality of channels and the high-resolution algorithm and determining the position of the target using

In this case, the plurality of channels are channels for receiving a radar signal received from each of the phased array antennas arranged at intervals of λ/2, and the determining of the position of the target includes the predicted angle of the target within a preset angular range. If it is inside, the position of the target may be determined using a radar signal received through a channel arranged at intervals of λ among the phased array antennas and a preset high-resolution algorithm.

Meanwhile, the high-resolution algorithm may be a multiple signal classification algorithm (MUSIC).

Meanwhile, the preset angle may be 30 degrees.

As described above, according to various embodiments of the present disclosure, it is predicted that the position of the target is within 30 degrees in the front direction, and based on the prediction result, high-resolution frequency detection is adaptively using only the radar signal of the odd channel or the even channel. As applied to the algorithm, the target position can be detected with a low amount of association.

1 is a view showing a specific configuration of a target positioning device according to an embodiment of the present disclosure;
2 is a view for explaining an operation of applying a high-resolution algorithm for each angle of a target according to an embodiment of the present disclosure;
3 and 4 are views showing simulation results according to an embodiment of the present disclosure;
5 is a view showing a spectrum range for a target according to a temporary example of the present disclosure;
6 is a flowchart illustrating a method for determining a target position according to an embodiment of the present disclosure.

Terms used in this specification will be briefly described, and the present disclosure will be described in detail.

Terms used in the embodiments of the present disclosure are selected as currently widely used general terms as possible while considering the functions in the present disclosure, which may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, etc. . In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding disclosure. Therefore, the terms used in the present disclosure should be defined based on the meaning of the term and the contents of the present disclosure, rather than the simple name of the term.

Embodiments of the present disclosure may be subjected to various transformations and may have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the scope of the specific embodiments, and it should be understood to include all transformations, equivalents and substitutions included in the spirit and scope of the disclosure. In describing the embodiments, if it is determined that a detailed description of a related known technology may obscure the subject matter, the detailed description thereof will be omitted.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The singular expression includes the plural expression unless the context clearly dictates otherwise. In this application, "includes." Or "consistent." The term such as is intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features or number, step, operation, component, part or It should be understood that it does not preclude the possibility of the existence or addition of combinations thereof.

In an embodiment of the present disclosure, a 'module' or 'unit' performs at least one function or operation, and may be implemented as hardware or software, or a combination of hardware and software. In addition, a plurality of 'modules' or a plurality of 'units' may be integrated into at least one module and implemented with at least one processor, except for 'modules' or 'units' that need to be implemented with specific hardware.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art to which the present disclosure pertains can easily implement them. However, the present disclosure may be implemented in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present disclosure in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Hereinafter, the present disclosure will be described in more detail with reference to the drawings.

1 is a diagram illustrating a specific configuration of a target positioning apparatus according to an embodiment of the present disclosure.

Referring to FIG. 1 , the target positioning apparatus 100 may include a radar apparatus 110 and a processor 120 . Here, the target positioning device 100 may be a radar capable of emitting a radar signal, a navigation device for autonomous driving, a risk detection device for detecting a danger while driving a vehicle, or a vehicle including them.

The radar device 110 may use a phased array antenna. Here, the phased array antenna (or phased array system) is a large antenna when scanning a radiation beam by electronically changing a phase fed to each element of the array antenna. The phased array antenna used in the present disclosure may have a structure in which a plurality of antennas are disposed at an interval of λ/2 of a radar signal. In this case, the phased array antenna may be composed of various numbers of antennas (eg, 8, 12, 16, 20, 24, 28, 32).

In addition, the radar device 110 may be a device operating in a vehicle frequency modulation continuos wave (FMCW) radar method.

Here, the FMCW is a radar signal that modulates and transmits the frequency of a sine wave and is reflected from the front. It is a system capable of simultaneously measuring the distance and speed of a target by using the time-frequency domain at the same time. The FMCW radar method is widely used in automotive radar systems because of its high bandwidth efficiency and low complexity.

When operating in the FMCW radar method, the radar device 110 may generate and transmit a frequency-modulated square wave according to time through a waveform generator and a voltage-controlled oscillator. For example, the radar device 110 may generate and transmit a transmission signal by performing a preceding frequency modulation as much as a frequency BW (Bandwidth) during Δt. Here, the frequency may be 24 GHz, 77 GHz, etc., but is not limited thereto.

The propagated signal is reflected by an object in front and may be received by the radar device 110 with a Doppler frequency due to a time delay according to a distance and a speed difference. Here, a received radar signal may be multiplied by a received signal and a transmitted signal using a mixer, and a distance may be estimated based on a frequency difference between them. A received radar signal to be described later may be a radar signal itself received through an antenna, or may be a signal obtained by multiplying a received signal and a transmitted signal by a mixer as described above.

In addition, the radar device 110 may perform analog-to-digital conversion on the received radar signal, and may provide the digitally converted radar signal to the processor 120 . That is, a radar signal to be described later may be expressed as a digital value.

The processor 120 controls each component in the target position detection apparatus 100 . Specifically, the processor 120 controls the radar device 110 to emit a radar signal so as to detect an object in front (or around) of the device in real time, and receives the radar signal received from the radar device 110 in real time. The target position can be detected by analysis.

And the processor 120 may predict the angle of the target. For example, the processor 120 may predict the angle of the target by performing a discrete Fourier transform (DFT) on a radar signal received through a plurality of channels.

Here, the discrete Fourier transform is a technique for estimating frequency components, and the resolution is not high. Accordingly, when a plurality of targets are adjacent to each other, the probability of recognition as a single target is high. In the present disclosure, the abnormal Fourier transform is not used to detect the exact position of the target, but the discrete Fourier transform is performed to determine the channel of the radar signal to be input to a high-resolution algorithm to be described later.

In addition, the processor 120 may determine whether to use all of the radar channels to be used for determining the position of the target, odd-numbered channels, or even-numbered channels based on the predicted target angle. For example, when it is predicted that the target is located within the preset range, the processor 120 determines to detect the target position in a way that enables detection of the target position with a low computational amount, and predicts that the target is located outside the preset range Then, it can be decided by detecting the position of the target in a normal way.

Here, the odd channel is an odd-numbered channel among channels receiving radar signals received from each of the phased array antennas arranged at λ/2 intervals. A plurality of channels are arranged at intervals of λ/2. It is a channel for receiving radar signals from the deployed antenna. For example, when using an 8-channel phased array antenna, odd channels may be 1, 3, 5, or 7 channels.

The even channel is an even-numbered channel among channels receiving radar signals received from each of the phased array antennas arranged at λ/2 intervals. A plurality of channels are arranged at intervals of λ/2, and the even channels are at intervals of λ It is a channel for receiving radar signals from the deployed antenna. For example, when an 8-channel phased array antenna is used, even channels may be 2, 4, 6, or 8 channels.

In addition, the processor 120 may determine the position of the target by applying the determined radar signal of the radar channel to the high-resolution algorithm. For example, if the predicted target angle is within 30 degrees (ie, 0 to 30 degrees), the processor 120 selects only channels with a λ interval among the plurality of channels, for example, odd channels or even channels with high resolution. The target position can be determined by input into the algorithm. Conversely, if the predicted angle of the target is greater than or equal to 30 degrees, the processor 120 may determine the location of the target by inputting all of the plurality of channels to the high-resolution algorithm.

Here, the high-resolution algorithm (or ultra-high-resolution algorithm) may be a multiple signal classification algorithm (MUSIC), and in implementation, estimation of signal parameters via rotational invariance techniques (ESPRIT) or other high-resolution frequency detection algorithms may be used. may be Hereinafter, for ease of description, it is assumed that a multi-signal classification technique referred to as MUSIC is applied.

Multi-signal classification technique (MUSIC) is a method of improving angular resolution only by signal processing without increasing the number of antennas. This is a method for tracking the position by using the vector for is orthogonal to the noise space.

Hereinafter, in order to facilitate the operation of the multi-signal classification scheme, it is assumed that a linear array antenna including M antennas with a uniform spacing d is used.

The radar signal transmitted from the M antennas is reflected by the D different targets and the return plane wave is incident at different angles depending on the position of the target.

In this case, the signal x[n] received by the array antenna may be expressed by the following Equation (1).

<Equation 1>

Here, [n] means the nth time sample, and a(θ _i ) is a vector representing the phase difference (dsin(θ)) caused by the plane wave incident angle (θ _i ) and the distance d between the array antennas, s _i [n] is the nth time surface of the incident signal that is reflected back to the ith target.

When a radar signal is received as the above received signal, the angle of arrival in the time domain can be estimated using the MUSIC algorithm.

Also, the angle of arrival in the frequency domain can be estimated by applying the MUSIC algorithm to the frequency domain. Specifically, only a desired angle can be estimated by applying to spectral values corresponding to a bit frequency previously detected through a constant false alarm rate (CFAR) algorithm.

In addition, the target position may be finally calculated using the angle of arrival calculated in the time domain and the angle of arrival calculated in the frequency domain.

The amount of multiplication required for the major operations used in the MUSIC algorithm is as follows.

When the target position is calculated using the radar signals received from all channels using such a main operation, the amount of calculation required for the final position detection is as shown in Equation 2 below.

<Equation 2>

Here, C _conventional is the multiplication amount of the MUSIC algorithm when using radar signals of all channels, L is the number of symbols, K is the number of antennas, and M is the number of targets.

On the other hand, when the position of the target is smaller than a preset angular range (eg, 30 degrees), since the target is within the FOV, the resolution may be increased by setting the antenna spacing to λ. That is, since the antenna spacing is already set to λ/2, the MUSIC algorithm can be performed only on the radar signal received from the λ spacing antenna among the plurality of antennas. That is, the position of the target may be detected using only the radar signal received in the odd channel or the even channel. On the other hand, whether to use an odd channel or an even channel is randomly selected, fixed to use only one, or may be applied in accordance with system characteristics such as alternately used.

Here, the preset angle is for determining whether the object is located within a field of view (FOV). When the FOV is 30 degrees, the preset angle range may be 30 degrees. However, if the FOV has an angle different by 30 degrees, an angle value corresponding to the FOV may be used as the preset angle range.

In this way, when the antenna spacing is assumed to be the λ spacing, the amount of computation is as shown in Equation 3 below.

<Equation 3>

는 초기 검출에 사용되는 FFT의 크기,

은 타겟이

이내에 존재하는 경우 1-

은

밖에 존재하는 경우이다. here

is the size of the FFT used for initial detection,

is the target

1- if present within

silver

if it exists outside.

As described above, even when the number of antennas used when the target position is within a preset angular range is half used, high resolution can be maintained with low complexity. Specific effects will be described later with reference to FIGS. 3 and 4 .

Therefore, in the present disclosure, the approximate angle of the target is predicted using FFT, and the radar signal of the antenna at the λ/2 interval is selectively used according to the predicted angle, or the radar signal received from the antenna at the λ interval is used. use it

As described above, the device for determining the target position according to the present disclosure predicts that the position of the target is within 30 degrees of the front direction, and adaptively uses only the radar signal of the odd channel or the even channel based on the prediction result to obtain a high-resolution frequency detection algorithm When applied to , the target position can be detected with a low amount of computation.

In the illustration and description of FIG. 1 , although the target detection apparatus has been illustrated and described as including only two components, other components may be further included in implementation. For example, the display device may further include a communication device for transmitting the sensed target location to another device or a display for displaying the detected target location.

In addition, in the illustration and description of FIG. 1 , the processor 120 has been illustrated and described as calculating the target position, but in implementation, the radar device 110 performs the operation of calculating the target position, and the processor 120 may perform only a control operation for the radar device 110 . In addition, the target detection apparatus 100 may be mounted on a vehicle to operate as an autonomous driving or risk detection apparatus.

Meanwhile, in the description of FIG. 1 , it has been described that the target detection apparatus 100 detects one target, but the target detection apparatus 100 may determine the positions of a plurality of targets in the above-described process. In addition, although it has been described that the processor 120 applies the signals of the plurality of channels to the MUSIC algorithm as it is in the above process, in implementation, the MUSIC algorithm is performed after preprocessing the radar signals for the plurality of channels in advance. It is also possible to apply it to the algorithm.

2 is a diagram for explaining an operation of applying a high-resolution algorithm for each angle of a target according to an embodiment of the present disclosure.

2, the processor 120 includes a target angle calculation module 121, an angle determination module 122, an all-channel processing module 123, an odd-numbered channel processing module 124, an even-numbered channel processing module 125, It may include an adder 126 and an algorithm processing module 127 .

The target angle calculation module 121 may predict the target angle by performing a discrete Fourier transform (FFT) on the input radar signal. Specifically, the target angle calculation module 121 may predict the angle of the target by using the discrete Fourier transform method on the radar signal received from all of the plurality of channels.

The angle determination module 122 may determine whether the predicted angle of the target is within a preset angle range. For example, it may be determined whether the predicted angle is 30 degrees or an angle out of 30 degrees.

The all-channel processing module 123 is a module that provides all channels of a radar signal to a high-resolution algorithm. Specifically, when the predicted target angle is out of 30 degrees, the all-channel processing module 123 may provide the radar signal of all channels to the algorithm processing module 127 to be described later.

The odd channel processing module 124 is a module that provides an odd channel among radar signals to a high-resolution algorithm. For example, when the radar uses 8 channels arranged at intervals of λ/2, the radar signals of channels 1, 3, 5, and 7 may be provided to the algorithm processing module 127 to be described later. In implementation, the odd channel processing module 124 may perform a preprocessing operation on the odd channel radar signal.

The even-numbered channel processing module 125 is a module that provides an even-numbered channel among radar signals to a high-resolution algorithm. For example, when the radar uses 8 channels arranged at intervals of λ/2, radar signals of 2, 4, 6, and 8 channels may be provided to the algorithm processing module 127 to be described later. When implemented, the even channel processing module 125 may perform a preprocessing operation on the radar signal of the even channel.

The adder 126 may selectively provide the radar signals of the all channel processing module 123 , the odd channel processing module 124 , and the even channel processing module 125 to the algorithm processing module 127 .

The algorithm processing module 127 may receive a radar signal from the previous module, and insert the received radar signal into an input value of the MUSIC algorithm to detect the position of the target. For example, the algorithm processing module 127 may calculate a position such as a distance, an angle, etc. of each target.

3 and 4 are diagrams illustrating simulation results according to an embodiment of the present disclosure. Specifically, FIG. 3 is a diagram showing a root mean square error (RMSE) according to a signal to noise ratio (SNR), showing the results of a total of 10,000 experiments for every SNR.

Referring to FIG. 3 , it can be seen that the two performances are almost identical even when the conventional method with 12 antennas and the number of antennas are used with 6, that is, half.

Referring to FIG. 4 , experimental results in the case where the number of antenna channels to be applied to the multi-signal classification technique are adaptively changed according to the location of the target and in the case where the number of antenna channels is not changed are disclosed.

First, referring to FIG. 4( a ), in the case where only a part of the radar signal input to the multi-signal classification technique is adaptively provided as in the present disclosure (hereinafter, the method according to the present disclosure), the closer Pr is to 1, the more the amount of computation. It can be seen that this decrease

And, referring to FIG. 4(b) , the amount of computation within the range of 8 to 32 antennas is shown. In both schemes, the amount of computation increases as the number of antennas increases, but the method according to the present disclosure in the entire range It can be seen that this method has a lower computational amount than the existing method.

And, referring to FIG. 4(c), when the number of symbols is changed from 16 to 256, in both schemes, the amount of computation increases as the number of symbols increases. You can verify that you have this.

5 is a diagram illustrating a spectrum range for a target according to a temporary example of the present disclosure. Specifically, it is a diagram showing the spectral ranges of the FFT method, the method using all channels, and the method using odd channels (or even channels) when the number of targets is two.

Referring to FIG. 5 , when the FFT method is used, it can be seen that the resolution is low by detecting two targets as one. And when the high-resolution algorithm is used for the method using all channels, it can be confirmed that the two targets are accurately detected.

On the other hand, the detection result by the method according to the present disclosure, that is, the multi-signal classification method using only odd channels (or even channels), also has sharp peaks for both targets, similar to the method using all channels, and the difference from the actual distance It can be seen that there is almost no

In this way, when the target is located in a preset area, the same performance as in determining the position of the target using signals of all channels as in the past, even if only the signals of the channels arranged at λ intervals are used without using the entire radar signal. It can be confirmed that it has

In particular, in the above-described operation process, a high-resolution algorithm is processed using only the signals of the channels arranged at intervals of λ, so that the target position can be determined with a low operation rate.

6 is a flowchart illustrating a method for determining a target position according to an embodiment of the present disclosure.

Referring to FIG. 6 , a Discrete Fourier Transform (DFT) is applied to a radar signal received through a plurality of channels (S610).

Then, the angle of the target is predicted based on the radar signal to which the discrete Fourier transform is applied ( S620 ).

And it is determined whether the predicted angle of the target is within a preset angle range (S630). Here, the preset angle may be 30 degrees.

As a result of the determination, if the predicted target angle is within a preset angular range, the target position is determined using a radar signal received through an odd or even channel among a plurality of channels and a high-resolution algorithm, or the predicted target angle is within a preset angular range If it deviates from , the target position is determined using a radar signal received through a plurality of channels and a high-resolution algorithm. Here, the high-resolution algorithm may be a multiple signal classification algorithm (MUSIC), but is not limited thereto.

Specifically, if the predicted angle of the target is within the preset angle range, the target position may be determined using a radar signal received through an odd channel or an even channel among a plurality of channels and a preset high-resolution algorithm (S640). Specifically, if the plurality of channels are channels for receiving radar signals received from each of the phased array antennas arranged at λ/2 intervals, radar received through odd channels (or even channels) arranged at intervals of λ among the phased array antennas. The position of the target may be determined using a signal and a preset high-resolution algorithm. For example, if the plurality of channels is 8 channels arranged at intervals of λ/2, channels 1, 3, 5, 7, or channels 2, 5, 6, 8, which are channels arranged at intervals of λ among 8 channels, are received By inputting the radar signal into the multi-signal classification technique, the position of the target can be determined.

And, when the predicted angle of the target is out of the preset angle range, the position of the target may be determined using a radar signal received through a plurality of channels and a high-resolution algorithm (S650). For example, the location of the target may be determined by inputting all radar signals input from a plurality of channels to the multi-signal classification technique.

Therefore, it is predicted that the position of the target according to the present embodiment is within 30 degrees of the front direction, and based on the prediction result, it is adaptively applied to the high-resolution frequency detection algorithm using only the radar signals of odd or even channels, The position of the target can be detected with a low amount of association. The target positioning method as shown in FIG. 6 may be executed on the target positioning device having the configuration of FIG. 1 , and may also be executed on the target positioning device having other configurations.

In addition, the method for determining the target location as described above may be implemented as a program including an executable algorithm that can be executed on a computer, and the above-described program is stored in a non-transitory computer readable medium and provided can be

The non-transitory readable medium refers to a medium that stores data semi-permanently, rather than a medium that stores data for a short moment, such as a register, cache, memory, and the like, and can be read by a device. Specifically, the programs for performing the above-described various methods include a magnetic medium, a compact disk (CD), a digital video disk (DVD), a hard disk, a Blu-ray disk, a USB, a memory card, a read only memory (ROM), etc. It may be provided by being stored in a non-transitory readable medium.

In addition, although preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above, and the technical field to which the disclosure belongs without departing from the gist of the present disclosure as claimed in the claims Various modifications are possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or prospect of the present disclosure.

100: target positioning device 110: radar device
120: processor

Claims (8)

In the target positioning device,
a radar device that emits a radar signal and receives a radar signal reflected from a target through a plurality of channels; and
It includes; a processor for determining the position of the target based on the received radar signal,
The processor is
Applying a Discrete Fourier Transform (DFT) to the radar signal received through the plurality of channels,
Predict the angle of the target based on the radar signal to which the discrete Fourier transform is applied,
If the predicted angle of the target is within a preset angle range, the position of the target is determined using a radar signal received through an odd channel or an even channel among the plurality of channels and a preset high-resolution algorithm,
When the predicted angle of the target is out of the preset angle range, the target positioning apparatus determines the position of the target by using the radar signal received through the plurality of channels and the high-resolution algorithm. According to claim 1,
The plurality of channels is a channel for receiving a radar signal received from each of the phased array antennas arranged at intervals of λ/2,
The processor is
When the predicted angle of the target is within a preset angle range, the target positioning apparatus determines the position of the target by using a preset high-resolution algorithm and a radar signal received through a channel arranged at intervals of λ among the phased array antennas. According to claim 1,
The high-resolution algorithm is a multiple signal classification technique (MUSIC: Multiple signal classification algorithm) target positioning device. According to claim 1,
The preset angle is a target positioning device of 30 degrees. In the target positioning method,
applying a Discrete Fourier Transform (DFT) to a radar signal received through a plurality of channels;
predicting the angle of the target based on the radar signal to which the discrete Fourier transform is applied;
determining whether the predicted angle of the target is within a preset angle range; and
If the angle of the predicted target is within the preset angle range, the target position is determined using a radar signal received through an odd channel or an even channel among the plurality of channels and a high-resolution algorithm, or the predicted target angle is the When the angle is out of a preset angle range, determining the position of the target using the radar signal received through the plurality of channels and the high-resolution algorithm. 6. The method of claim 5,
The plurality of channels is a channel for receiving a radar signal received from each of the phased array antennas arranged at intervals of λ/2,
The step of determining the position of the target is
When the predicted angle of the target is within a preset angle range, a method for determining the position of the target by using a radar signal received through a channel arranged at intervals of λ among the phased array antennas and a preset high-resolution algorithm. 6. The method of claim 5,
The high-resolution algorithm is a method for determining a target location that is a multiple signal classification algorithm (MUSIC). 6. The method of claim 5,
The predetermined angle is a target positioning method of 30 degrees.

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