WO2018192396A1 - 一种相控阵识别方法及系统 - Google Patents

一种相控阵识别方法及系统 Download PDF

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Publication number
WO2018192396A1
WO2018192396A1 PCT/CN2018/082589 CN2018082589W WO2018192396A1 WO 2018192396 A1 WO2018192396 A1 WO 2018192396A1 CN 2018082589 W CN2018082589 W CN 2018082589W WO 2018192396 A1 WO2018192396 A1 WO 2018192396A1
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phased array
millimeter wave
array
component
wavelength
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PCT/CN2018/082589
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English (en)
French (fr)
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丁贤根
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丁贤根
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems

Definitions

  • the invention relates to the field of intelligent sensors in information technology, in particular to active phased array sensing technology, in particular to active phased array gesture recognition and moving object recognition, in particular to a phased array identification method and system.
  • AESA Active Electronically Scanned Array
  • the wavelength of MilliMeter Wave is usually between 1mm and 10mm.
  • MMIC Monolithic Microwave Integrated Circuit
  • the wavelength extends down to 0.1 mm and extends up to 100 mm.
  • the wavelength of the millimeter wave to which the technical solution of the present invention is applied exceeds the range of 1 mm to 10 mm described above, and therefore, the millimeter wave range in the present patent application is 0.1 mm to 100 mm.
  • SoC System on Chip
  • IP Intelligent Property Core
  • the active phased array technology based on millimeter wave is still applied to long-distance detection, for example, more than 10km, and the application surface is still military and meteorological. These applications are characterized by high power, long distances, high equipment costs, and large size. As a close-range application, for example, about 1km, it has not been discovered; especially for the micro-scale application of the meter level, as the application of gesture recognition and motion recognition in micro power consumption, micro-volume, and micro-cost, it has not been reported.
  • VR/AR/MR Visual Reality, VR; Augmented Reality, Augmented Reality, abbreviation AR; Mediated Reality, Mix Reality, Mixed Reality, abbreviated as MR
  • MR Mediated Reality, Mix Reality, Mixed Reality
  • infrared recognition such as Sony's patent application "201010118390.4, gesture recognition device, gesture recognition method and program", using infrared pyroelectric technology to detect gestures; TCL Group's patent application “201210565201.7, a three-dimensional gesture recognition device and three-dimensional "Gesture recognition method”, using a dual infrared camera to detect gestures; "201310392905.3, an electronic device and gesture recognition method.”
  • wearable sensor identification such as the patent application "201510300495.4, radar-based gesture recognition by wearable devices", “201510634055.2, easy-to-wear gesture recognition device", “201110384461.X, a wireless gesture recognition device", etc.
  • the wireless transmitter is installed on the wrist and fingers to realize the detection.
  • a phased array identification method includes, but is not limited to, the following steps and combinations thereof:
  • T/R Transmitter and Receiver
  • the subfield is composed of a plurality of adjacent focus directions, and the whole field is composed of all the subfields covered by the phased array array detection range.
  • a full array of phased arrays is formed by all T/R components and all antennas, and a partial array of phased arrays is formed by partial T/R components and partial antennas.
  • the probe data includes, but is not limited to, spatial coordinates, search time, speed, acceleration, and/or motion trajectory data for each of the detected objects.
  • the wavelength of the emitted millimeter wave is set to be 0.1 mm to 100 mm.
  • the radiation power of the emitted millimeter wave is set to be less than or equal to 10 W.
  • the signal processing system includes, but is not limited to, a Feng computer subsystem, a non-Feng computer subsystem, a neural network subsystem, and/or an artificial intelligence subsystem;
  • the adjusting one or more T/R components and the transmitting end of the one or more antennas to emit millimeter wave phases further includes, but is not limited to, the steps of: controlling a transmit channel of the T/R component to generate a specific frequency hopping sequence according to the setting .
  • the step of controlling the one or more T/R components and the receiving end of the one or more antennas to receive the one or more detected objects to reflect the emitted millimeter waves further includes, but is not limited to, controlling a receiving channel of the T/R component to enable A step of identifying a hopping sequence in the millimeter wave reflected by the received object being detected.
  • the adjusting one or more T/R components and the transmitting end of the one or more antennas to emit the millimeter wave phase further including, but not limited to, controlling a transmitting channel of the T/R component to generate a specific pulse width according to the setting The steps of the sequence.
  • the step of controlling the one or more T/R components and the receiving end of the one or more antennas to receive the one or more detected objects to reflect the emitted millimeter waves further includes, but is not limited to, controlling a receiving channel of the T/R component to enable The step of identifying the pulse width in the millimeter wave reflected by the detected object and its sequence.
  • the present invention includes but is not limited to the following improvement measures and combinations thereof:
  • the deviation includes, but is not limited to, the spatial coordinates, velocity, and/or acceleration, and the correction methods include, but are not limited to, based on relative coordinates, absolute coordinate correction, correction based on relative motion, absolute motion;
  • the failure includes, but is not limited to, a failure of a transmitting end of the T/R component, a failure of a receiving end of the T/R component, a failure of a transmitting end of the antenna, and a failure of a receiving end of the antenna;
  • the skipping failure includes, but is not limited to, not using the failed device at the next detection, and replacing it with an active device.
  • the present invention further includes, but is not limited to, the following measures and combinations thereof:
  • the probe data includes, but is not limited to, a spatial coordinate of the detected object, a step of calculating a next detected subfield of the detected object according to the probe data, and scanning using the full array and/or the array scan The tracking step of the probe subfield.
  • the transmitting millimeter wave specifically including but not limited to transmitting a single pulse millimeter wave, receives and calculates the obtained single pulse detection data.
  • the filtering condition includes, but is not limited to, an interval of the detecting subfield, a distance interval of the detected object from an antenna, a size range of the detected object, a moving speed interval of the detected object, and the The attribute interval of the detected object or any combination between them.
  • the present invention further includes, but is not limited to, the following measures and combinations thereof:
  • the millimeter wave reflected by the one or more detected objects includes, but is not limited to:
  • the search includes, but is not limited to, full-field full-array search, full-field sub-array search, sub-field full-array search, and sub-field sub-array search;
  • the size of the metal object is greater than or equal to the wavelength of the emitted millimeter wave, and the metal object includes, but is not limited to, a metal ball.
  • the present invention further includes, but is not limited to, the following measures and combinations thereof:
  • the wavelength of the emitted millimeter wave is less than or equal to the size of the metal object, or is less than or equal to the circumference of the metal ball.
  • the signal processing system includes, but is not limited to, a motion sensor interface, a signal receiving interface, and an output signal interface.
  • the step of calculating the detection data of the one or more detected objects further includes, but is not limited to:
  • the probe data is a field detection data of all the detected objects obtained by searching in the entire field based on the minimum of the focus orientation.
  • An artificial intelligence algorithm is employed to perform an optimization calculation step for the one field of detection data.
  • a phased array identification system consisting of a plurality of phased array T/R components, a phased array antenna array and a signal processing system; wherein:
  • the signal processing system is coupled to a plurality of phased array T/R components
  • the plurality of phased array T/R components and the phased array antenna array are configured to be capable of emitting a wavelength of a millimeter wave or capable of receiving a reflected object at a wavelength of 0.1 mm to 100 mm; and/or,
  • the power of the emitted millimeter wave is less than or equal to 1 W.
  • the present invention further includes, but is not limited to, the following contents and combinations thereof:
  • the phased array T/R component includes, but is not limited to, a transmit signal generating unit, a receive signal processing unit, a phase shifting unit, a variable polarization unit, and a filtering unit;
  • the phased array antenna array includes, but is not limited to, a plurality of transmitting antennas and receiving antennas, and is arranged according to, but not limited to, a one-dimensional straight line, a one-dimensional curve, a two-dimensional plane, and/or a two-dimensional curved surface arrangement;
  • the signal processing system includes, but is not limited to, a Feng computer subsystem, a non-Feng computer subsystem, a neural network subsystem, and an artificial intelligence subsystem; and is configured to drive the phased array T according to a set algorithm
  • the /R component and the phased array antenna array perform correction, search, tracking, gaze, and intelligent recognition, and calculate detection data of a plurality of detected objects in the detection field based on the reflected echoes, process the data, and communicate Interface output signal.
  • the signal processing system is configured to be capable of performing validity detection, tag validation and failure, and control failure for the T/R component and antenna; the failure replacement is for the failed T/R component and An antenna is replaced with the active T/R component and antenna during the search, the tracking, and the gaze.
  • the signal processing system is configured to control the T/R component to perform the frequency hopping transmission and reception discrimination, and to perform transmission and reception discrimination of the pulse width adjustment.
  • a plurality of said phased array T/R components and a plurality of said phased array antenna arrays are disposed in a monolithic integrated circuit.
  • a plurality of the phased array T/R components, a plurality of the phased array antenna arrays, and a signal processing system are disposed in a monolithic integrated circuit.
  • the number of antennas in the phased array T/R component and/or the phased array antenna array of the monolithic integrated circuit is 2 to 1024.
  • the detected object includes but is not limited to: a non-conductive object and/or a conductive object and/or a non-conductive object to which a conductive substance is attached;
  • the conductive object and/or the conductive material has a size greater than or equal to a wavelength at which the phased array T/R assembly emits millimeter waves.
  • the present invention further includes, but is not limited to, the following contents and combinations thereof:
  • the signal processing system includes, but is not limited to, a motion sensor interface and is configured to be capable of motion correction of the probe data in accordance with a motion sensor including, but not limited to, coordinate correction, velocity correction, and/or acceleration correction.
  • the signal processing system includes, but is not limited to, a signal receiving interface coupled to the signal receiving subsystem for receiving attributes and coordinates of the target being attacked; the signal processing system is further coupled to the flight control subsystem to change the flight of the system A trajectory that directs the attacking weapon to hit the attacked target.
  • the signal processing system includes, but is not limited to, identifying, searching, tracking, and evaluating the function of intercepting the weapon, and changing the flight path of the attacking weapon through the flight control subsystem to avoid intercepting the weapon;
  • the identification includes but is not limited to intercepting the weapon Identification, including but not limited to identifying the intercepting weapon, calculating flight parameters of the intercepting weapon, calculating a distance between the intercepting weapon and the attacking weapon, predicting flight of the intercepting weapon and the attacking weapon An orbital intersection, determining a degree of threat of the intercepting weapon;
  • the avoidance includes, but is not limited to, modifying a flight parameter of the attacking weapon, and driving the flight control subsystem to change a flight path of the attacking weapon.
  • the number of antennas in the phased array T/R component and/or the phased array antenna array is set to 4 to 1024, and the phased array antenna array is arranged in a two-dimensional plane to form a three-dimensional Detection field
  • the plurality of phased array T/R components and the phased array antenna array are configured to be capable of emitting a wavelength of a millimeter wave or capable of receiving a reflected object having a wavelength of 0.1 mm to 10 mm;
  • the radiated power of the emitted or received millimeter wave is 100 mW or less
  • the detected object is a conductive substance and is disposed on the animal body.
  • the system can be applied to human gesture recognition, especially to attach a metal ball to the fingertip of the finger to improve the detection effect.
  • the object to be detected may also be directly the animal body itself.
  • the number of antennas in the phased array T/R component and/or the phased array antenna array is set to 4 to 512; the phased array antenna array is arranged in a one-dimensional linear arrangement, including but not limited to Two parallel lines, triangles, rectangles, and polygons are arranged to form a planar detection field.
  • the plurality of phased array T/R components and the phased array antenna array are configured to be capable of emitting a wavelength of a millimeter wave or capable of receiving a wavelength reflected by the detected object of 1 mm to 30 mm.
  • the radiated power of the emitted or received millimeter wave is 500 mW or less.
  • the system is placed on a land vehicle.
  • the number of antennas in the phased array T/R component and/or the phased array antenna array is set to 4 to 1024; the phased array antenna array is arranged in a two-dimensional plane, a two-dimensional surface or more Planarly arranged to form a spherical, hemispherical, box-shaped and/or semi-open box-shaped box-shaped detection field;
  • the plurality of phased array T/R components and the phased array antenna array are configured to be capable of emitting a wavelength of a millimeter wave or capable of receiving a reflected object at a wavelength of 3 mm to 30 mm; and transmitting or receiving the millimeter wave Radiated power is 500mW and below;
  • the system is disposed on a low speed aircraft
  • the number of antennas in the phased array T/R component and/or the phased array antenna array is set to 4 to 1024; and the phased array antenna array is arranged in a two-dimensional plane or a curved surface.
  • the plurality of phased array T/R components and the phased array antenna array are configured to be capable of emitting a wavelength of a millimeter wave or capable of receiving a reflected object at a wavelength of 3 mm to 30 mm; and/or,
  • the radiated power of the emitted or received millimeter wave is 1 W or less
  • the system is placed on an attacking weapon
  • the number of antennas in the phased array T/R component and/or the phased array antenna array is set to 2 to 1024; the phased array antenna array is arranged in a two-dimensional curved surface or a multi-plane arrangement, Forming a circular, spherical, box-shaped, hemispherical and/or semi-box-shaped detection field;
  • the plurality of phased array T/R components and the phased array antenna array are configured to: emit a wavelength of a millimeter wave or can receive a reflected object at a wavelength of 3 mm to 30 mm;
  • the radiated power of the emitted or received millimeter wave is 1 W or less
  • the object to be detected is a conductive substance and is disposed on a water vehicle.
  • the present invention has the following beneficial effects:
  • the wavelength of the emitted millimeter wave used in the present invention is 0.1 mm to 100 mm, the radiation power of the millimeter wave is set within 1 W; therefore, the apparatus using the technical solution of the present invention can be miniaturized for use in civilian objects. In the case of tracking, identification, etc., it is possible to provide a better technical cooperation for the aforementioned VR/AR/MR.
  • phased array specifically changing the phase of the millimeter wave emitted by the plurality of phased array T/R components and the antenna array to realize steps of scanning, recognizing, correcting, searching, tracking, gazing, etc. of the moving object. Realize the detection of moving objects, thus realizing true three-dimensional, high-precision, high-speed, full-time domain recognition of objects.
  • phased array system is conducive to the manufacture of a single-chip MMIC solution, specifically the use of phased array T / R components and antenna array composed of two-in-one monolithic millimeter wave chip MMIC, or by phase control
  • the three-in-one monolithic millimeter wave chip MMIC composed of the array T/R component and the antenna array and the signal processing system realizes steps of scanning, recognizing, correcting, searching, tracking, gazing, etc. of the moving object, and then realizing the motion through calculation
  • the detection of objects enables low-cost, low-power, small-volume, real-time, high-efficiency solutions, and the intuitiveness of human-computer interaction is improved.
  • Figure 1 is a structural diagram of a phased array system
  • FIG. 2 is a structural diagram of a three-in-one SoC chip antenna array
  • Figure 3 is a schematic diagram of a phased array search
  • Figure 4 is a schematic diagram of phased array tracking
  • FIG. 5 is a schematic diagram of the T/R component
  • Figure 6 is a structural diagram of a signal processing system
  • Figure 7 is a one-dimensional line array structure diagram
  • Figure 8 is a two-dimensional planar array structure diagram
  • Figure 9 is a structural diagram of a rectangular line array
  • Figure 10 is a five-sided structure diagram
  • Figure 11 is a structural diagram of a smart missile signal processing system.
  • gesture recognition system One: gesture recognition system
  • This embodiment is an illustrative example of the gesture oriented recognition system of the present invention.
  • the gesture recognition system is a system for recognizing animal motion, including but not limited to human gesture motion recognition.
  • the step of controlling more than one T/R component and the receiving end of more than one antenna to receive more than one detected object reflects the transmitted millimeter wave.
  • the wavelength of the emitted millimeter wave is set to a range of 0.1 mm to 100 mm, and the radiation power of the emitted millimeter wave is set to be less than or equal to 1W. Therefore, when the emitted millimeter waves are reflected by the detected object and received by the T/R component, their wavelengths and powers are respectively within the above numerical range.
  • the above limitation is imposed on the wavelength and the radiated power of the emitted millimeter wave, so that the above-mentioned T/R component can be sufficiently miniaturized and miniaturized, and integrated into the electronic chip device.
  • the aforementioned electronic chip device can be widely applied to various electronic devices such as a mobile phone, a portable communication device, a portable notebook computer and the like.
  • the step of adjusting one or more T/R components and transmitting the millimeter wave phase by more than one antenna transmitting end may further include, but not limited to, controlling a transmitting channel of the T/R component.
  • the step of controlling the one or more T/R components and the receiving end of the one or more antennas to receive more than one detected object to reflect and emit millimeter waves may further include, but not limited to, controlling T.
  • the receiving channel of the /R component enables it to identify the hopping sequence in the millimeter wave reflected by the received object being detected.
  • the technical effect of generating a specific frequency hopping sequence is to resist interference and privacy.
  • mutual interference may occur between them; it is also possible that others intentionally interfere with and/or steal relevant wavelengths, wave numbers, transmission parameters, reception parameters, frequency hopping parameters, etc. information.
  • the transmitting end and the receiving end use the same hopping sequence function to generate the frequency hopping transmission and the frequency hopping reception, so that the above interference or stealing data can be avoided.
  • the hopping sequence function needs to adopt an algorithm that is as complex and difficult to crack as possible in terms of frequency hopping rules and repetition periods.
  • Adjusting one or more T/R components and transmitting the millimeter wave phase to the transmitting end of more than one antenna includes, but is not limited to, the step of controlling the transmit channel of the T/R component to generate a particular pulse width and its sequence depending on the settings.
  • the step of controlling more than one T/R component and the receiving end of more than one antenna to receive more than one detected object to reflect the transmitted millimeter wave further includes, but is not limited to, controlling the receiving channel of the T/R component to enable it to identify the detected detected.
  • the step of reflecting the pulse width and its sequence in the millimeter wave of the object is not limited to, controlling the receiving channel of the T/R component to enable it to identify the detected detected.
  • the technical effect of generating a specific pulse width sequence is also for anti-jamming and confidentiality.
  • mutual interference may occur between each other, and in some cases, other people may intentionally interfere and/or steal wavelengths, wave numbers, transmission parameters, reception parameters, Information such as pulse width parameters.
  • the pulse width function By controlling the pulse width method, it is specifically agreed that the transmission and reception generated by the same pulse width function by the transmitting end and the receiving end can avoid the above-mentioned interference or stealing data.
  • the pulse width function requires an algorithm that is as complex and difficult to crack as possible in terms of pulse width regularity and repetition period.
  • the method further includes:
  • the step of measuring the motion data of the T/R component and the antenna itself is the step of measuring the motion data of the T/R component and the antenna itself.
  • the step of calculating the deviation of the detected data based on the motion data to obtain the corrected data.
  • Deviations include, but are not limited to, spatial coordinates, velocity, and/or acceleration.
  • the above technical measures are mainly used for self-correction processing; on the one hand, the data deviation of the detected data due to the movement of the T/R component and the antenna itself can be eliminated, including but not limited to spatial coordinates, speed and/or Acceleration.
  • the data deviation for the gesture recognition of the probe is caused by the inadvertent movement of the head.
  • the data deviation of the detected data due to the T/R component and the antenna itself and the palm of the finger being in motion can be eliminated, including but not limited to spatial coordinates, velocity and/or acceleration.
  • a specific example is the use of T/R components and antennas in MR glasses, which cause data deviations for gesture recognition in moving vehicles.
  • the method further includes:
  • the above technical measures are mainly used for self-repairing; when one or more antennas are damaged, the above measures can be used to detect and skip the damaged antenna, and replace it with a good surrounding antenna to ensure that the method can continue to be effective. jobs.
  • the above measures can be used to detect and skip the damaged T/R components and replace them with well-prepared T/R components to ensure that the method continues to work effectively.
  • the combination of the above two types of damage occurs, the corresponding substitution can be used to ensure that the method can continue to work effectively.
  • the method further includes:
  • a step of calculating the next detected subfield of the detected object Based on the probe data, a step of calculating the next detected subfield of the detected object, and a tracking step of detecting the subfield using the full array and/or the interlaced scan.
  • the aforementioned probe data includes, but is not limited to, the spatial coordinates of the object being detected.
  • the above measures can be used to achieve: 1. Fast search, according to the speed of the gesture movement and the wavelength relationship emitted by the transmitter, the interval area is set, thereby accelerating the whole field and / or subfield scanning speed. 2, high-precision tracking, according to the sub-field where the finger and the palm are located, use the full array and / or sub-array to scan the focus one by one, thereby improving the accuracy of the proposed.
  • the method further includes:
  • the foregoing transmitting millimeter wave includes, but is not limited to, transmitting one or more single pulse millimeter waves, and receiving and calculating one or more single pulse detection data.
  • the above measures can be used to calculate a plurality of gaze detection data by using various algorithms including a statistical algorithm, and the detection data with higher precision can be obtained.
  • the method further includes:
  • the wavelength of the emitted millimeter wave is made smaller than or equal to the size of the metal object, or less than or equal to the circumference of the metal ball.
  • the step of calculating and outputting a flight path control command based on the received signal is a step of calculating and outputting a flight path control command based on the received signal.
  • Filtering steps are performed on the probe data according to the set filter conditions.
  • the foregoing filtering conditions include, but are not limited to, the interval of detecting the subfield, the distance interval of the detected object from the antenna, the size range of the detected object, the moving speed interval of the detected object, the attribute interval of the detected object, or between them random combination.
  • the strength value of the reflected millimeter wave can be calculated, and a method is obtained according to the set imaging algorithm.
  • Detect image refers to a field of probe data of all detected objects obtained by searching in the entire field based on the minimum focus orientation.
  • an artificial intelligence algorithm may be employed to perform optimization calculation for one piece of probe data.
  • a phased array identification system is composed of a plurality of phased array T/R components, a phased array antenna array and a signal processing system; wherein: a plurality of phased array T/R components and a phased array antenna array are connected; The signal processing system is coupled to the plurality of phased array T/R components; the plurality of phased array T/R components and the phased array antenna array are configured to be capable of emitting wavelengths of millimeter waves or capable of receiving reflected wavelengths of the detected object 0.1mm ⁇ 100mm; the power of the emitted millimeter wave is less than or equal to 10W.
  • the wavelength of the emitted millimeter wave is set to 0.1 mm to 100 mm, and the power of the emitted millimeter wave is set to be less than or equal to 10 W, the following technical effects can be brought about:
  • phased array T/R components and phased array antenna arrays are beneficial to design a plurality of phased array T/R components and phased array antenna arrays as a single MMIC chip.
  • a phased array recognition implementation scheme that facilitates micro power consumption, micro volume, micro cost, and high efficiency for use in a gesture recognition system for consumer consumption.
  • the phased array T/R component includes, but is not limited to, a transmit signal generating unit, a receive signal processing unit, a phase shifting unit, a variable polarization unit, and a filtering unit.
  • Phased array antenna arrays including but not limited to multiple transmit and receive antennas, are arranged in a manner including, but not limited to, one-dimensional lines, one-dimensional curves, two-dimensional planes, and/or two-dimensional surfaces.
  • Signal processing systems including but not limited to Feng's computer subsystem, non-Feng computer subsystem, neural network subsystem, and/or artificial intelligence subsystem.
  • the phased array T/R component and the phased array antenna array are configured to perform correction, search, tracking, gaze, and intelligent recognition according to a set algorithm, and calculate multiple locations within the detection field according to the reflected echoes.
  • the detected data of the detected object, the data is processed, and the data is output through the communication interface.
  • the signal processing system is configured to be able to perform validity detection, tag validation and failure, and control failure for T/R components and antennas.
  • the signal processing system is configured to control the T/R component to perform frequency hopping transmission and reception discrimination, and to perform pulse width adjustment for transmission and reception discrimination.
  • the plurality of phased array T/R components and the plurality of phased array antenna arrays are disposed in the monolithic integrated circuit, and the plurality of phased array T/R components, the plurality of phased array antenna arrays, and the signal processing system are disposed on the single piece In an integrated circuit.
  • the number of antennas in a phased array T/R component and/or a phased array antenna array of a monolithic integrated circuit is 2 to 1024.
  • the detected object includes, but is not limited to, a non-conductive object and/or a conductive object and/or a non-conductive object to which a conductive substance is attached.
  • the size of the conductive object and/or the conductive material is greater than or equal to the wavelength at which the phased array T/R assembly emits millimeter waves.
  • the signal processing system includes, but is not limited to, a motion sensor interface and is configured to be capable of motion correction for the probe data in accordance with the motion sensor; motion correction includes, but is not limited to, coordinate correction, velocity correction, and/or acceleration correction.
  • the number of antennas in the phased array T/R component and/or the phased array antenna array is set to 4 to 1024, and the array of phased array antennas is arranged in a two-dimensional plane to form a three-dimensional detection field.
  • the plurality of phased array T/R components and the phased array antenna array are arranged to be capable of emitting a wavelength of a millimeter wave or capable of receiving a reflected object at a wavelength of 0.1 mm to 10 mm.
  • the radiated power of the millimeter wave transmitted or received is 100 mW or less.
  • the object to be detected is a conductive substance and is placed on the animal body. The object to be detected can also be directly to the animal itself.
  • FIG. 1 is a block diagram of a phased array system.
  • 111, 112, 113, and 11n are each a single phased array antenna, called an array element, and an array is formed by these array elements.
  • 121, 122, 123, and 12n are each a single phased array T/R component, and each phased array T/R component is connected to one array element, such as the connection of 121 and 111, to form an active phased array AESA.
  • the integrated circuit of the T/R component array and the antenna array is called a 2-in-1 MMIC chip.
  • the other side is connected to the signal processing system, such as the connection of 121 and 131, to receive management and control of the signal processing system.
  • 131 is a signal processing system
  • 141 is a signal output interface
  • all of the above circuits including the MMIC are designed as a single-chip SoC chip called a three-in-one SoC chip.
  • 151, 152 is a metal ball having a smooth surface and a radius of ⁇ attached to the detected finger.
  • the phased array millimeter wave wavelength is ⁇
  • the spacing between the antennas in the phased array antenna array is d
  • d is between 0.5 ⁇ and 0.7 ⁇
  • R is For far field calculations, then R ⁇ 65 ⁇ .
  • ⁇ ⁇ / 2 ⁇ ⁇ 0.159155 ⁇ .
  • other microstrip antennas such as PCB (Printed Circuit Board) can be used. Circuit board) antenna, etc.
  • a minimum distance of 6.5 mm is also acceptable. From the longest wavelength of 100mm, the manufacture of the chip is more feasible.
  • the antenna array element adopts a microstrip antenna structure in this embodiment.
  • the millimeter wave radiation power of a single SoC chip MMIC is selected to be W class, that is, 10 watts or less.
  • the millimeter wave radiation power is selected to be 1 W or less.
  • FIG. 2 is a structural diagram of a three-in-one SoC chip antenna array.
  • a rectangular two-dimensional planar structure is adopted.
  • 201 is the antenna array 202 being a single antenna.
  • the number of antennas ranges from 4 to 1024. When the number of antennas is four, the layout of the antennas is one of the four corners of the rectangle. When the number of antennas is 1024, 32 lines and 32 can be used. Column arrangement.
  • the number of antennas ranges from 2 to 1024, for example, as a one-dimensional line array application.
  • a T/R component is arranged behind each antenna, and the antenna and the T/R component are designed as a single chip according to the integrated circuit design process, and become a two-in-one chip; It is also possible to design subsequent signal processing systems together into a three-in-one chip.
  • the three-in-one chip designed in this embodiment takes 8 ⁇ 8 array elements, and the chip area of a single SoC chip is 12 mm ⁇ 12 mm.
  • FIG. 8 is a two-dimensional planar array structure diagram
  • FIG. 8 is a structural diagram of a two-dimensional planar array of 32 ⁇ 24 antennas, a total of 768 array elements, 4:3 ratio, so as to be in proportion to the display.
  • 801 is the frame of the array
  • 802 is the antenna array element
  • 803 is the splicing line
  • 4 ⁇ 3 SoC chips are spliced together
  • the dark area in the figure is an indication of a SoC integrated circuit.
  • 3 is a schematic diagram of a phased array search, in which 301 is an antenna array, 302 is a full field of the search, and 303 is one of the scan lines. This is how the search in progressive scan mode works.
  • phased array tracking in which 401 is an antenna array, also referred to as a full array, 402 and 403 are respectively two subarrays, and 404 and 405 are respectively two tracked objects.
  • sub-array 402 is used for tracking 404 and sub-array 403 is used for tracking 405.
  • FIG. 5 is a schematic diagram of the T/R component, which is connected by the relevant modules in the figure.
  • the right side of the T/R component is connected to the antenna array, and the left side is connected to the signal processing system.
  • 501 is a signal bus
  • 502 is a transceiver switch
  • 503 is a phase shifter
  • 504 is a radio frequency conversion switch
  • 505 is an oscillator
  • 506 is an amplifier
  • 507 is a filter
  • 508 is a polarization switch and a polarization phase shifter.
  • 509 is the antenna unit lead
  • 510 is the attenuator
  • 511 is the low noise amplifier
  • 512 is the limiter
  • 513 is the power management
  • 514 is the phase and limit switch
  • 515 is the detection control
  • 516 is the polarization control
  • 517 is the detection Switch
  • 518 is the power bus
  • 519 is the control bus.
  • 6 is a structural diagram of a signal processing system, wherein 601 is an output interface, 611 is an artificial intelligence system, 612 is a Feng computer system, 613 is a motion sensor interface, 621 is a bus management, a neural network, and combinations thereof, 631, 632 63n is a bus module, and the control bus and signal bus on each module are respectively connected to the control bus and the signal bus on the T/R component.
  • the 621 selection is bus management, and in other embodiments, a neural network or a combination of neural network and bus management may be selected.
  • 612 can also choose a non-Feng computer system.
  • the function of the signal processing system is configured to:
  • phased array T/R component and the phased array antenna array are driven according to the set artificial intelligence algorithm to perform motion correction, search, tracking, gaze and intelligent recognition.
  • the T/R component can be controlled to perform frequency hopping transmission and reception discrimination according to a set algorithm including but not limited to an artificial intelligence algorithm, and to perform transmission and reception discrimination of pulse width adjustment.
  • a 9-axis motion sensor is selected.
  • the transmitters of one to 32 T/R components and one to 32 antennas are adjusted to emit millimeter wave phases such that the focus orientation formed by the millimeter waves is transmitted to scan the subfield and/or the full field.
  • the receiving end that controls one to 32 T/R components and one to 32 antennas receives more than one detected object to reflect and emit millimeter waves.
  • the detection data of one to 32 detected objects is calculated based on the millimeter waves reflected by more than one detected object.
  • the maximum number of the array elements participating in the scanning in this embodiment is 24.
  • the signal processing system controls the transmit channels of all T/R components to generate a specific frequency hopping sequence according to the settings, and also controls all T/R components and the receiving end of the antenna to receive 1 to 8 detected objects to reflect and emit millimeter waves. And identify the frequency hopping.
  • artificial intelligence frequency hopping authentication is selected to avoid interference with each other when multiple devices of the system are used in the same place.
  • the signal processing system controls the transmission channels of all T/R components to generate a specific pulse width and its sequence according to the setting, and also controls the receiving end of all antennas to receive 1 to 8 detected objects to reflect and emit millimeter waves, and control
  • the receiving channel of the T/R component enables it to discriminate the pulse width and its sequence in the millimeter wave reflected by the received object.
  • artificial intelligence pulse width discrimination is selected to avoid interference with each other when multiple devices of the system are used in the same place.
  • the step of measuring the motion data of the T/R component and the antenna itself is the step of measuring the motion data of the T/R component and the antenna itself.
  • the step of calculating the deviation of the detected data based on the motion data to obtain the corrected data.
  • Deviations include, but are not limited to, spatial coordinates, velocity, and/or acceleration.
  • the correction is mainly used for artificial intelligence relative motion correction.
  • the system when the system is used on a VR/AR/MR glasses device, due to interference caused by a person's head movement, for example, 9 is employed.
  • the shaft sensor captures the movement of the head as a disturbance deviation and corrects it.
  • the subfield and/or the full field are divided into regions connected to each other by the focus orientation, and the continuous and/or spaced regions are scanned according to the settings.
  • the focus orientation search is based on the system's focus orientation as the step unit, and the focus orientation is the highest precision granularity in the system.
  • Subarray search is to determine a sub-array consisting of several adjacent focus directions. This sub-array is used as the stepping unit of the search, and its granularity is larger than the focus orientation. Therefore, the search progress is lower than the focus orientation search.
  • an artificial intelligence algorithm is adopted. If the search speed is high, the focus orientation search can be changed to the subfield search, and the size of the subfield is determined according to the actual application. If the search accuracy is high, a focus orientation search can be used.
  • the detection data includes, but is not limited to, the spatial coordinates of the detected object, and based on the detected data, the next detected subfield of the detected object is calculated, and the subfield is detected using full array and/or sub-scanning.
  • the sub-array of a single SoC chip is used to track the metal ball on one finger. Since there are 4 ⁇ 3 SoC chips in the system, the maximum target (the number of metal balls on the finger) is simultaneously tracked. It is 12. When the tracking speed requirement is not high, the whole array (12 SoC chips) can be used for tracking.
  • the time-tracking method is used to track the metal balls on each finger in turn, and artificial intelligence algorithm is used to improve the tracking accuracy.
  • the millimeter wave is transmitted, specifically including but not limited to transmitting a single pulse millimeter wave, and the obtained single pulse detection data is received and calculated.
  • a single-pulse millimeter wave is transmitted multiple times, a plurality of single-pulse detection data is calculated, and a gaze step is performed by using a gaze algorithm to calculate a plurality of single-pulse detection data to obtain an optimized gaze detection data.
  • the number of single pulses is selected to be five times.
  • Filtering steps are performed on the probe data according to the set filter conditions.
  • Filtering conditions including but not limited to the interval of detecting the subfield, the distance interval of the detected object from the antenna, the size range of the detected object, the moving speed interval of the detected object, the attribute interval of the detected object, or any combination therebetween .
  • an artificial intelligence algorithm is used to select the detection data of the object that is stationary relative to the array element.
  • the wavelength of the emitted millimeter wave is less than or equal to the size of the metal object, or is less than or equal to the circumference of the metal ball.
  • the wavelength of the phased array millimeter wave is selected to be 3 mm, so that the radius of the metal ball is determined to be 0.5 mm.
  • the steps of calculating the detected data of more than one detected object include but are not limited to:
  • the probe data is a field of detection data of all detected objects obtained by searching in the entire field based on the minimum focus orientation.
  • the imaging method can be used to recognize the finger motion.
  • the basic constitution relates to the adjustment and control of the transmission and reception of the phased array millimeter wave. And adjustment and control of the wavelength of the millimeter wave and the transmission power.
  • These specific to the phased array millimeter wave and its wavelength and power adjustment and control are the core of the present invention. It is precisely because of the previous adjustment, control transmission, receiving the wavelength and power of the phased array millimeter wave, so that the device of the invention can be miniaturized, low power consumption, and can also realize short-range object detection, so that the phased array recognition technology has A broader application space.
  • An artificial intelligence algorithm is used to perform an optimized calculation step for a piece of probe data.
  • the expert library algorithm is used to complete the optimization.
  • software design in addition to stand-alone software, but also includes but not limited to network version software, especially including but not limited to networked software that coordinates multiple gesture recognition devices.
  • Embodiment 2 Automobile collision avoidance system
  • This embodiment is an illustrative example of the present invention for an automobile collision avoidance system.
  • the car collision avoidance system is an anti-collision system for land vehicles, including but not limited to automobiles.
  • the present embodiment is not repeated in the same manner as the foregoing embodiment, and the system is mainly differentiated as follows:
  • the number of antennas in the phased array T/R component and/or the phased array antenna array is set to 4 to 512.
  • the phased array antenna arrays are arranged in a one-dimensional linear arrangement including, but not limited to, two parallel lines, triangles, rectangles, and polygons to form a planar detection field.
  • the plurality of phased array T/R components and the phased array antenna array are arranged to be capable of emitting a wavelength of a millimeter wave or capable of receiving a reflected object at a wavelength of 1 mm to 30 mm.
  • the radiated power of the millimeter wave transmitted or received is 500 mW or less, and the system is set on the land vehicle.
  • phased array structure type 2.1, phased array structure type.
  • the car since the car is only traveling on a road or a ground, it belongs to a two-dimensional plane, and in order to prevent collision, it only needs to be detected on a two-dimensional plane. Therefore, the minimum phase-only array type of one-dimensional line array is needed here.
  • FIG. 7 is a one-dimensional line array structure diagram, in which 701 is an array of antenna elements of a one-dimensional line array, and 702 is a specific antenna element.
  • 701 is an array of antenna elements of a one-dimensional line array
  • 702 is a specific antenna element.
  • a one-dimensional line array phased array system can only detect objects on a two-dimensional plane. In terms of a polar coordinate system, it can only detect the azimuth and distance of an object. Can not detect elevation angle. This is suitable for car collision avoidance needs.
  • Fig. 9 is a structural diagram of a rectangular line array in which four one-dimensional line array antenna elements are arranged in a quadrangular shape, and the antenna elements are oriented toward the periphery of the quadrilateral.
  • 901 is an array of antenna elements and 902 is a specific antenna element.
  • This quadrilateral layout will provide a flat, 360-degree detection of the car.
  • the embodiment is for detecting a two-dimensional plane, according to the working principle and calculation of the phased array antenna, according to different detection precision requirements, the number of quadrilateral antenna elements is 4 to 512, wherein the number of array elements on one side is 2 to 128.
  • the accuracy of the gesture recognition is millimeters, and the accuracy of the car collision avoidance can be centimeter or even decimeter.
  • the recognition distance is also different, the distance of the gesture recognition is within the meter level, and the distance of the car collision recognition is at least the level of the meter to the kilometer. Therefore, including but not limited to accuracy and distance, the specific algorithm of the signal processing system is designed according to the requirements of automobile collision avoidance.
  • this embodiment uses four one-dimensional SoC chips, each of which has a signal processing system. In addition to the four chips, a processing system for managing the four signal processing systems must be designed to coordinate their work. .
  • the embodiment is a one-dimensional line array
  • the gesture recognition embodiment is a two-dimensional line array
  • the full array and the sub-array are both one-dimensional in this embodiment.
  • the array element radiates power.
  • the power of the array element radiating the millimeter wave of the embodiment is slightly more than 10 mW, and the radiation power of the single SoC chip is less than 500 mW.
  • the wavelength of the phased array millimeter wave of this embodiment is determined to be 1 mm to 30 mm.
  • the search it is necessary to determine the object with the greatest collision risk, and focus tracking is performed on the object.
  • the need is, especially in the case of overtaking, using a gaze algorithm that focuses on detecting overtaken vehicles to ensure safety.
  • the signal processing system in this embodiment, it can be connected to an onboard computer system including, but not limited to, for ABS braking, steering operation, and the like.
  • Embodiment 3 Unmanned aerial vehicle anti-collision and anti-attack system
  • This embodiment is an illustrative example of the present invention for a UAV anti-collision and anti-attack system.
  • the UAV anti-collision and anti-attack system is an anti-collision system used in airborne flying tools, including but not limited to automobiles. Compared with the foregoing embodiments, the present embodiment is not repeated, and the system is mainly differentiated as follows:
  • the signal processing system includes, but is not limited to, a signal receiving interface coupled to the signal receiving subsystem for receiving attributes and coordinates of the target being attacked.
  • the signal processing system is also coupled to the flight control subsystem to change the flight path of the system and direct the attack weapon to hit the target being attacked.
  • the signal processing system includes, but is not limited to, identifying, searching, tracking, and evaluating the function of intercepting the weapon, and changing the flight path of the attacking weapon through the flight control subsystem to avoid intercepting the weapon.
  • Identification includes, but is not limited to, identification of intercepting weapons, including but not limited to identifying intercepting weapons, calculating flight parameters of intercepting weapons, calculating the distance of the intercepting weapon from the attacking weapon, predicting the intersection of the intercepting weapon and the attacking orbit of the attacking weapon, Judging the degree of threat of intercepting weapons; avoidance includes but is not limited to modifying the flight parameters of the attacking weapon, and driving the flight control subsystem to change the flight path of the attacking weapon.
  • the number of antennas in the phased array T/R component and/or the phased array antenna array is set to 4 to 1024.
  • the array of phased array antennas is arranged in a two-dimensional plane, curved surface or multi-planar configuration to form a spherical, hemispherical, box-shaped and/or open box-shaped detection field.
  • the plurality of phased array T/R components and the phased array antenna array are arranged to be capable of emitting wavelengths of millimeter waves or capable of receiving reflections of detected objects at a wavelength of 3 mm to 30 mm.
  • the radiated power of the millimeter wave transmitted or received is 1 W or less.
  • the system is set up to be placed on a low speed aircraft.
  • phased array structure type 2.1, phased array structure type.
  • the drone since the drone is flying in the air and belongs to the three-dimensional space, it is required to detect in three-dimensional space in order to prevent collision and prevent attack.
  • 10 is a five-sided structure diagram in which 1001, 1002, 1003, 1004, and 1005 are arrays of antenna elements of five two-dimensional planes, the antenna elements of which are all facing outward.
  • the embodiment is for detecting the three-dimensional space of five planes, according to the working principle and calculation of the phased array antenna, according to different detection precision requirements, the number of antenna array elements is 4 to 1024, wherein the number of array elements on one side is 2 to 128. In the actual design, each of the five sides uses an 8 ⁇ 8 SoC chip.
  • the accuracy of the gesture recognition is millimeter, and the accuracy of the anti-collision and anti-attack of the drone can be centimeter.
  • the recognition distance is also different, the distance of the gesture recognition is within the meter level, and the distance of the car collision recognition is at least the level of 100 meters to 10 kilometers. Therefore, including but not limited to accuracy and distance, the specific algorithm of the signal processing system is designed according to the requirements of automobile collision avoidance.
  • this embodiment uses five two-dimensional SoC chips, each of which has a signal processing system. In addition to the five chips, a processing system for managing the five signal processing systems must be designed to coordinate their work. .
  • the purpose is to identify and predict the motion trajectory of the detected object, and the trajectory of the UAV itself crosses at a certain moment.
  • the signal processing system passes the output interface.
  • the escape signal is output to drive the drone to avoid.
  • the signal processing system will judge the hazard level, track it by tracking algorithm, and avoid it according to the danger level.
  • This embodiment is an illustrative example of the present invention for a smart missile system.
  • the signal processing system includes but is not limited to a signal receiving interface, and is connected to the signal receiving subsystem for receiving attributes and coordinates of the attacked target; the signal processing system is also connected with the flight control subsystem to change the flight trajectory of the system and guide the attack weapon attack. The target was attacked.
  • the signal processing system includes, but is not limited to, identifying, searching, tracking, and evaluating the function of intercepting the weapon, and changing the flight path of the attacking weapon through the flight control subsystem to avoid intercepting the weapon;
  • the identification includes but is not limited to the identification of the intercepting weapon, and the evaluation includes It is not limited to identifying intercepting weapons, calculating flight parameters of intercepting weapons, calculating the distance between intercepting weapons and attacking weapons, predicting the intersection of intercepting weapons and attacking weapons, and judging the threat degree of intercepting weapons; avoiding including but not limited to modifying attacking weapons
  • the flight parameters drive the flight control subsystem to change the flight path of the attacking weapon.
  • the number of antennas in the phased array T/R component and the phased array antenna array is set to 4 to 1024.
  • the array of phased array antennas is arranged in a two-dimensional plane.
  • the plurality of phased array T/R components and the phased array antenna array are arranged to be capable of emitting wavelengths of millimeter waves or capable of receiving reflections of detected objects at a wavelength of 3 mm to 30 mm.
  • the radiated power of the transmitted or received millimeter wave is 1W or less, and the system is placed on the attacking weapon.
  • FIG. 11 is a structural diagram of a smart missile signal processing system.
  • 1102 is the flight control subsystem
  • 1112 is the Feng or non-Feng computer system
  • 1114 is the signal receiving subsystem, and the others are the same as in FIG. 6.
  • phased array structure type 2.1, phased array structure type.
  • phased array elements are designed in a two-dimensional plane, as shown in Figure 8.
  • the signal processing system of this embodiment includes, but is not limited to, a signal receiving interface, connected to the signal receiving subsystem for receiving attributes and coordinates of the attacked target; and attributes and coordinates of the attacked target, before the missile is launched and after the missile is launched. , can be transmitted to the signal processing system through the wireless communication system.
  • the signal processing system is also coupled to the flight control subsystem to change the flight path of the system and direct the attack weapon to hit the target being attacked.
  • the signal processing system of the present embodiment includes, but is not limited to, identifying, searching, tracking, and evaluating the function of intercepting weapons, and changing the flight trajectory of the attacking weapon through the flight control subsystem to avoid intercepting the weapon; the identification includes but is not limited to intercepting the weapon. Identification, including but not limited to identifying intercepting weapons, calculating flight parameters of intercepting weapons, predicting the intersection of intercepting weapons and attacking weapons, and determining the degree of threat of intercepting weapons; avoidance includes but is not limited to modifying flight parameters of attacking weapons, The flight control subsystem is driven to change the flight path of the attacking weapon.
  • the system includes, but is not limited to, a signal receiving subsystem and a flight control subsystem.
  • the power of the single array element radiating the millimeter wave in this embodiment is more than 10 mW, and the radiation power of the single SoC chip is within 1 W.
  • This embodiment is an illustrative example of the present invention for a ship collision avoidance system.
  • the ship collision avoidance system is similar to the car collision avoidance system. In contrast, the similarities are not repeated. The main differences are:
  • the number of antennas in the phased array T/R component and/or the phased array antenna array is set to 2 to 1024.
  • the array of phased array antennas is arranged in a two-dimensional curved surface or in a multi-planar configuration to form a circular, spherical, box-shaped, hemispherical, and/or semi-box-shaped detection field.
  • the plurality of phased array T/R components and the phased array antenna array are arranged to be capable of emitting wavelengths of millimeter waves or capable of receiving reflections of detected objects at a wavelength of 3 mm to 30 mm.
  • the radiated power of the millimeter wave transmitted or received is 10 W or less.
  • the system is set up on water vehicles.
  • the detection distance of the car collision avoidance is in the kilometer class, and the detection distance of the ship anti-collision is in the range of ten kilometers to several tens of kilometers.
  • the millimeter wave radiation power of the SoC single chip of this embodiment is 10W.

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Abstract

一种相控阵识别方法及系统，来实现对于物体运动的识别，包括手势识别、汽车防撞识别、无人机防撞和防攻击识别、智慧飞弹以及船舶防撞识别。系统由相控阵天线阵列、相控阵T／R组件阵列和信号处理系统（131）构成，通过发射相控阵毫米波和接收被探测物体反射的毫米波，计算确定被探测物体的空间坐标。计算包括人工智能算法，包括目标识别、矫正、搜索、跟踪、凝视等算法步骤，信号处理系统（131）包括冯氏计算机、非冯氏计算机、神经网络和人工智能系统。系统可被制作成二合一的MMIC芯片和三合一SoC的MMIC芯片。

Description

一种相控阵识别方法及系统 技术领域
本发明涉及信息技术中智能传感器子领域，尤其是涉及有源相控阵传感技术，特别涉及有源相控阵手势识别及运动物体识别，其中具体涉及一种相控阵识别方法及系统。
背景技术
有源相控阵(Active Electronically Scanned Array，简称：AESA)探测技术通常用于军事方面和气象方面，有源相控阵雷达主要用于远距离探测飞机、导弹、云层等目标。在这些方面，无论是产品还是应用，都较为成熟。
毫米波(MilliMeter Wave，简称：MMW)的波长通常在1mm～10mm之间；但是，随着集成电路技术的发展，单片微波集成电路(Monolithic Microwave Integrated Circuit，简称MMIC)的工艺和技术已经使得波长向下延伸到0.1mm，向上延伸到100mm。有鉴本发明技术方案适用的毫米波的波长超过了前述1mm～10mm的范围，因此，在本专利申请中的毫米波范围是0.1mm～100mm。
集成电路设计制造技术的发展，已经实现把逻辑核、模拟核及存储器都设计到同一个芯片上(System on Chip，简称SoC，Intellectual Property core，简称IP)，并且，基于短波段的毫米波(例如波长0.1mm～3mm)，采用微带天线方式，还可以把天线制造在MMIC上，使得微功耗、微体积、微成本称为现实。
目前，基于毫米波的有源相控阵技术，还是应用于长距离探测，例如10km以上，应用面还是军事和气象。这些应用的特点是大功率、长距离、设备成本高昂、体积庞大。作为近距离的应用，例如1km左右，尚未发现；尤其是米级的微距应用，作为微功耗、微体积、微成本的手势识别、动作识别等方面的应用，更是未见报道。
在虚拟现实VR/AR/MR(Vitual Reality，虚拟现实，简称VR； Augmented Reality，增强现实，简称AR；MediatedReality，Mix Reality，混合现实，简称MR)技术的推动下，人机交互中的显示技术水平已经得到了极大的提高。但是，如何输入人的动作，尤其是手势动作识别，现在还没有很好的解决方案。
在可见光图像识别方面，如苹果公司的专利申请“201410198170.5，具有用于控制和修改手势识别的代表的手势识别器”、“201210345791.2，手势识别系统及可识别手势动作的眼镜”；华为公司的专利申请“201310581365.3，手势识别方法、装置及系统”。
在红外识别方面，如索尼公司的专利申请“201010118390.4，手势识别装置、手势识别方法和程序”，采用红外热释电技术探测手势；TCL集团的专利申请“201210565201.7，一种三维手势识别装置及三维手势识别方法”，采用双红外摄像机探测手势；“201310392905.3，一种电子设备及手势识别方法”。
在超声波识别方面，如联发科公司的专利申请“201510151345.1，基于超声波的非接触式手势识别方法及其装置”。
在可穿戴传感器识别方面，如专利申请“201510300495.4，通过穿戴式设备的基于雷达的手势识别”、“201510634055.2，易穿戴式手势识别装置”、“201110384461.X，一种无线手势识别装置”等，都是在手腕、手指上安装无线发射装置来实现探测。
在无线传感方面，诺基亚公司的专利申请“201280021975.1，使用多个传感器的手势识别”。
另外，还有一些技术是：
INTEL公司的专利申请“201410858259.X，嵌入式毫米波相控阵列模块”、“201280026451.1，高性能玻璃基60GHZ/MM波相控阵天线及其制造方法”、IBM公司的专利申请“201180019783.2，相控阵列毫米波成像技术”、“201280037941.1，近场毫米波成像”，丰田公司的专利申请“201380006310.8，集成到单个封装中的混合雷达”，中电14所的专利申请“201310341730.3，一体化毫米波有源相控阵天线”，德克萨斯仪器公司的专利申请“201210372231.6，”、“201080068935.3，太赫兹相控阵列系统”；清华大学专利申请“201210393627.9，毫米波FMCW两单 元相控阵测距测速单片雷达收发机”，上海安费诺亿的专利申请“201510347118.6，一种用于60GHz毫米波天线的悬置微带天线阵列及其天线”，浙江大学专利申请“201510590278.3，基于LTCC的相控阵雷达TR射频组件及相控阵雷达”。
这些专利文献虽然从局部的角度提出了一些很好的解决方案，但是没有真正提出如前所述的：短距离、微功耗、微体积、微成本的有源相控阵技术方案，无法应用到例如像手势识别的消费类信息化产品上，这就是现有技术的不足。
发明内容
为了克服现有技术的不足，本发明的目的是通过以下技术方案实现的：
一种相控阵识别方法，包括但不限于下列步骤及其组合：
调整一个以上T/R组件以及一个以上天线的发射端发射毫米波相位，以使所述发射毫米波所构成的聚焦方位扫描子场和/或全场的发射步骤。
调整一个以上发送/接收(Transmitter and Receiver，以下简称：T/R)组件以及一个以上天线的发射端发射毫米波相位的步骤。
控制一个以上T/R组件以及一个以上天线的接收端接收一个以上被探测物体反射所述发射毫米波的接收步骤。
基于所述一个以上被探测物体所反射的毫米波，计算所述一个以上被探测物体的探测数据的探测步骤。
所述子场，由多个相邻的所述聚焦方位构成，所述全场，由相控阵阵列探测范围所覆盖的所有所述子场构成。
由全部T/R组件及全部天线构成相控阵阵列的全阵，由部分T/R组件及部分天线构成相控阵阵列的子阵。
所述探测数据包括但不限于：每个所述被探测物体的空间坐标、搜索时刻、速度、加速度和/或运动轨迹数据。
所述发射毫米波的波长，被设置为0.1mm～100mm。
所述发射毫米波的辐射功率被设置为小于或者等于10W。
在前述技术方案的基础上，在本发明的另一些方案中可以采用如下列 的一种或者多种局部改进的措施：
包括信号处理系统。所述信号处理系统包括但不限于冯氏计算机子系统、非冯氏计算机子系统、神经网络子系统，和/或，人工智能子系统；和，
所述调整一个以上T/R组件以及一个以上天线发射端发射毫米波相位，还包括但不限于：控制所述T/R组件的发射通道，使其依据设定，产生特定跳频序列的步骤。
所述控制一个以上T/R组件以及一个以上天线的接收端接收一个以上被探测物体反射所述发射毫米波的步骤还包括但不限于：控制所述T/R组件的接收通道，使其能够鉴别接收到的被探测物体所反射毫米波中的跳频序列的步骤。
所述调整一个以上T/R组件以及一个以上天线的发射端发射毫米波相位，还包括但不限于：控制所述T/R组件的发射通道，使其依据设定，产生特定脉冲宽度及其序列的步骤。
所述控制一个以上T/R组件以及一个以上天线的接收端接收一个以上被探测物体反射所述发射毫米波的步骤还包括但不限于：控制所述T/R组件的接收通道，使其能够鉴别接收到的被探测物体所反射毫米波中脉冲宽度及其序列的步骤。
在前述技术方案的基础上，在本发明包含但不限于以下改进措施以及它们的组合：
测量所述T/R组件及天线本身的运动数据的步骤；
基于所述运动数据计算所述探测数据存在的偏差，以获得矫正数据的矫正步骤；
检测所述T/R组件及天线本身的有效性，并标记有效或失效的检测步骤；
跳过失效的所述T/R组件及天线，采用有效的所述T/R组件及天线的替代步骤；
所述偏差包括但不限于所述空间坐标、速度和/或加速度，所述矫正方法包括但不限于：基于相对坐标、绝对坐标矫正，基于相对运动、绝对运动的矫正；
所述失效包括但不限于所述T/R组件的发射端失效、所述T/R组件的接收端失效、所述天线的发射端失效和所述天线的接收端失效；
所述跳过失效包括但不限于在下次探测时不使用所述失效器件，采用有效器件代替。
在前述技术方案的基础上，在本发明进一步包含但不限于以下措施以及它们的组合：
将所述子场和/或全场，用所述聚焦方位划分成彼此相连的区域的步骤，和依据设定的连续和/或间隔所述区域进行扫描的搜索步骤。
所述探测数据包括但不限于所述被探测物体的空间坐标，依据所述探测数据，计算所述被探测物体的下一次探测子场的步骤，和使用全阵和/或分阵扫描所述探测子场的跟踪步骤。
所述的发射毫米波，具体包括但不限于发射单脉冲毫米波，接收并计算所得单脉冲探测数据。
多次发射所述单脉冲毫米波，计算得到多个所述单脉冲探测数据的步骤，和采用凝视算法，计算所述多个所述单脉冲探测数据得到一个优化的凝视探测数据的凝视步骤。
依据设定的过滤条件，对于所述探测数据进行过滤步骤；
所述过滤条件，包括但不限于所述探测子场的区间、所述被探测物体离天线的距离区间、所述被探测物体的大小尺寸区间、所述被探测物体的运动速度区间、所述被探测物体的属性区间或者它们之间任意组合。
在前述技术方案的基础上，在本发明进一步包含但不限于以下措施以及它们的组合：
所述基于所述一个以上被探测物体所反射的毫米波，具体包括但不限于：
搜索预先设置在所述被探测物体上的金属物体的步骤；
所述搜索包括但不限于全场全阵搜索、全场子阵搜索、子场全阵搜索、子场子阵搜索；
所述金属物体的尺寸大于或者等于所述发射毫米波的波长，所述金属物体包括但不限于金属球。
在前述技术方案的基础上，在本发明进一步包含但不限于以下措施以 及它们的组合：
所述发射毫米波的波长小于或者等于金属物体的尺寸，或者，小于或者等于金属球的周长。
所述信号处理系统包括但不限于运动传感器接口、信号接收接口和输出信号接口。
包括但不限于依据接收信号计算及输出飞行轨迹控制指令的步骤。
包括但不限于搜索、跟踪和评估拦截武器的步骤；和计算及输出飞行轨迹控制指令，以避让拦截武器的步骤。
在前述技术方案的基础上，在本发明的另一些方案中可以采用如下列的一种或者多种局部改进的措施：
所述计算所述一个以上被探测物体的探测数据的步骤还包括但不限于：
计算所述反射毫米波的强弱数值，依据设定的成像算法获得一幅探测图像的步骤。
所述探测数据，基于最小所述聚焦方位，在全场中进行搜索所获得的全部所述被探测物体的一场探测数据。
采用人工智能算法，对于所述一场探测数据采用优化计算的步骤。
一种相控阵识别系统，由多个相控阵T/R组件、相控阵天线阵列和信号处理系统连接构成；其中：
所述多个相控阵T/R组件和所述相控阵天线阵列连接；
所述信号处理系统和多个相控阵T/R组件连接；
所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为0.1mm～100mm；和/或，
所述发射的毫米波的功率为小于或者等于1W。
在前述技术方案的基础上，在本发明进一步包含但不限于以下内容及其组合：
所述相控阵T/R组件，包括但不限于发射信号产生单元、接收信号处理单元、移相单元、变极化单元和滤波单元；
所述相控阵天线阵列，包括但不限于多个发射天线和接收天线，并按 照包括但不限于一维直线、一维曲线、二维平面和/或二维曲面排列方式排列；
所述信号处理系统，至少包括但不限于冯氏计算机子系统、非冯氏计算机子系统、神经网络子系统和人工智能子系统；并被配置成按照设定的算法驱动所述相控阵T/R组件和相控阵天线阵列进行矫正、搜索、跟踪、凝视和智能识别的工作，并且根据反射回波计算出探测场内的多个被探测物体的探测数据，加工这些数据，并通过通信接口输出信号。
所述信号处理系统，被设置为能够对于所述T/R组件及天线进行有效性检测、标记有效和失效，以及控制失效的替代；所述失效替代是对于所述失效的T/R组件及天线，在所述搜索、所述跟踪和所述凝视时改用所述有效的T/R组件及天线替代。
所述信号处理系统，被设置为能够控制所述T/R组件完成所述跳频发射和接收鉴别，以及完成所述脉冲宽度调整的发射和接收鉴别。
多个所述相控阵T/R组件和多个所述相控阵天线阵列设置于单片集成电路中。
多个所述相控阵T/R组件、多个所述相控阵天线阵列与信号处理系统设置于单片集成电路中。
所述单片集成电路的相控阵T/R组件和/或相控阵天线阵列中天线的数量为2～1024个。
所述被探测物体包括但不限于：非导电物体和/或导电物体和/或附着有导电物质的非导电物体；
所述导电物体和/或所述导电物质的尺寸大于或者等于所述相控阵T/R组件发射毫米波的波长。
在前述技术方案的基础上，在本发明进一步包含但不限于以下内容及其组合：
所述信号处理系统包括但不限于运动传感器接口，并且被配置成能够依据运动传感器对于所述探测数据进行运动矫正；所述运动矫正包括但不限于：坐标矫正、速度矫正和/或加速度矫正。
所述信号处理系统包括但不限于信号接收接口，与信号接收子系统连接，用于接收被攻击目标的属性和坐标；所述信号处理系统还与飞行控制 子系统连接，改变所述系统的飞行轨迹，引导所述攻击武器击中所述被攻击目标。
所述信号处理系统包括但不限于识别、搜索、跟踪、评估拦截武器的功能，并通过飞行控制子系统改变所述攻击武器的飞行轨迹，避让拦截武器；所述识别包括但不限于对于拦截武器的识别，所述评估包括但不限于识别所述拦截武器、计算所述拦截武器的飞行参数、计算所述拦截武器与所述攻击武器的距离、预测所述拦截武器与所述攻击武器的飞行轨道交叉点、判断所述拦截武器的威胁程度；所述避让包括但不限于修改所述攻击武器的飞行参数，驱动所述飞行控制子系统改变所述攻击武器的飞行轨迹。
在前述技术方案的基础上，在本发明的另一些方案中可以采用如下列的一种或者多种局部改进的措施：
所述相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为4～1024个，所述相控阵天线阵列的排列方式为二维平面布置，以形成三维的探测场；
所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为0.1mm～10mm；
所述发射或者接收的毫米波的辐射功率为100mW及以下；
所述被探测物体为导电物质，且被设置在动物体上，作为本发明的应用特例，本系统可应用于人类的手势识别，尤其是在手指指尖附着金属球，以改善探测效果。所述被探测物体也可以直接为动物体本身。
所述相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为4～512个；所述相控阵天线阵列的排列方式为一维线性布置，包括但不限于两根平行线、三角形、矩形和多边形布置，以形成平面状探测场。
所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为1mm～30mm。
所述发射或者接收的毫米波的辐射功率为500mW及以下。
所述系统被设置在陆地交通工具上。
所述相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为4～1024个；所述相控阵天线阵列的排列方式为二维平面、二维曲面或者 多平面布置，以形成球形、半球形、箱形和/或半敞口箱形箱形的探测场；
所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为3mm～30mm；所述发射或者接收的毫米波的辐射功率为500mW及以下；
所述系统被设置在低速飞行器上；
所述相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为4～1024个；所述相控阵天线阵列的排列方式为二维平面或曲面布置。
所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为3mm～30mm；和/或，
所述发射或者接收的毫米波的辐射功率为1W及以下；
所述系统被设置在攻击武器上；
所述相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为2～1024个；所述相控阵天线阵列的排列方式为二维曲面或者多平面布置，以形成圆环形、球形、箱形、半球形和/或半箱形的探测场；
所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为3mm～30mm；
所述发射或者接收的毫米波的辐射功率为1W及以下；
所述被探测物体为导电物质，且被设置在水上交通工具上。
与现有技术相比，本发明具有以下有益效果：
由于在本发明中采用的发射毫米波的波长，为0.1mm～100mm，毫米波的辐射功率被设置在1W以内；因此，使得采用本发明技术方案的设备得以小型化，以用于民用的物体跟踪、识别等场合，能够为前述的VR/AR/MR提供更为良好的技术配合。
采用本发明所提供的技术方案可以获得如下的系统优点：
1、采用相控阵的方法，具体是改变多个相控阵T/R组件和天线阵列发射毫米波的相位，来实现对于运动物体的扫描、识别、矫正、搜索、跟踪、凝视等步骤，实现对于运动物体的探测，从而实现对于物体的真三维、高精度、高速度、全时域识别。
2、采用相控阵的系统，有利于制造单芯片MMIC解决方案，具体是采用由相控阵T/R组件和天线阵列构成的二合一单片毫米波芯片MMIC， 或者是采用由相控阵T/R组件和天线阵列和信号处理系统构成的三合一单片毫米波芯片MMIC，实现对于运动物体的扫描、识别、矫正、搜索、跟踪、凝视等步骤，再通过计算，实现对于运动物体的探测，从而实现低成本、低功耗、小体积、实时、高效率的解决方案，人机交互的直观性也得到了改善。
3、无论是作为手势识别应用，还是汽车防撞应用、无人机防攻击应用、智慧飞弹应用还是船舶防撞应用等，比现有技术，都有很大的提升，充分体现了本发明的创造性。
附图说明
图1是相控阵系统结构图；
图2是三合一SoC芯片天线阵列结构图；
图3是相控阵搜索原理图；
图4是相控阵跟踪原理图；
图5是T/R组件原理图；
图6是信号处理系统结构图；
图7是一维线阵结构图；
图8是二维平面阵列结构图；
图9是矩形线阵结构图；
图10是五面形结构图；
图11是智慧飞弹信号处理系统结构图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行描述。
本发明的一类具体实施方式如下：
一：手势识别系统
具体实施方式一、手势识别系统
该实施方式是本发明面向手势识别系统的示例性例子。
所述手势识别系统，是用于识别动物运动的一种系统，包括但并不限 于人的手势运动识别。
1、方法及系统说明
本发明方法的一类具体实施方式包括：
调整一个以上T/R组件以及一个以上天线的发射端发射毫米波相位，以使发射毫米波所构成的聚焦方位扫描子场和/或全场的步骤。
控制一个以上T/R组件以及一个以上天线的接收端接收一个以上被探测物体反射发射毫米波的步骤。
基于一个以上被探测物体所反射的毫米波，计算一个以上被探测物体的探测数据的步骤。
需要说明的是：在本发明上述具体实施方式的各个步骤中，发射毫米波的波长，被设置为0.1mm～100mm这样的范围之中，并且，发射毫米波的辐射功率被设置为小于或者等于1W。因此，当该等发射毫米波被探测物体反射，由T/R组件接收到时，其波长和功率分别在上述的数值范围之内。
由于在本发明的技术方案中，对发射毫米波的波长和辐射功率都做出了上述的限制，使得上述的T/R组件可以被充分地小型化和微型化，而被集成到电子芯片器件之中。前述的这种电子芯片器件则可以大量地应用于各种电子设备，例如：手机、便携式通信设备、便携式笔记本电脑等。
在本发明方法的一类具体实施方式中，前述调整一个以上T/R组件以及一个以上天线发射端发射毫米波相位的步骤中，还可以包括但不限于：控制T/R组件的发射通道，使其依据设定，产生特定跳频序列的步骤。
在本发明方法的一类具体实施方式中，前述控制一个以上T/R组件以及一个以上天线的接收端接收一个以上被探测物体反射发射毫米波的步骤中，还可以包括但不限于：控制T/R组件的接收通道，使其能够鉴别接收到的被探测物体所反射毫米波中的跳频序列的步骤。
产生特定跳频序列的技术效果是为了抗干扰和保密。当多个使用本方法的设备在同一片区域中使用时，会产生的彼此间的相互干扰；也有可能他人有意干扰和/或窃取有关的波长、波数、发射参数、接收参数、跳频参数等信息。通过跳频的方法，具体约定发射端和接收端采用同一个跳频序列函数产生的跳频发射和跳频接收，这样就可以避免上述干扰或者窃取 数据的情况发生。此外，为了增加抗干扰和保密的程度，跳频序列函数需要在跳频规律、重复周期方面采用尽可能复杂和难以破解的算法。
在本发明方法的一类具体实施方式中，
调整一个以上T/R组件以及一个以上天线的发射端发射毫米波相位，还包括但不限于：控制T/R组件的发射通道，使其依据设定，产生特定脉冲宽度及其序列的步骤。
在本发明方法的一类具体实施方式中，
控制一个以上T/R组件以及一个以上天线的接收端接收一个以上被探测物体反射发射毫米波的步骤还包括但不限于：控制T/R组件的接收通道，使其能够鉴别接收到的被探测物体所反射毫米波中脉冲宽度及其序列的步骤。
产生特定脉冲宽度序列的技术效果同样也是为了抗干扰和保密。当多个使用本方法的设备在同一片区域中使用时，会产生的彼此间的相互干扰，在一些情形下，也有可能出现他人有意干扰和/或窃取波长、波数、发射参数、接收参数、脉冲宽度参数等信息。通过控制脉冲宽度的方法，具体约定发射端和接收端采用同一个脉冲宽度函数产生的发射和接收，就可以避免上述干扰或者窃取数据的情况发生。此外，为了增加抗干扰和保密的程度，脉冲宽度函数需要在脉冲宽度规律、重复周期方面采用尽可能复杂和难以破解的算法。
在本发明方法的一类具体实施方式中，还包括：
测量T/R组件及天线本身的运动数据的步骤。
基于运动数据计算探测数据存在的偏差，以获得矫正数据的步骤。
偏差包括但不限于空间坐标、速度和/或加速度。
采用上述的技术措施主要是为了进行自矫正处理；这样一方面可以消除由于T/R组件和天线本身的运动而造成的探测数据的数据偏差，该偏差包括但不限于空间坐标、速度和/或加速度。一个具体例子是T/R组件及天线用于MR眼镜中时，由于头部的不经意运动而造成对于探测物(手指及手掌)手势识别的数据偏差。另一方面，可以消除由于T/R组件和天线本身以及手指手掌都处于运动状态而造成的探测数据的数据偏差，该偏差包括但不限于空间坐标、速度和/或加速度。一个具体的例子是T/R组件 及天线用于MR眼镜中，而人在运动的车辆中所造成对于手势识别的数据偏差。
在本发明方法的一类具体实施方式中，还包括：
检测T/R组件及天线本身的有效性，并标记有效或失效的步骤。
跳过失效的T/R组件及天线，采用有效的T/R组件及天线的步骤。
采用上述的技术措施主要是为了进行自修复处理；当某一个或者多个天线损坏时，采用上述的措施可以检测并跳过损坏的天线，采用周边完好的天线替代，以确保该方法能够继续有效工作。当某一个或者多个T/R组件损坏时，采用上述的措施可以检测并跳过损坏的T/R组件，采用周边完好的T/R组件替代，以确保该方法能够继续有效工作。当出现上述两种损坏情况的组合时，采用相应的替代，就可以确保该方法能够继续有效工作。
在本发明方法的一类具体实施方式中，还包括：
将子场和/或全场，用聚焦方位划分成彼此相连的区域的步骤，和依据设定的连续和/或间隔区域进行扫描的搜索步骤。
依据探测数据，计算被探测物体的下一次探测子场的步骤，以及使用全阵和/或分阵扫描探测子场的跟踪步骤。
前述的探测数据包括但不限于被探测物体的空间坐标。
为了对探测物(手指及手掌)实现搜索和跟踪，采用上述的措施可以实现：1、快速搜索，依据手势运动的速度和发射端发射的波长关系，设定间隔区域，从而加快了全场和/或子场扫描速度。2、高精度跟踪，依据手指及手掌所在的子场，使用全阵和/或子阵进行逐个聚焦方位的扫描，从而提高了提出精度。
在本发明方法的一类具体实施方式中，还包括：
前述的发射毫米波，具体包括但不限于发射一个以上单脉冲毫米波，接收并计算一个以上单脉冲探测数据的步骤。
计算一个以上单脉冲探测数据以获得优化凝视探测数据的凝视步骤。
在本具体实施方式中采用上述的措施可以利用包括统计算法在内的多种算法，对多个凝视探测数据进行计算，可以得出精度更高的探测数据。
在本发明方法的一类具体实施方式中，还包括：
使发射毫米波的波长小于或者等于金属物体的尺寸，或者，小于或者 等于金属球的周长。
依据接收信号计算及输出飞行轨迹控制指令的步骤。
识别、搜索、跟踪和评估拦截武器的步骤；
计算及输出飞行轨迹控制指令的步骤。
依据设定的过滤条件，对于探测数据进行过滤步骤。
前述的过滤条件，包括但不限于探测子场的区间、被探测物体离天线的距离区间、被探测物体的大小尺寸区间、被探测物体的运动速度区间、被探测物体的属性区间或者它们之间任意组合。
采用上述各个具体技术措施的好处在于：1、当金属球的周长或者金属物体的尺寸等于发射毫米波的波长时，能够获得符合瑞利区域的最强反射毫米波的信号。
2、能够识别、搜索和跟踪拦截武器，根据计算得到的拦截武器的轨道数据，判断拦截武器的威胁程度，并且完成避让拦截武器的攻击。
3、设定过滤条件，过滤掉不需要的被探测物体，例如当作为手势识别时，手势运动时，可能存在周边物体的运动，此时这个周边物体将被过滤，只保留手势运动的探测数据。
在本发明方法的一类具体实施方式中，为了能够实现：毫米波成像，可以在计算一个以上被探测物体的探测数据时，计算反射毫米波的强弱数值，依据设定的成像算法获得一幅探测图像。前述所谓的探测数据，是指基于最小聚焦方位，在全场中进行搜索所获得的全部被探测物体的一场探测数据。
为了消除图像中的不需要部分，保留需要的部分；在本实施方式中可采用人工智能算法，对于一场探测数据进行优化计算。
本发明系统的一类具体实施方式包括：
一种相控阵识别系统，由多个相控阵T/R组件、相控阵天线阵列和信号处理系统连接构成；其中：多个相控阵T/R组件和相控阵天线阵列连接；信号处理系统和多个相控阵T/R组件连接；多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为0.1mm～100mm；发射的毫米波的功率小于或者等于10W。
本发明上述一类具体的实施方式中，由于将发射毫米波的波长设置在 0.1mm～100mm，将发射的毫米波的功率设置为小于或者等于10W，因此可以带来如下的技术效果：
1、有利于将由多个相控阵T/R组件、相控阵天线阵列设计为单片MMIC芯片。
2、有利于将由多个相控阵T/R组件、相控阵天线阵列和信号处理系统设计构成单片SoC的MMIC芯片。
3、有利于实现微功耗、微体积、微成本和高效率的相控阵识别实施方案，以用于与民用消费类的手势识别系统。
本发明系统的一类具体实施方式包括：
相控阵T/R组件，包括但不限于发射信号产生单元、接收信号处理单元、移相单元、变极化单元和滤波单元。相控阵天线阵列，包括但不限于多个发射天线和接收天线，并按照包括但不限于一维直线、一维曲线、二维平面和/或二维曲面的方式排列。信号处理系统，包括但不限于冯氏计算机子系统、非冯氏计算机子系统、神经网络子系统，和/或，人工智能子系统。并被配置成按照设定的算法驱动相控阵T/R组件和相控阵天线阵列进行矫正、搜索、跟踪、凝视和智能识别的工作，并且根据反射回波计算出探测场内的多个被探测物体的探测数据，加工这些数据，并通过通信接口输出数据。信号处理系统，被设置为能够对于T/R组件及天线进行有效性检测、标记有效和失效，以及控制失效的替代。信号处理系统，被设置为能够控制T/R组件完成跳频发射和接收鉴别，以及完成脉冲宽度调整的发射和接收鉴别。多个相控阵T/R组件和多个相控阵天线阵列设置于单片集成电路中，多个相控阵T/R组件、多个相控阵天线阵列与信号处理系统设置于单片集成电路中。单片集成电路的相控阵T/R组件和/或相控阵天线阵列中天线的数量为2～1024个。被探测物体包括但不限于：非导电物体和/或导电物体和/或附着有导电物质的非导电物体。导电物体和/或导电物质的尺寸大于或者等于相控阵T/R组件发射毫米波的波长。
信号处理系统包括但不限于运动传感器接口，并且被配置成能够依据运动传感器对于探测数据进行运动矫正；运动矫正包括但不限于：坐标矫正、速度矫正和/或加速度矫正。
相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为4～ 1024个，相控阵天线阵列的排列方式为二维平面布置，以形成三维的探测场。多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为0.1mm～10mm。发射或者接收的毫米波的辐射功率为100mW及以下。被探测物体为导电物质，且被设置在动物体上。被探测物体也可以直接为动物体本身。
2、结构说明
图1是相控阵系统结构图。如图1所示，其中，111、112、113、直到11n分别都是单个相控阵天线，称为阵元，由这些阵元构成阵列。121、122、123、直到12n分别都是单个相控阵T/R组件，每个相控阵T/R组件一边与一个阵元连接，如121与111的连接，构成有源相控阵AESA工作模式，将这种T/R组件阵列和天线阵列组成集成电路称为二合一MMIC芯片。另外一边与信号处理系统连接，如121与131的连接，接受信号处理系统的管理与控制。131是信号处理系统，141是信号输出接口，上述包括MMIC的全部电路被设计成一个单片SoC芯片称为三合一SoC芯片。151、152是被探测手指上附着的表面光滑的、半径为γ的金属球。
依据相控阵探测原理，设相控阵毫米波波长为λ，相控阵天线阵列中各个天线之间的间距为d，则d取值为0.5λ～0.7λ之间，最小探测距离R以远场计算，则R≥65λ。根据瑞利区特性，当金属球的周长c＝λ时，金属球对于毫米波的反射效果最佳，因此，γ＝λ/2π≈0.159155λ。
依据集成电路制造工艺水平及制程水平，波长λ＝0.1mm～3mm的器件将天线集成到一起是可行的，当波长λ＞3mm时，可采用其它微带天线，例如PCB(Printed Circuit Board，印制电路板)天线等。当取最短波长时，最低探测距离，R≥65λ＝6.5mm，作为随身应用的电子设备，6.5mm是可被接受的。而作为用于捕捉人体动作的手势识别设备，最小距离为6.5mm也是可被接受的。再从最长波长100mm看，芯片的制造更是可行的，此时最低探测距离，R≥65λ＝6500mm＝6.5m，这在作为中远距离的人体动作捕捉，6.5m也是可行的。因此，本发明申请取λ为0.1mm～100mm，则最小探测距离为6.5mm～6.5m。
作为一个优化的特例，取λ＝3mm，
则，最小探测距离：R＝65，λ＝195mm，
天线间距：d＝0.5，λ＝1.5mm，
金属球半径：γ＝0.159155，λ＝0.477mm。
依据集成电路制造工艺，天线阵元在本实施例中采用微带天线结构。
依据毫米波收发以及探测效果的考虑，单个SoC芯片MMIC的毫米波辐射功率选择在W级，即10瓦特以下。在本实施例中，作为一个优化特例，对于单个SoC芯片，其毫米波辐射功率选择为1W以下。
图2是三合一SoC芯片天线阵列结构图，在本实施例中，作为一个特例，采用矩形二维平面布置的结构，在其它应用中，可以采用一维直线布置、一维曲线布置以及二维曲面布置，例如半球面、四棱锥布置等。其中201为天线阵列202为单个天线，。天线的数量范围取4个到1024个之间，其中，当天线为4个时，天线的布局为矩形的4个角上个布置1个；当天线为1024个时，可以采用32行和32列布置。天线的间距按照上述计算的d值布置，当λ＝3mm时，整个阵列的尺寸为4个阵元时是1.5mm×1.5mm，1024个阵元时是(31×1.5mm)×(31×1.5mm)＝46.5mm×46.5mm。
在其它的应用例子中，天线的数量范围取2个到1024个之间，例如配置成一维线阵应用。
由于采用的是有源相控阵方式，所以，每个天线的后面均布置一个T/R组件，依据集成电路设计工艺，将天线和T/R组件设计成单个芯片，成为二合一芯片；也可以将后续信号处理系统设计到一起，成为三合一芯片。作为一个特例，本实施例设计的三合一芯片取8×8阵元，单个SoC芯片的芯片面积为12mm×12mm。
图8是二维平面阵列结构图，图8是32×24的天线的二维平面阵列的结构图，共768个阵元，4:3比例，以便与显示器的比例一致。其中，801是阵列的框架，802是天线阵元，803是拼接线，4×3个SoC芯片拼接而成，图中深色区域为一个SoC集成电路的示意。
图3是相控阵搜索原理图，其中301是天线阵列，302是搜索的全场，303是其中的一个扫描线。这是逐行扫描方式的搜索工作原理。
图4是相控阵跟踪原理图，其中401是天线阵列，也称为全阵，402、403分别是2个子阵，404和405分别是2个被跟踪物体。在图4中，子 阵402用于跟踪404，子阵403用于跟踪405。
图5是T/R组件原理图，它是由图中的相关模块连接而成，T/R组件的右侧连接天线阵列，左侧连接信号处理系统。其中，501是信号总线，502是收发开关，503是移相器，504是射频转换开关，505是振荡器，506是放大器，507是滤波器，508是极化开关和极化移相器，509是天线单元引线，510是衰减器，511是低噪声放大器，512是限幅器，513是电源管理，514是相位与限幅开关，515是检测控制，516是极化控制，517是检测开关，518是电源总线，519是控制总线。
图6是信号处理系统结构图，其中，601是输出接口，611是人工智能系统，612是冯氏计算机系统，613是运动传感器接口，621是总线管理、神经网络以及它们的组合，631、632、63n是总线模块，每个模块上的控制总线和信号总线，分别和T/R组件上的控制总线和信号总线相连。在本实施例中，621选择是总线管理，在其它的实施例中，可以选择是神经网络或者神经网络和总线管理的组合。此外，612还可以选择是非冯氏计算机系统。
在本实施例中，信号处理系统的功能并被配置成：
(1)按照设定的人工智能算法驱动相控阵T/R组件和相控阵天线阵列进行运动矫正、搜索、跟踪、凝视和智能识别的工作。
(2)根据反射回波计算出探测场内的多个被探测物体的探测数据，按照设定的人工智能算法加工这些数据，并通过通信接口输出信号。
(3)能够对于T/R组件及天线进行有效性检测、标记有效和失效，以及控制失效的替代。
(4)能够控制T/R组件按照设定的包括但不限于人工智能算法在内的算法完成跳频发射和接收鉴别，以及完成脉冲宽度调整的发射和接收鉴别。
(5)能够依据运动传感器对于运动进行矫正矫正，包括但不限于坐标矫正、速度矫正和/或加速度矫正。
(6)运动传感器在本实施例中选用9轴运动传感器。
3、工作原理说明
在本实施例中，通过设置信号处理系统，使得在信号处理系统的管理 和控制下，本实施例的工作原理的步骤是：
3.1、行扫描
本实施例中，调整1个到32个T/R组件以及1个到32个天线的发射端发射毫米波相位，以使发射毫米波所构成的聚焦方位扫描子场和/或全场。
本实施例中，控制1个到32个T/R组件以及1个到32个天线的接收端接收一个以上被探测物体反射发射毫米波。
本实施例中，基于一个以上被探测物体所反射的毫米波，计算1个到32个被探测物体的探测数据。
3.2、列扫描
本实施例的上述参与扫描的阵元最大数为24个。
3.3、跳频
信号处理系统控制全部T/R组件的发射通道，使其依据设定，产生特定跳频序列，还控制所有T/R组件以及天线的接收端接收1个到8个被探测物体反射发射毫米波并且鉴别跳频。本实施例选择采用人工智能跳频鉴别，以免在多个本系统的设备在同一个场所使用时彼此干扰。
3.4、脉冲调宽
信号处理系统控制全部T/R组件的发射通道，使其依据设定，产生特定脉冲宽度及其序列，还控制所有天线的接收端接收1个到8个被探测物体反射发射毫米波，并且控制T/R组件的接收通道，使其能够鉴别接收到的被探测物体所反射毫米波中脉冲宽度及其序列。本实施例选择采用人工智能脉冲宽度鉴别，以免在多个本系统的设备在同一个场所使用时彼此干扰。
3.5、矫正
测量T/R组件及天线本身的运动数据的步骤。
基于运动数据计算探测数据存在的偏差，以获得矫正数据的步骤。
检测T/R组件及天线本身的有效性，并标记有效或失效的步骤。
跳过失效的T/R组件及天线，采用有效的T/R组件及天线的步骤；
偏差包括但不限于空间坐标、速度和/或加速度。
本实施例中，矫正主要用于人工智能相对运动矫正，例如，当本系统 用于VR/AR/MR的眼镜设备上的时候，由于人的头部运动会带来的干扰，所以，采用例如9轴传感器来捕捉头部的运动，以此作为干扰偏差，予以矫正。
3.6、搜索
将子场和/或全场，用聚焦方位划分成彼此相连的区域，依据设定对连续和/或间隔的区域进行扫描。包括聚焦方位搜索和子阵搜索。聚焦方位搜索，是以系统的聚焦方位作为步进的单位，而聚焦方位是系统中精度最高的粒度。子阵搜索，是确定一个由若干个相邻的聚焦方位构成的子阵，以这个子阵作为搜索的步进单位，其粒度大于聚焦方位，所以，搜索的进度也就低于聚焦方位搜索。
本实施例中，采用人工智能算法，如果对于搜索速度要求高的情况下，可以把聚焦方位搜索改成子场搜索，子场的大小依据实际应用确定。如果对于搜索精度要求高的情况下，可以采用聚焦方位搜索。
3.7、跟踪
探测数据包括但不限于被探测物体的空间坐标，依据探测数据，计算被探测物体的下一次探测子场，使用全阵和/或分阵扫描探测子场。本实施例中，采用单个SoC芯片的子阵对于一个手指上的金属球进行跟踪，由于本系统中一共有4×3个SoC芯片，所以，同时跟踪的最大目标(手指上的金属球)数为12个。在跟踪速度要求不高时，可以改用全阵(12个SoC芯片)跟踪，用分时跟踪方式，依次跟踪各个手指上的金属球，并采用人工智能算法，以提高跟踪精度。
发射毫米波，具体包括但不限于发射单脉冲毫米波，接收并计算所得单脉冲探测数据。
3.8、凝视
多次发射单脉冲毫米波，计算得到多个单脉冲探测数据的步骤，和采用凝视算法，计算多个单脉冲探测数据得到一个优化的凝视探测数据的凝视步骤。在本实施例中，单脉冲的次数选择为5次。
3.9、过滤
依据设定的过滤条件，对于探测数据进行过滤步骤。
过滤条件，包括但不限于探测子场的区间、被探测物体离天线的距离 区间、被探测物体的大小尺寸区间、被探测物体的运动速度区间、被探测物体的属性区间或者它们之间任意组合。在本实施例中，采用人工智能算法，选择将相对于阵元而言静止的物体的探测数据过滤掉。
3.10、自检及替代
能够对于T/R组件及天线的发射及接收进行有效性检测、标记有效和失效，对于失效的将以周边良好器件替代。
3.11、尺寸
发射毫米波的波长小于或者等于金属物体的尺寸，或者，小于或者等于金属球的周长。在本实施例中，选择相控阵毫米波的波长为3mm，所以，确定金属球的半径为0.5mm。
3.12、成像
计算一个以上被探测物体的探测数据的步骤还包括但不限于：
计算反射毫米波的强弱数值，依据设定的成像算法获得一幅探测图像的步骤。
探测数据，基于最小聚焦方位，在全场中进行搜索所获得的全部被探测物体的一场探测数据。
本实施例中，对于探测速度要求不高时，可以选用成像法识别手指运动。
在本发明所提供的上述具体实施方案中，无论是前述的搜索、跟踪，还是后面所提及的凝视操作，其基本构成，均涉及对相控阵毫米波的发射、接收的调整和控制，以及对于毫米波的波长以及发射功率的调整与控制。而这些具体到相控阵毫米波及其波长、功率的调整和控制，正是本发明的核心所在。正是因为如前的调整、控制发射、接收相控阵毫米波的波长以及功率，使得本发明的设备可以小型化、低功耗，还可以实现短距离物体探测，使得相控阵识别技术具有了更为广阔的应用空间。
3.13、人工智能优化及软件
采用人工智能算法，对于一场探测数据采用优化计算的步骤。本实施例中，根据人的手指运动特征，以及根据使用者的习惯特征，在人工智能优化中，采用专家库算法完成优化。在软件设计中，除了单机版软件，还包括但不限于网络版软件，尤其是包括但不限于协调多个手势识别设备的 网络化软件。
二：汽车防撞系统
具体实施方式二、汽车防撞系统
该实施方式是本发明面向汽车防撞系统的示例性例子。
汽车防撞系统，是用于陆地交通工具上的一种防撞系统，包括但并不限于汽车。本实施方式与前述实施方式相比，相同之处不予复述，系统主要差异化如下：
1、方法和系统差异化说明
相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为4～512个。相控阵天线阵列的排列方式为一维线性布置，包括但不限于两根平行线、三角形、矩形和多边形布置，以形成平面状探测场。多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为1mm～30mm。发射或者接收的毫米波的辐射功率为500mW及以下，系统被设置在陆地交通工具上。
2、结构及原理差异化说明
2.1、相控阵阵列结构类型。
本实施例中，由于汽车只是在公路或者地面上行驶，属于二维平面，为了防撞，只需要在二维平面上探测。所以，这里最低只需要采用一维线阵的相控阵类型即可。
图7是一维线阵结构图，其中，701是一维线阵的天线阵元排列，702是具体天线阵元。与二维平面排列的通信阵元不用的是，一维线阵的相控阵系统，只能探测二维平面上的物体，以极坐标系统来看，它只能够探测物体的方位角和距离，不能探测仰角。这是适合汽车防撞需要的。
图9是矩形线阵结构图，它是4个一维线阵天线阵元按照四边形排列而成的，天线阵元朝向四边形的外围。其中，901是天线阵元排列，902是具体天线阵元。这种四边形的布局方式，将会为汽车提供一个平面的、360度方位的探测。
2.2、天线阵元个数。
由于本实施例是用于探测二维平面，根据相控阵天线工作原理和计算，根据不同的探测精度要求，其四边形的天线阵元数为4～512个，其 中单边的阵元数在2～128个.
2.3、信号处理系统的算法和工作。
由于汽车的尺寸相对于手势识别的尺寸有很大的差异，手势识别的精度为毫米级，而汽车防撞的精度可以是厘米级甚至分米级。此外，识别距离也不同，手势识别的距离是在米级以内，而汽车防撞识别的距离至少是百米级别至公里级别。所以，包括但不限于精度和距离，信号处理系统的具体算法是根据汽车防撞的要求予以设计。尤其是，本实施例是采用4个一维的SoC芯片，它们内部都有信号处理系统，在4个芯片之外，须设计一个统管这4个信号处理系统的处理系统，以协调它们的工作。
2.4、子阵和全阵。
由于本实施例是一维线阵，不同于手势识别实施例是二维线阵，所以，本实施例中全阵和子阵都是一维的。
阵元辐射功率。
由于本实施例的探测距离为公里级别，不同于手势识别的米级，所以，本实施例的阵元辐射毫米波的功率微10mW以上，单个SoC芯片的辐射功率在500mW以内。
2.5、毫米波频率。
本实施例的相控阵毫米波的波长确定为1mm～30mm。
搜索跟踪和凝视。
对于本实施例，在搜索中，需要判断出碰撞危险最大的物体，对于该物体，采取重点跟踪。需要是，尤其是在超车时，采用凝视算法，重点探测被超车车辆，以确保安全。
2.6、输出信号作用。
对于信号处理系统输出的信号，在本实施例中，可以接入到车载计算机系统，包括但不限于用于ABS刹车、转向操作等。
三：无人机防撞、防攻击系统
具体实施方式三、无人机防撞防攻击系统
该实施方式是本发明面向无人机防撞防攻击系统的示例性例子。
无人机防撞防攻击系统，是用于空中飞行工具上的一种防撞系统，包括但并不限于汽车。本实施方式与前述实施方式相比，相同之处不予复述， 系统主要差异化如下：
1、方法和系统差异化说明
信号处理系统包括但不限于信号接收接口，与信号接收子系统连接，用于接收被攻击目标的属性和坐标。信号处理系统还与飞行控制子系统连接，改变系统的飞行轨迹，引导攻击武器击中被攻击目标。信号处理系统包括但不限于识别、搜索、跟踪、评估拦截武器的功能，并通过飞行控制子系统改变攻击武器的飞行轨迹，避让拦截武器。识别包括但不限于对于拦截武器的识别，评估包括但不限于识别拦截武器、计算拦截武器的飞行参数、计算拦截武器与所述攻击武器的距离、预测拦截武器与攻击武器的飞行轨道交叉点、判断拦截武器的威胁程度；避让包括但不限于修改攻击武器的飞行参数，驱动飞行控制子系统改变攻击武器的飞行轨迹。
2、结构及原理差异化说明
相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为4～1024个。相控阵天线阵列的排列方式为二维平面、曲面或者多平面布置，以形成球形、半球形、箱形和/或敞口箱形的探测场。多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为3mm～30mm。发射或者接收的毫米波的辐射功率为1W及以下。系统被设置在被设置在低速飞行器上。
2.1、相控阵阵列结构类型。
本实施例中，由于无人机是在空中飞行，属于三维空间，为了防撞和防止遭受攻击，需要在三维空间上探测。
图10是五面形结构图，其中，1001、1002、1003、1004、1005是5个二维平面的天线阵元排列，其天线阵元均是朝向外边。
2.2、天线阵元个数。
由于本实施例是用于探测5面的三维空间，根据相控阵天线工作原理和计算，根据不同的探测精度要求，其天线阵元数为4～1024个，其中单边的阵元数在2～128个。在实际设计中，5面的每一个面均采用一个8×8的SoC芯片。
2.3、信号处理系统的算法和工作。
由于无人机的尺寸相对于手势识别的尺寸有很大的差异，手势识别的 精度为毫米级，而无人机防撞防攻击的精度可以是厘米级。此外，识别距离也不同，手势识别的距离是在米级以内，而汽车防撞识别的距离至少是百米级别至十公里级别。所以，包括但不限于精度和距离，信号处理系统的具体算法是根据汽车防撞的要求予以设计。尤其是，本实施例是采用5个二维的SoC芯片，它们内部都有信号处理系统，在5个芯片之外，须设计一个统管这5个信号处理系统的处理系统，以协调它们的工作。
此外，作为无人机防攻击系统，目的是识别和预测被探测物体的运动轨迹，与无人机本身的运动轨迹在某一个时刻有交叉，当出现有交叉时，信号处理系统通过输出接口，输出避让信号，以驱动无人机避让。对于多个有有交叉的运动物体，信号处理系统将判断危险级别，采用跟踪算法予以跟踪，并依据危险级别予以避让。
四：智慧飞弹系统
具体实施方式四、智慧飞弹系统
该实施方式是本发明面向智慧飞弹系统的示例性例子。
智慧飞弹，包括但不限于炮弹、炸弹和导弹，智慧飞弹系统是一种自巡的、自规避系统。本实施方式与前述无人机防撞系统实施方式相比，相同之处不予复述，系统主要差异化如下：
1、方法和系统差异化说明
信号处理系统包括但不限于信号接收接口，与信号接收子系统连接，用于接收被攻击目标的属性和坐标；信号处理系统还与飞行控制子系统连接，改变系统的飞行轨迹，引导攻击武器击中被攻击目标。
信号处理系统包括但不限于识别、搜索、跟踪、评估拦截武器的功能，并通过飞行控制子系统改变攻击武器的飞行轨迹，避让拦截武器；识别包括但不限于对于拦截武器的识别，评估包括但不限于识别拦截武器、计算拦截武器的飞行参数、计算拦截武器与攻击武器的距离、预测拦截武器与攻击武器的飞行轨道交叉点、判断拦截武器的威胁程度；避让包括但不限于修改攻击武器的飞行参数，驱动飞行控制子系统改变攻击武器的飞行轨迹。
2、结构及原理差异化说明
相控阵T/R组件及相控阵天线阵列中天线的数量，被设置为4～1024 个。相控阵天线阵列的排列方式为二维平面布置。多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为3mm～30mm。发射或者接收的毫米波的辐射功率为1W及以下，系统被设置在攻击武器上。
图11是智慧飞弹信号处理系统结构图。其中，1102是飞行控制子系统，1112是冯氏或非冯氏计算机系统，1114是信号接收子系统，其它与图6相同。
2.1、相控阵阵列结构类型。
本实施例中，由于智慧飞弹是在空中飞行，属于三维空间，需要在三维空间上探测。其相控阵阵元设计采用二维平面布置，如图8所示。
2.2、信号处理系统的算法和工作。
本实施例的信号处理系统包括但不限于信号接收接口，与信号接收子系统连接，用于接收被攻击目标的属性和坐标；而被攻击目标的属性和坐标，在飞弹发射之前和飞弹发射之后，都可以通过无线通信系统传输到信号处理系统。信号处理系统还与飞行控制子系统连接，改变系统的飞行轨迹，引导攻击武器击中被攻击目标。
此外，本实施例的信号处理系统包括但不限于识别、搜索、跟踪、评估拦截武器的功能，并通过飞行控制子系统改变攻击武器的飞行轨迹，避让拦截武器；识别包括但不限于对于拦截武器的识别，评估包括但不限于识别拦截武器、计算拦截武器的飞行参数、预测拦截武器与攻击武器的飞行轨道交叉点、判断拦截武器的威胁程度；避让包括但不限于修改攻击武器的飞行参数，驱动飞行控制子系统改变攻击武器的飞行轨迹。
2.3、系统包括但不限于信号接收子系统和飞行控制子系统。
2.4、阵元辐射功率。
由于本实施例的探测距离为十公里级别，不同于手势识别的米级，所以，本实施例的单个阵元辐射毫米波的功率微10mW以上，单个SoC芯片的辐射功率在1W以内。
五：船舶防撞系统
具体实施方式五、船舶防撞系统
该实施方式是本发明面向船舶防撞系统的示例性例子。
船舶防撞系统，类似于汽车防撞系统，相比之下，相同之处不予复述，主要不同之处在于：
相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为2～1024个。相控阵天线阵列的排列方式为二维曲面或者多平面布置，以形成圆环形、球形、箱形、半球形和/或半箱形的探测场。多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为3mm～30mm。发射或者接收的毫米波的辐射功率为10W以下。系统被设置在水上交通工具上。
1、探测距离。
汽车防撞的探测距离为公里级，而船舶防撞的探测距离为十公里至数十公里级别。
2、阵元辐射功率。
本实施例的SoC单芯片的毫米波辐射功率为10W。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (10)

  1. 一种相控阵识别方法，其特征在于，包括：
    调整一个以上T/R组件以及一个以上天线的发射端发射毫米波相位，以使所述发射毫米波所构成的聚焦方位扫描子场和/或全场的步骤；和/或，
    控制一个以上T/R组件以及一个以上天线的接收端接收一个以上被探测物体反射所述发射毫米波的步骤；和/或，
    基于所述一个以上被探测物体所反射的毫米波，计算所述一个以上被探测物体的探测数据的步骤；
    所述发射毫米波的波长，被设置为0.1mm～100mm；和/或，
    所述发射毫米波的辐射功率被设置为小于或者等于10W。
  2. 根据权利要求1所述的方法，其特征在于：
    所述调整一个以上T/R组件以及一个以上天线发射端发射毫米波相位，还包括：控制所述T/R组件的发射通道，使其依据设定，产生特定跳频序列的步骤；和/或，
    所述控制一个以上T/R组件以及一个以上天线的接收端接收一个以上被探测物体反射所述发射毫米波的步骤还包括：控制所述T/R组件的接收通道，使其能够鉴别接收到的被探测物体所反射毫米波中的跳频序列的步骤；
    或者，
    所述调整一个以上T/R组件以及一个以上天线的发射端发射毫米波相位，还包括：控制所述T/R组件的发射通道，使其依据设定，产生特定脉冲宽度及其序列的步骤；和/或，
    所述控制一个以上T/R组件以及一个以上天线的接收端接收一个以上被探测物体反射所述发射毫米波的步骤还包括：控制所述T/R组件的接收通道，使其能够鉴别接收到的被探测物体所反射毫米波中脉冲宽度及其序列的步骤。
  3. 根据权利要求1或2所述的方法，其特征在于：还包括：
    测量所述T/R组件及天线本身的运动数据的步骤；和/或，
    基于所述运动数据计算所述探测数据存在的偏差，以获得矫正数据的步骤；和/或，
    检测所述T/R组件及天线本身的有效性，并标记有效或失效的步骤；和/ 或，
    跳过失效的所述T/R组件及天线，采用有效的所述T/R组件及天线的步骤；
    所述偏差包括所述空间坐标、速度和/或加速度。
  4. 根据权利要求1或2所述的方法，其特征在于，还包括：
    将所述子场和/或全场，用所述聚焦方位划分成彼此相连的区域的步骤，和依据设定的连续和/或间隔所述区域进行扫描的搜索步骤；和/或，
    依据所述探测数据，计算所述被探测物体的下一次探测子场的步骤，以及使用全阵和/或分阵扫描所述探测子场的跟踪步骤；
    所述探测数据包括所述被探测物体的空间坐标。
  5. 根据权利要求1或2所述的方法，其特征在于：
    所述发射毫米波，具体包括发射一个以上单脉冲毫米波，接收并计算所述一个以上单脉冲探测数据的步骤；和/或，
    计算所述一个以上单脉冲探测数据以获得优化凝视探测数据的凝视步骤；和/或，
    依据设定的过滤条件，对于所述探测数据进行过滤步骤；和/或，
    依据接收信号计算及输出飞行轨迹控制指令的步骤；和/或，
    识别、搜索、跟踪和评估拦截武器的步骤；计算及输出飞行轨迹控制指令的步骤；
    所述发射毫米波的波长小于或者等于金属物体的尺寸，或者，小于或者等于金属球的周长；
    所述过滤条件，包括所述探测子场的区间、所述被探测物体离天线的距离区间、所述被探测物体的大小尺寸区间、所述被探测物体的运动速度区间、所述被探测物体的属性区间或者它们之间任意组合。
  6. 根据权利要求1或2所述的方法，其特征在于，
    所述计算所述一个以上被探测物体的探测数据的步骤还包括：
    计算所述反射毫米波的强弱数值，依据设定的成像算法获得一幅探测图像的步骤；
    所述探测数据，基于最小所述聚焦方位，在全场中进行搜索所获得的全部所述被探测物体的一场探测数据；和/或，
    采用人工智能算法，对于所述一场探测数据采用优化计算的步骤。
  7. 一种相控阵识别系统，由多个相控阵T/R组件、相控阵天线阵列和信号处理系统连接构成；其中：
    所述多个相控阵T/R组件和所述相控阵天线阵列连接；
    所述信号处理系统和多个相控阵T/R组件连接；
    所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为0.1mm～100mm；和/或，
    所述发射的毫米波的功率小于或者等于10W。
  8. 根据权利要求7所述的系统，其特征在于：
    所述相控阵T/R组件，至少包括发射信号产生单元、接收信号处理单元、移相单元、变极化单元和滤波单元；和/或，
    所述相控阵天线阵列，包括多个发射天线和接收天线，并按照包括一维直线、一维曲线、二维平面和/或二维曲面的方式排列；和/或，
    所述信号处理系统，至少包括冯氏计算机子系统、非冯氏计算机子系统、神经网络子系统，和/或，人工智能子系统；并被配置成按照设定的算法驱动所述相控阵T/R组件和相控阵天线阵列进行矫正、搜索、跟踪、凝视和智能识别的工作，并且根据反射回波计算出探测场内的多个被探测物体的探测数据，加工这些数据，并通过通信接口输出数据；和/或，
    所述信号处理系统，被设置为能够对于所述T/R组件及天线进行有效性检测、标记有效和失效，以及控制失效的替代；和/或，
    所述信号处理系统，被设置为能够控制所述T/R组件完成所述跳频发射和接收鉴别，以及完成所述脉冲宽度调整的发射和接收鉴别；和/或，
    多个所述相控阵T/R组件和多个所述相控阵天线阵列设置于单片集成电路中，和/或，
    多个所述相控阵T/R组件、多个所述相控阵天线阵列与信号处理系统设置于单片集成电路中；和/或，
    所述单片集成电路的相控阵T/R组件和/或相控阵天线阵列中天线的数量为2～1024个；和/或，
    所述被探测物体包括：非导电物体和/或导电物体和/或附着有导电物质的非导电物体；
    所述导电物体和/或所述导电物质的尺寸大于或者等于所述相控阵T/R组件发射毫米波的波长。
  9. 根据权利要求7或8所述的系统，其特征在于：
    所述信号处理系统包括运动传感器接口，并且被配置成能够依据运动传感器对于所述探测数据进行运动矫正；所述运动矫正包括：坐标矫正、速度矫正和/或加速度矫正；和/或，
    所述信号处理系统包括信号接收接口，与信号接收子系统连接，用于接收被攻击目标的属性和坐标；所述信号处理系统还与飞行控制子系统连接，改变所述系统的飞行轨迹，引导所述攻击武器击中所述被攻击目标；和/或，所述信号处理系统包括识别、搜索、跟踪、评估拦截武器的功能，并通过飞行控制子系统改变所述攻击武器的飞行轨迹，避让拦截武器；所述识别包括对于拦截武器的识别，所述评估包括识别所述拦截武器、计算所述拦截武器的飞行参数、计算所述拦截武器与所述攻击武器的距离、预测所述拦截武器与所述攻击武器的飞行轨道交叉点、判断所述拦截武器的威胁程度；所述避让包括修改所述攻击武器的飞行参数，驱动所述飞行控制子系统改变所述攻击武器的飞行轨迹。
  10. 根据权利要求9所述的系统，其特征在于：
    所述相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为4～1024个，所述相控阵天线阵列的排列方式为二维平面布置，以形成三维的探测场；
    所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为0.1mm～10mm；和/或，
    所述发射或者接收的毫米波的辐射功率为100mW及以下；
    所述被探测物体为导电物质，且被设置在动物体上；和/或，
    所述被探测物体为动物体；
    或者，
    所述相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为4～512个；所述相控阵天线阵列的排列方式为一维线性布置，包括两根平行线、三角形、矩形和多边形布置，以形成平面状探测场；
    所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米 波的波长或者能够接收被探测物体反射的波长为1mm～30mm；和/或，
    所述发射或者接收的毫米波的辐射功率为500mW及以下；
    所述系统被设置在陆地交通工具上；
    或者，
    所述相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为4～1024个；所述相控阵天线阵列的排列方式为二维平面、二维曲面或者多平面布置，以形成球形、半球形、箱形和/或敞口箱形的探测场；
    所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为3mm～30mm；和/或，
    所述发射或者接收的毫米波的辐射功率为1W及以下；
    所述系统被设置在被设置在低速飞行器上；
    或者，
    所述相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为4～1024个；所述相控阵天线阵列的排列方式为二维平面或曲面布置。
    所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为3mm～30mm；和/或，
    所述发射或者接收的毫米波的辐射功率为1W及以下；
    所述系统被设置在攻击武器上；
    或者，
    所述相控阵T/R组件和/或相控阵天线阵列中天线的数量，被设置为2～1024个；所述相控阵天线阵列的排列方式为二维曲面或者多平面布置，以形成圆环形、球形、箱形、半球形和/或半箱形的探测场；
    所述多个相控阵T/R组件以及相控阵天线阵列被设置为：能够发射毫米波的波长或者能够接收被探测物体反射的波长为3mm～30mm；和/或，
    所述发射或者接收的毫米波的辐射功率为10W及以下；
    所述系统被设置在水上交通工具上。
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