WO2022262303A1 - 一种毫米波车载mimo雷达天线阵列设计方法与装置 - Google Patents

一种毫米波车载mimo雷达天线阵列设计方法与装置 Download PDF

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WO2022262303A1
WO2022262303A1 PCT/CN2022/077760 CN2022077760W WO2022262303A1 WO 2022262303 A1 WO2022262303 A1 WO 2022262303A1 CN 2022077760 W CN2022077760 W CN 2022077760W WO 2022262303 A1 WO2022262303 A1 WO 2022262303A1
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array
azimuth
transmitting
receiving
pitch direction
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PCT/CN2022/077760
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English (en)
French (fr)
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黄岩
马莉
余旭涛
张慧
郭坤鹏
买剑春
周睿
陈鹏
洪伟
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东南大学
南京隼眼电子科技有限公司
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Publication of WO2022262303A1 publication Critical patent/WO2022262303A1/zh

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/04—Details
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/0087—Apparatus or processes specially adapted for manufacturing antenna arrays
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/061—Two dimensional planar arrays
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/08—Arrays of individually energised antenna units similarly polarised and spaced apart the units being spaced along or adjacent to a rectilinear path
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/24—Combinations of antenna units polarised in different directions for transmitting or receiving circularly and elliptically polarised waves or waves linearly polarised in any direction

Definitions

  • the invention belongs to the technical field of radar systems and imaging, and in particular relates to a method and device for designing a millimeter-wave vehicle-mounted MIMO radar antenna array.
  • MIMO radar is a new system radar proposed in recent years, and its research and application are more and more extensive.
  • the MIMO radar transmits mutually uncorrelated orthogonal signals through each array element at the transmitting end, and after receiving the target echo signal at the receiving end, separates each transmitted signal through a matched filter bank, thereby multiplying the number of virtual array elements,
  • the large-aperture virtual array is formed, which increases the degree of freedom and the maximum number of resolvable targets of the radar system, and has better target detection performance and parameter estimation accuracy.
  • DOA estimation is to use a group of antenna arrays distributed in space to sample the space target in the time domain and space domain simultaneously, and then perform signal processing on the sampled data to obtain the DOA estimation of the space target.
  • the resolution of DOA estimation, the maximum number of resolvable targets, real-time performance, and robustness determine the quality of the estimation performance, and the estimation performance is mainly affected by the number of antenna array elements and the array arrangement form.
  • the larger the antenna array aperture, the DOA The higher the estimated resolution; the more antenna elements, the more resolvable targets.
  • the large-aperture virtual array in the MIMO radar system doubles the array aperture and the number of array elements, which greatly improves the performance of DOA estimation.
  • a highly integrated radar chip integrates transceiver radio frequency links, waveform formation, and transceiver digital links, etc.
  • a single MIMO radar chip has a certain number of transceiver channels, so the number of antennas based on a single-chip design cannot be changed, making the design of radar systems subject to limit.
  • the antenna design in the MIMO radar system directly affects the angular resolution of the system. A small number of transmitting and receiving antennas will lead to low resolution of the radar system, increasing the spacing between antenna elements, and sparsely designing the array can increase the array aperture and improve resolution. However, if the distance between the array elements is too large, grating lobes will be generated.
  • the purpose of the present invention is to provide a millimeter-wave vehicle-mounted MIMO radar antenna array design method and device to solve the problem of the small number of antennas receiving and transmitting in the single-chip radar system, the small aperture of the antenna array, the low angular resolution of the radar system, and the angular ambiguity during DOA estimation. technical problems.
  • a millimeter-wave vehicle-mounted MIMO radar antenna array design method and device the MIMO radar antenna array includes 3 transmitting antennas, 4 receiving antennas, the number of equivalent virtual array elements is 12, and the array elements are distributed in the pitch direction, with pitch direction corner capability
  • the design method includes the following steps:
  • the position distribution of the transmitting antenna array in the azimuth direction is:
  • the position distribution of the transmitting antenna array in the elevation direction is as follows:
  • x t1 ⁇ x t2 and both are odd numbers, indicating the coordinates of the position of the transmitting array element in the direction of the array element;
  • y t1 and y t2 are both odd numbers, indicating the coordinates of the emitting array element in the pitch direction of the array element;
  • the position distribution of the receiving antenna array in pitch direction is as follows:
  • x r1 ⁇ x r2 ⁇ x r3 and both are even numbers, indicating the position coordinates in the azimuth direction, and x r1 ⁇ x r2 -x r1 ⁇ x r3 -x r2 ; the receiving arrays are only distributed in the azimuth direction, and the element position in the pitch direction The coordinates are all 0;
  • Step 3 According to the working principle of the MIMO radar antenna array, the transmitting antenna array and the receiving antenna array are equivalent to a virtual array, and the equivalent relationship is expressed as:
  • TRx ⁇ (tx m +rx n )
  • TRy ⁇ (ty m +ry n )
  • TRx and TRy respectively represent the azimuth position set and the pitch position set of the equivalent virtual array element, where Tx is the array element position vector of the transmitting array element in the azimuth direction; Rx is the array element position vector of the receiving array element in the azimuth direction; Ty is the element position vector of the transmitting element in the pitch direction; Ry is the array element position vector of the receiving element in the pitch direction; tx m represents the azimuth position of the mth transmitting element; ty m represents the mth transmitting element rx n represents the azimuth position of the nth receiving array element; ry n represents the pitching position of the nth receiving array element; according to the equivalent relationship between the MIMO radar antenna array and the virtual array, the millimeter-wave vehicle-mounted MIMO radar antenna
  • the virtual array aperture of the array in the azimuth direction is (x t2 +x r3 ) ⁇ /2
  • the virtual array aperture in the pitch direction is max ⁇ y t1 ,y t2
  • the difference sum array of MIMO radar antenna array is expressed as:
  • Zx is the set of array element position differences in the azimuth direction of the virtual array
  • Zy is the set of array element position differences in the virtual array pitch direction, where m1, m2 ⁇ 1,2,3 ⁇ ; n1,n2 ⁇ 1,2,3,4 ⁇ .
  • the present invention achieves higher resolution with a small number of actual antenna array elements, and the maximum number of resolvable targets is greater than 7 of the actual number of array elements.
  • the MIMO array designed by the present invention has transmitting array elements distributed in the pitch direction, so it also has the angle measurement capability in the pitch direction, and can realize two-dimensional DOA estimation in the azimuth direction and the pitch direction.
  • Fig. 1 is a schematic diagram of the MIMO radar antenna array antenna element position distribution of the present invention
  • Fig. 2 is the schematic diagram of the equivalent virtual array element position distribution of the MIMO radar antenna array of the present invention
  • Fig. 3 is a schematic diagram of the position difference distribution of an equivalent virtual array element
  • Figure 4(a) is a two-dimensional pattern of the equivalent virtual array
  • Figure 4(b) is the azimuth pattern of the equivalent virtual array
  • Figure 4(c) is the pitch direction diagram of the equivalent virtual array
  • Fig. 5 (a) is the one-dimensional DOA estimation simulation result diagram of two target angle near-time DBF methods
  • Fig. 5(b) is the one-dimensional DOA estimation simulation result diagram of the DBF method when two target angles are far away;
  • Fig. 5(c) is the simulation result diagram of the one-dimensional DOA estimation of the MUSIC method
  • Fig. 6 (a) is the simulation result diagram of the two-dimensional DOA estimation of the DBF method
  • Figure 6(b) is the simulation result of the two-dimensional DOA estimation of the MUSIC method
  • the layout of a MIMO radar antenna array is designed based on a single MIMO radar chip with 3 transmit channels and 4 receive channels.
  • the number of elements in the transmitting antenna is 3, and the number of elements in the receiving antenna is 4, forming a MIMO radar antenna array with 3 transmissions and 4 receptions.
  • it can be equivalent to an equivalent virtual array with 12 array elements.
  • the positions of the receiving array elements of the MIMO array designed in the present invention are all even numbers, and the position difference between adjacent array elements of the receiving array is ⁇ 8, 2, 4 ⁇ , which are also even numbers without repetition; the positions of the transmitting array elements are all odd numbers, adjacent
  • the transmitting array and the receiving array can be equivalent to a virtual array
  • the virtual array element position is the sum of the transmitting array element position and the receiving array element position
  • Figure 2 is the equivalent virtual array of the MIMO array of the present invention Schematic diagram of array element distribution.
  • the set of virtual array element positions is:
  • TRx [0,8,10,14,3,11,13,17,21,29,31,35] ⁇ /2
  • TRx, TRy are the azimuth position and pitch position respectively.
  • Figure 3 shows the position difference distribution diagram of the virtual array elements in the azimuth direction.
  • the equivalent virtual array of the MIMO array designed in the present invention is a two-dimensional planar array, and its normalized pattern function is
  • DBF digital beamforming
  • MUSIC multiple signal classification method
  • the MIMO antenna array designed by the present invention has array elements distributed in the pitch direction, it also has a certain angle measurement capability in the pitch direction, but because the number of array elements is small and the distance between the array elements is greater than half a wavelength, the resolution of the pitch angle estimation is very low and Angle blur occurs.
  • both DBF and MUSIC methods are The azimuth and pitch angle of the target can be estimated, and the blur angle is outside the range of the observation angle.
  • the array arrangement mode designed by the present invention has array element distribution in both the azimuth and pitch directions, not only can achieve higher resolution in the azimuth direction, but also provides the ability to measure angles in the pitch direction.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Security & Cryptography (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

本发明公开了一种毫米波车载MIMO雷达天线阵列装置，基于单个毫米波车载雷达芯片设计，具有3个发射天线单元和4个接收天线单元。其中发射天线阵元有方位向和俯仰向分布，且阵元位置均为奇数；接收天线阵元均按方位向排布，阵元位置均为偶数，且相邻阵元位置差无重复；所述MIMO阵列等效虚拟阵元数为12，同时具有方位向和俯仰向阵元分布，不仅在方位向具有较高分辨率，同时提供了俯仰向的测角能力。本发明用少量数目的天线单元实现了较高的方位向分辨率，并且具有一定的俯仰向测角能力。

Description

[根据细则26改正21.04.2022]　一种毫米波车载MIMO雷达天线阵列装置及设计方法 技术领域
本发明属于雷达系统与成像技术领域，尤其涉及一种毫米波车载MIMO雷达天线阵列设计方法与装置。
背景技术
MIMO雷达是近年来提出的一种新体制雷达，其研究和应用越来越广泛。MIMO雷达在发射端通过各个阵元发射互不相关的正交信号，接收端收到目标回波信号后，通过匹配滤波器组将各个发射信号分离，由此可成倍的增加虚拟阵元，形成大孔径虚拟阵列，使得雷达系统的自由度和最大可分辨目标数增加，具有更好的目标检测性能和参数估计精度。
波达方向(DOA)是MIMO雷达参数估计的重要内容，又称空间谱估计或角度估计。DOA估计是利用一组在空间分布的天线阵列对空间目标在时域和空域同时采样，然后对采样数据进行信号处理得到空间目标的DOA估计。DOA估计的分辨率、最大可分辨目标数、实时性、稳健性等决定了估计性能的好坏，且估计性能主要受天线阵列阵元数目和阵列排布形式影响，天线阵列孔径越大，DOA估计分辨率越高；天线阵元数越多，可分辨目标数越多。MIMO雷达系统中大孔径虚拟阵列成倍的拓展了阵列孔径和阵元数目，使得DOA估计性能也有很大的提升。
高度集成的雷达芯片集成了收发射频链路、波形形成、收发数字链路等，单个MIMO雷达芯片具有一定数量的收发通道，故基于单芯片设计的天线数量无法改变，使得雷达系统的设计受到了限制。MIMO雷达系统中的天线设计直接影响系统的角度分辨率，少量的收发天线数目会导致雷达系统的分辨率低，增大天线阵元间距，对阵列进行稀疏设计能增大阵列孔径提高分辨率，但阵 元间距过大会导致栅瓣的产生。
发明内容
本发明目的在于提供一种毫米波车载MIMO雷达天线阵列设计方法与装置,以解决单芯片雷达系统的天线收发数量少，天线阵列孔径小，雷达系统角分辨率低和DOA估计时会出现角度模糊的技术问题。
为解决上述技术问题，本发明的具体技术方案如下：
一种毫米波车载MIMO雷达天线阵列设计方法与装置，MIMO雷达天线阵列包括3个发射天线，4个接收天线，等效虚拟阵元数目为12，且俯仰方向有阵元分布，具有俯仰向测角能力，该设计方法包括以下步骤：
步骤1、所述发射天线阵列由3个天线单元组成，以左边第一个发射阵元位置为参考，以dy＝λ/2为方位向间距单位，以dy＝λ/2为俯仰向间距单位，λ为信号波长。发射天线阵列方位向阵元位置分布为：
Tx＝[tx 1,tx 2,tx 3]＝[0,x t1,x t2]×dx
发射天线阵列俯仰向阵元位置分布为：
Ty＝[ty 1,ty 2,ty 3]＝[0,y t1,y t2]×dy
其中x t1＜x t2且均为奇数，表示发射阵元方位向阵元位置坐标；y t1,y t2均为奇数，表示发射阵元俯仰向阵元位置坐标；
步骤2、所述接收天线阵列由4个天线单元组成，以左边第一个接收阵元位置为参考，以dx＝λ/2为方位向间距单位，以dy＝λ/2为俯仰向间距单位，接收天线阵列方位向阵元位置分布为：
Rx＝[rx 1,rx 2,rx 3,rx 4]＝[0,x r1,x r2,x r3]×dx
接收天线阵列俯仰向阵元位置分布为：
Ry＝[ry 1,ry 2,ry 3,ry 4]＝[0,0,0,0]×dy
其中x r1＜x r2＜x r3且均为偶数，表示方位向位置坐标，且x r1≠x r2-x r1≠x r3-x r2；接收阵列都只在方位向分布，俯仰向阵元位置坐标均为0；
步骤3、根据MIMO雷达天线阵列工作原理，发射天线阵列和接收天线阵等效为一个虚拟阵列，等效关系表示为：
TRx＝{(tx m+rx n)|m＝1,2,3；n＝1,2,3,4}
TRy＝{(ty m+ry n)|m＝1,2,3；n＝1,2,3,4}
TRx,TRy分别表示等效虚拟阵列阵元方位向位置集合和俯仰向位置集合，其中Tx为发射阵元在方位向的阵元位置向量；Rx为接收阵元在方位向的阵元位置向量；Ty为发射阵元在俯仰向的阵元位置向量；Ry为接收阵元在俯仰向的阵元位置向量；tx m表示第m个发射阵元方位向位置；ty m表示第m个发射阵元俯仰向位置；rx n表示第n个接收阵元方位向位置；ry n表示第n个接收阵元俯仰向位置；根据MIMO雷达天线阵列与虚拟阵列等效关系，所述毫米波车载MIMO雷达天线阵列在方位向的虚拟阵列孔径为(x t2+x r3)×λ/2，俯仰向的虚拟阵列孔径为max{y t1,y t2}×λ/2。
根据差和协同阵原理，MIMO雷达天线阵列的差和阵列表示为：
Zx＝{(tx m1+rx n1)-(tx m2+rx n2)}
Zy＝{(ty m1+ry n1)-(ty m2+ry n2)}
Zx为虚拟阵列方位向阵元位置差集合，Zy为虚拟阵列俯仰向阵元位置差集合，其中m1,m2∈{1,2,3}；n1,n2∈{1,2,3,4}。
本发明的一种毫米波车载MIMO雷达天线阵列设计方法与装置，具有以下优点：
1、本发明设计的一种3发4收MIMO雷达天线阵列，其阵列实际物理阵 元数目为7，等效虚拟阵元数目为12，在方位向上获得较高的角度分辨率。
2、本发明以少量的实际天线阵元数实现了较高的分辨，且最大可分辨目标数大于实际阵元数目7。
3、本发明所设计的MIMO阵列在俯仰向有发射阵元分布，故在俯仰向也具有的测角能力，可以实现方位向和俯仰向的二维DOA估计。
附图说明
图1为本发明的MIMO雷达天线阵列天线阵元位置分布示意图；
图2为本发明的MIMO雷达天线阵列的等效虚拟阵元位置分布示意图；
图3为等效虚拟阵列阵元位置差分布示意图；
图4(a)为等效虚拟阵列二维方向图；
图4(b)为等效虚拟阵列方位向方向图；
图4(c)为等效虚拟阵列俯仰向方向图；
图5(a)为两个目标角度近时DBF方法的一维DOA估计仿真结果图；
图5(b)为两个目标角度远时DBF方法的一维DOA估计仿真结果图；
图5(c)为MUSIC方法的一维DOA估计仿真结果图；
图6(a)为DBF方法的二维DOA估计仿真结果图；
图6(b)为MUSIC方法的二维DOA估计仿真结果图；
具体实施方式
为了更好地了解本发明的目的、结构及功能，下面结合附图，对本发明一种毫米波车载MIMO雷达天线阵列设计方法与装置做进一步详细的描述。
如图1所示为一个MIMO雷达天线阵列设计排布方式，是基于具有3个发射通道4个接收通道的单个MIMO雷达芯片所设计。其发射天线阵元数为3，接收天线阵元数为4，构成3发4收的MIMO雷达天线阵列，根据MIMO雷达 工作原理，可等效为具有12个阵元的等效虚拟阵列。
如图1所示，以左边第一个发射阵元位置为参考，其发射阵元位置可表示为Tx＝[0,3,21]×λ/2，Ty＝[0,3,3]×λ/2，λ为信号波长；Tx，Ty分别表示发射天线阵列方位向和俯仰向的位置分布。以左边第一个接收阵元位置为参考，其发射阵元位置可表示为Rx＝[0,8,10,14]×λ/2，Ry＝[0,0,0,0]×λ/2；Rx，Ry分别表示接收天线阵列方位向和俯仰向的位置分布。本发明所设计MIMO阵列接收阵元位置均为偶数，且接收阵列相邻阵元位置差为{8，2，4}，也均为偶数且无重复；发射阵元位置均为奇数，相邻阵元位置差为{3，18}；发射阵列和接收阵列均为稀疏阵，发射阵列的阵列孔径为Lt＝21×λ/2，接收阵列的阵列孔径为Lr＝14×λ/2。
根据MIMO雷达工作原理，发射阵列和接收阵列可等效为一个虚拟阵列，虚拟阵元位置为发射阵元位置与接收阵元位置之和，如图2所示为本发明MIMO阵列的等效虚拟阵列阵元分布示意图。虚拟阵元位置集合为：
TRx＝[0,8,10,14,3,11,13,17,21,29,31,35]×λ/2
TRy＝[0,0,0,0,3,3,3,3,3,3,3,3]×λ/2
TRx，TRy分别是方位向位置和俯仰向位置。
方位向等效虚拟阵列孔径为Lx＝Lt+Lr＝35×λ/2，俯仰向虚拟阵列孔径为Ly＝3×λ/2。
图3所示为方位向虚拟阵元位置差分布图，对于方位向，虚拟阵列阵元位置差集合为Zx＝{±35,±32,±31,±29,±28,±27,±26,...,,±1,0}，即MIMO阵列的差和阵列，其最大连续均匀分布阵元数目为29，在位置Zx＝{±34,±33,±30}出现空洞。对于俯仰向，只存在Zy＝{±3,0}两个阵元位置的分布，即俯仰向阵列孔径为3×λ/2。
由图2可知，本发明所设计MIMO阵列的等效虚拟阵列为二维平面阵列， 其归一化方向图函数为
Figure PCTCN2022077760-appb-000001
其中M，N为发射和接收阵元数目dx mn，dy mn为第(m,n)个虚拟阵元与第(0,0)个参考阵元方位向和俯仰向距离，(φ,θ)分别表示方位角和俯仰角，(φ 0,θ 0)为阵列主波束最大值指向，如图4(a),图4(b)，图4(c)所示为MIMO阵列等效虚拟阵列在(φ 0,θ 0)＝(0，0)时的归一化方向图。
本设计实例的DOA估计性能通过仿真结果说明。
通过以上分析可知，所设计MIMO阵列方位向的虚拟阵列孔径为35×λ/2，俯仰向阵列孔径为3×λ/2，由分辨率计算公式：
Figure PCTCN2022077760-appb-000002
计算可得，理论上在波束指向为(φ 0,θ 0)＝(0，0)时，方位向分辨率可达到2.9°，在俯仰向也有一定的测角能力，但分辨率很低。
分别用数字波束形成(DBF)和多重信号分类方法(MUSIC)对目标进行一维DOA估计，仿真结果如图5(a),图5(b)，图5(c)所示，由仿真结果可知，DBF方法能准确估计两个目标角度，其分辨率约为3°左右，但是角度估计存在一定误差；MUSIC方法且能准确估计出10个目标角度，在-35°到35°范围内没有出现模糊角，其分辨率可以达到2.9°。
如图6(a)和图6(b)所示为分别用DBF和MUSIC方法对目标进行二维DOA估计仿真结果图，角度1为(φ 1,θ 1)＝(2°,0°)，角度1为(φ 2,θ 2)＝(24°,10°)。由仿真结果可知，本发明所设计MIMO天线阵列可以进行二维的DOA估计，对于方位角能准确估计，而俯仰角估计会出现角度模糊。因为本发明设计的MIMO天线阵列在俯仰向分布有阵元，故在俯仰向也有一定的测角能力，但是由于 阵元数目少，且阵元间距大于半波长，俯仰角估计分辨率很低并且会出现角度模糊。但是在需要观测的角度范围θ∈[-15°,15°]，φ∈[-35°,35°]内，如图6(a)和图6(b)所示，DBF和MUSIC方法均能够估计出目标的方位和俯仰角度，模糊角均在观测角度范围之外。
对于3发4收的MIMO阵列，由于阵元数目少，角度分辨率较低，且通常只在方位向进行排布，不具有俯仰向的测角能力。本发明所设计的阵列排布方式在方位向和俯仰向均有阵元分布，不仅在方位向能达到较高的分辨率，同时还提供了俯仰向的测角能力。
可以理解，本发明是通过一些实施例进行描述的，本领域技术人员知悉的，在不脱离本发明的精神和范围的情况下，可以对这些特征和实施例进行各种改变或等效替换。另外，在本发明的教导下，可以对这些特征和实施例进行修改以适应具体的情况及材料而不会脱离本发明的精神和范围。因此，本发明不受此处所公开的具体实施例的限制，所有落入本申请的权利要求范围内的实施例都属于本发明所保护的范围内。

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  1. 一种毫米波车载MIMO雷达天线阵列设计方法与装置，其特征在于，MIMO雷达天线阵列包括3个发射天线，4个接收天线，等效虚拟阵元数目为12，且俯仰方向有阵元分布，具有俯仰向测角能力，该设计方法包括以下步骤：
    步骤1、所述发射天线阵列由3个天线单元组成，以左边第一个发射阵元位置为参考，以dx＝λ/2为方位向间距单位，以dy＝λ/2为俯仰向间距单位，λ为信号波长。发射天线阵列方位向阵元位置分布为：
    Tx＝[tx 1,tx 2,tx 3]＝[0,x t1,x t2]×dx
    发射天线阵列俯仰向阵元位置分布为：
    Ty＝[ty 1,ty 2,ty 3]＝[0,y t1,y t2]×dy
    其中x t1＜x t2且均为奇数，表示发射阵元方位向阵元位置坐标；y t1,y t2均为奇数，表示发射阵元俯仰向阵元位置坐标；
    步骤2、所述接收天线阵列由4个天线单元组成，以左边第一个接收阵元位置为参考，以dx＝λ/2为方位向间距单位，以dy＝λ/2为俯仰向间距单位，接收天线阵列方位向阵元位置分布为：
    Rx＝[rx 1,rx 2,rx 3,rx 4]＝[0,x r1,x r2,x r3]×dx
    接收天线阵列俯仰向阵元位置分布为：
    Ry＝[ry 1,ry 2,ry 3,ry 4]＝[0,0,0,0]×dy
    其中x r1＜x r2＜x r3且均为偶数，表示方位向位置坐标，且x r1≠x r2-x r1≠x r3-x r2；接收阵列都只在方位向分布，俯仰向阵元位置坐标均为0；
    步骤3、根据MIMO雷达天线阵列工作原理，发射天线阵列和接收天线阵等效为一个虚拟阵列，等效关系表示为：
    TRx＝{(tx m+rx n)|m＝1,2,3；n＝1,2,3,4}
    TRy＝{(ty m+ry n)|m＝1,2,3；n＝1,2,3,4}
    TRx,TRy分别表示等效虚拟阵列阵元方位向位置集合和俯仰向位置集合，其中Tx为发射阵元在方位向的阵元位置向量；Rx为接收阵元在方位向的阵元位置向量；Ty为发射阵元在俯仰向的阵元位置向量；Ry为接收阵元在俯仰向的阵元位置向量；tx m表示第m个发射阵元方位向位置；ty m表示第m个发射阵元俯仰向位置；rx n表示第n个接收阵元方位向位置；ry n表示第n个接收阵元俯仰向位置；根据MIMO雷达天线阵列与虚拟阵列等效关系，所述毫米波车载MIMO雷达天线阵列在方位向的虚拟阵列孔径为(x t2+x r3)×λ/2，俯仰向的虚拟阵列孔径为max{y t1,y t2}×λ/2；
    根据差和协同阵原理，MIMO雷达天线阵列的差和阵列表示为：
    Zx＝{(tx m1+rx n1)-(tx m2+rx n2)}
    Zy＝{(ty m1+ry n1)-(ty m2+ry n2)}
    Zx为虚拟阵列方位向阵元位置差集合，Zy为虚拟阵列俯仰向阵元位置差集合，其中m1,m2∈{1,2,3}；n1,n2∈{1,2,3,4}。
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