CN110940957A - Modular millimeter wave radar - Google Patents
Modular millimeter wave radar Download PDFInfo
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- CN110940957A CN110940957A CN201911033502.3A CN201911033502A CN110940957A CN 110940957 A CN110940957 A CN 110940957A CN 201911033502 A CN201911033502 A CN 201911033502A CN 110940957 A CN110940957 A CN 110940957A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The application relates to a modular millimeter wave radar which comprises a plurality of radar modules, wherein each radar module comprises a radar chip, a receiving linear array and a transmitting linear array which are connected with the radar chip, and the distance between the receiving antenna array and the transmitting antenna array and the edge of the radar module is less than half of a virtual array formed by the receiving antenna array and the transmitting antenna array; the modular cascading of the plurality of radar modules comprises the following steps: according to the arrangement of the receiving linear array and the transmitting linear array of each radar module, physically cascading a plurality of radar modules; performing intra-module calibration on one radar module, and performing inter-module calibration on a plurality of radar modules which finish physical cascade connection; and performing inter-module calibration on a plurality of radar modules which finish physical cascade. The beneficial effects are that: with a modular vehicle radar, it becomes easier to build a virtual array. The modules can be cascaded only by mounting the modules on the substrate in front of and behind the modules. The design of the high-precision radar is more flexible and is easier to realize.
Description
Technical Field
The application relates to the technical field of automobile auxiliary driving, in particular to a three-transmitting four-receiving wide beam antenna.
Background
With the rapid development of the automobile industry, Multiple Input Multiple Output (MIMO) technology is being widely applied in the design of millimeter wave automobile radar. Through the orthogonality on time sequence, space or coding, a virtual channel is formed between the receiving end and the transmitting end, the angular resolution of the radar is further improved under the condition that the number of the radar channels is certain, and a foundation is laid for the development of the vehicle-mounted high-precision radar. Meanwhile, in order to increase the number of radar channels, the chips can be cascaded on the basis of single-chip integrated multiple channels. There are multiple modes for cascading, and under the traditional overall design condition, the chip placement position is strongly coupled with the antenna placement position. Due to the fact that wiring is complex, the more the cascade chips are, the farther the wiring distance between the chips and the antenna is, the larger insertion loss is introduced into a millimeter wave band, and the energy efficiency of the system is reduced.
Disclosure of Invention
In order to solve the technical problem, the present application provides a modularization millimeter wave radar, including a plurality of radar module, radar module includes radar chip and connects the receiving array and the transmitting array of radar chip, wherein, receiving array and transmitting array are less than half of a virtual array that forms apart from radar module edge, and are a plurality of radar module carries out the modularization cascade and includes following step:
according to the arrangement of the receiving linear array and the transmitting linear array of the radar module, physically cascading a plurality of radar modules;
and performing intra-module calibration on one radar module, and performing inter-module calibration on a plurality of radar modules which finish physical cascade.
Optionally, the physically cascading the plurality of radar modules according to the arrangement of the receiving linear array and the transmitting linear array of each radar module includes:
arranging the receiving antennas of the receiving linear array along the X axis of the substrate in an equal-distance array or sparse array form;
arranging the transmitting antennas of the transmitting linear array along the X axis of the substrate in an equidistant array;
and arranging a plurality of radar modules according to the receiving antenna and the transmitting antenna to obtain a virtual array.
Optionally, the obtaining a virtual array by arranging the plurality of radar modules according to the receiving antennas and the transmitting antennas includes:
the total length of the receiving linear array and the distance between the two transmitting antennas are both N, namely the transmitting antennas and the last receiving antenna are overlapped in the X-axis direction;
when a plurality of radar modules are arranged, the number of receiving antennas of one radar module and the number of receiving antennas of the next radar module are 3N.
Optionally, the obtaining a virtual array by arranging the plurality of radar modules according to the receiving antennas and the transmitting antennas includes:
the total length of the receiving linear array is N; the distance between the transmitting antennas is 4N/3;
when a plurality of radar modules are arranged, the receiving antenna of one radar module and the receiving antenna of the next radar module are 11N/4.
The receiving antennas of the receiving linear array are arranged in an equidistant array.
Optionally, the receiving line array includes 4 receiving antennas; the transmitter array comprises 3 transmitting antennas.
Optionally, the inter-module calibration is performed on a plurality of radar modules that complete the physical cascade, and includes LO frequency synchronization calibration and RF channel calibration.
Optionally, the LO frequency synchronization calibration includes:
coupling an LO signal into a substrate of the radar module by a coupling manner;
inputting the synchronous LO signal to radar chips of different radar modules through a transmission line;
judging whether LO frequency is synchronous or not by receiving signals from different transmitting linear arrays;
and if the LO frequency is not synchronous, performing delay adjustment and synchronization on the LO frequency through the digital extension line.
Optionally, the determining whether the LO frequency is synchronous by receiving signals transmitted from the transmitter array includes:
and sequentially transmitting signals through the transmitting linear arrays of different radar chips, and detecting whether the frequencies of the intermediate-frequency signals obtained by the receiving linear arrays of all the radar chips are the same or not, so as to judge whether the distances of the same target appearing in the receiving linear arrays of different radar chips are the same or not.
Optionally, the RF channel calibration comprises:
calibrating a receiving linear array of a radar module, wherein an antenna housing and an antenna are mutually coupled in the radar module, and under the condition that the antenna housing is covered, placing a calibration angle iron at a normal line of a radar to acquire amplitude-phase data of the receiving linear array of each radar chip and store the amplitude-phase data into a database;
calibrating the transmitting linear array of the radar module, under the condition of LO frequency synchronization, continuously transmitting a dot frequency signal by a first transmitting antenna, simultaneously transmitting another calibrated transmitting end and the first antenna, rotating the phase of the calibrated antenna by 360 degrees by using a digital phase shifter, and calibrating by using zero scanning.
Optionally, the performing intra-module calibration on one of the radar modules includes:
in a radar module, sending signals to a known target by a plurality of transmitting antennas of the transmitting linear array in a time-sharing manner, and calculating the phase received by the receiving antennas of the receiving linear array to finish the in-module calibration.
According to the modular millimeter wave radar, the transmitting linear arrays and the receiving linear arrays of the plurality of radar modules are arranged to be physically cascaded, after the physical cascade is completed, intra-module calibration is performed on one radar module, and inter-module calibration is performed on the plurality of radar modules after the physical cascade is completed; the modularization of the millimeter wave radar is realized; the beneficial effects are that: with a modular vehicle radar, it becomes easier to build a virtual array. The modules can be cascaded only by mounting the modules on the substrate in front of and behind the modules. The design of the high-precision radar is more flexible and is easier to realize.
Drawings
FIG. 1 is a schematic diagram of a millimeter wave radar cascade of the present application;
fig. 2 shows a method for constructing an MIMO modular radar according to the present application, in which adjacent transmitting linear arrays correspond to receiving linear arrays end to end;
fig. 3 illustrates a manner of constructing a MIMO modular radar according to the present application, where adjacent transmitter arrays are extensions of receiver arrays;
fig. 4 is a modular MIMO radar backfeed approach of the present application;
FIG. 5 shows a modular MIMO radar back feed local oscillator signal synchronization method according to the present application;
fig. 6 is a modular construction of the two-piece cascade of the present application.
Detailed Description
The following detailed description of the preferred embodiments of the present application, taken in conjunction with the accompanying drawings, will make the advantages and features of the present application more readily appreciated by those skilled in the art, and thus will more clearly define the scope of the invention.
The application provides a modularization millimeter wave radar, through modular on-vehicle radar, it becomes easier to found virtual battle array. The modules can be cascaded only by mounting the modules on the substrate in front of and behind the modules. The design of the high-precision radar is more flexible and is easier to realize.
In the embodiments shown in fig. 1-6, the present application provides a modular millimeter wave radar comprising a plurality of radar modules, each radar module comprising a radar chip, and a receiver array and a transmitter array connected to the radar chip, wherein the distance between the receiver array and the transmitter array and the edge of the radar module is less than half of a virtual array formed by the receiver array and the transmitter array; the modular cascade of a plurality of radar modules comprises the following steps:
according to the arrangement of a receiving linear array and a transmitting linear array of the radar modules, physically cascading the plurality of radar modules;
in one embodiment of this embodiment, the receiver lines are arranged on the substrate along the X-axis direction, and may be arranged in an equidistant manner or a sparse manner, while the transmitter lines are arranged in the X-axis direction using an equidistant manner. The arrangement of the receiving linear array and the transmitting linear array in the Y axis is carried out according to the radio frequency of the radar chip, the base band and the power supply wiring; the method is not limited to the arrangement mode of the receiving linear arrays and the transmitting linear arrays on the Y axis, and the multi-radar module cascade realized according to the technical scheme disclosed by the application falls into the protection scope of the application.
In a specific implementation manner of the foregoing embodiment, the receiving linear arrays may be distributed in an equidistant array form, and the receiving linear arrays may also be distributed in a sparse array form, so that the total length of the receiving linear arrays is N, and the distance between the transmitting antennas should also be N, see fig. 2; i.e. the transmit antenna coincides with the last receive antenna in the X-axis direction. The receiving linear array comprises 4 receiving antennas; the transmitting antenna array comprises 3 transmitting antennas, the transmitting antennas are represented by cross stripes shown in fig. 2, and the receiving antennas are represented by diagonal stripes shown in fig. 2. After the modules are completed, the cascade connection among the modules can be realized by directly placing the modules on the substrate; in this embodiment, the distance between the first receiving antenna of the next radar module and the previous first receiving antenna is 3N. The radar module size should be as consistent as possible with the physical size of the receiving antenna or transmitting antenna, so that each newly added transmitting antenna will correspond to a virtual receiving array, and the length size relationship can be extended infinitely according to the method shown in the figure. The effect is that a plurality of radar chips are directly used for further expanding the virtual array, and a larger virtual array is realized.
In another specific implementation manner of the above embodiment, the receiving linear array may be an equidistant array, and the total length thereof is N, so that the distance between the two transmitting antennas is 4N/3, as shown in fig. 3. If the receiving linear arrays are arranged in a sparse array, N is correspondingly increased; after the modules are completed, the cascade connection between the modules can be realized by direct placement. The receiving linear array comprises 4 receiving antennas; the transmitter array includes 3 transmitter antennas, the transmitter antennas are represented by horizontal stripes as shown in fig. 3, and the receiver antennas are represented by diagonal stripes as shown in fig. 3. According to this embodiment, the left receiving antenna of the next module is spaced from the left receiving antenna of the previous module by a distance N/34 x 11. A cross-sectional view thereof is shown in fig. 4. In this way, a scalable virtual array can be obtained by a modular radar arrangement. The radar module size should be as consistent as possible with the physical dimensions of the receive or transmit antennas so that each newly added transmit antenna will correspond to a virtual receive array, and this length-size relationship can be extended indefinitely as in the method of fig. 6. The effect is that a plurality of radar chips are directly used for further expanding the virtual array, and a larger virtual array is realized. In addition, the arrangement mode listed in the embodiment mode can obtain a larger array size, and because the size of a single radar module is designed, namely the size of the radar module is equivalent to that of an antenna, multiple chips can be directly placed and expanded to form a virtual array through proper positions.
And performing intra-module calibration on one radar module, and performing inter-module calibration on a plurality of radar modules which finish physical cascade.
In an implementation manner of this embodiment, performing intra-module calibration on one radar module includes sending a signal to a known target through a plurality of transmitting antennas of the transmitting line array in a time-sharing manner, and calculating a phase received by a receiving antenna of the receiving line array to complete intra-module calibration. And performing inter-module calibration on a plurality of radar modules which complete physical cascade, wherein the inter-module calibration comprises LO frequency synchronization calibration and RF channel calibration. LO frequency synchronization calibration, comprising: coupling the LO signal into a substrate of the radar module in a coupling mode; inputting the synchronous LO signal to radar chips of different radar modules through a transmission line; judging whether the LO frequency is synchronous or not by receiving signals transmitted by the transmitting linear array; if the LO frequency is not synchronous, the LO frequency is subjected to delay adjustment through a digital extension line. RF channel calibration, comprising: calibrating a receiving linear array of a radar module, coupling an antenna housing and an antenna in the radar module, acquiring amplitude-phase data of each receiving end once within a field angle of 0.2-0.8 degrees, and storing the amplitude-phase data into a database; calibrating the transmitting linear array of the radar module, under the condition of LO frequency synchronization, continuously transmitting a dot frequency signal by a first transmitting antenna, simultaneously transmitting another calibrated transmitting end and the first antenna, rotating the phase of the calibrated antenna by 360 degrees by using a digital phase shifter, and performing reverse calibration by using zero scanning. After the plurality of radar modules are physically arranged, the FMCW modulation signals are calibrated to calibrate, so that the cascade connection of the plurality of radar modules is realized. The FMCW radar system transmits a column of continuous frequency modulation millimeter waves outwards through an antenna and receives a reflected signal of a target. The frequency of the transmitted wave varies in the time domain according to the law of the modulation voltage. The transmitting signal of the FMCW millimeter wave radar adopts frequency modulation, and the commonly used modulating signals are as follows: sine wave signal, sawtooth wave signal, triangular wave signal, and the like
In addition, the radar module of the embodiment may be a single-chip module, or may be designed as a dual-chip module; as shown in fig. 5. In order to reduce the track length, an arrangement which is as symmetrical as possible is used. The receiving antenna is arranged in the middle and can be in an equidistant mode or a sparse array mode. The two arrangements of the transmitting antenna and the module are similar to those of the receiving linear array and the transmitting linear array of the radar module. According to the modularized millimeter wave radar, the emitting linear arrays and the receiving linear arrays of a plurality of radar modules are arranged to be physically cascaded, and after the physical cascade is completed, the millimeter wave radar is modularized through FMCW modulation signal calibration; with a modular vehicle radar, it becomes easier to build a virtual array. The modules can be cascaded only by mounting the modules on the substrate in front of and behind the modules. The design of the high-precision radar is more flexible and is easier to realize.
In some embodiments, the physical cascading of the plurality of radar modules according to the arrangement of the receiver array and the transmitter array of each radar module includes:
arranging the receiving antennas of the receiving linear array along the X axis of the substrate in an equal-distance array or sparse array form;
arranging the transmitting antennas of the transmitting linear array along the X axis of the substrate in an equidistant array;
and arranging a plurality of radar modules according to the receiving antenna and the transmitting antenna to obtain a virtual array.
In one embodiment of this embodiment, the receiver lines are arranged on the substrate along the X-axis direction, and may be arranged in an equidistant manner or a sparse manner, while the transmitter lines are arranged in the X-axis direction using an equidistant manner. The arrangement of the receiving linear array and the transmitting linear array in the Y axis is carried out according to the radio frequency of the radar chip, the base band and the power supply wiring; the method is not limited to the arrangement mode of the receiving linear arrays and the transmitting linear arrays on the Y axis, and the multi-radar module cascade realized according to the technical scheme disclosed by the application falls into the protection scope of the application. The receiving antenna of the receiving linear array can be arranged in an equidistant array mode, also can be arranged in a sparse array mode, and the specific arrangement mode is customized according to the effect required to be obtained.
In some embodiments, the obtaining a virtual array from the arrangement of the receiving antennas and the transmitting antennas by the plurality of radar modules includes:
the total length of the receiving linear array and the distance between the two transmitting antennas are both N, namely the transmitting antenna and the last receiving antenna are superposed in the X-axis direction;
when a plurality of radar modules are arranged, the number of receiving antennas of one radar module and the next radar module is 3N.
In a specific implementation manner of the foregoing embodiment, the receiving linear arrays may be distributed in an equidistant array form, and the receiving linear arrays may also be distributed in a sparse array form, so that the total length of the receiving linear arrays is N, and the distance between the transmitting antennas should also be N, see fig. 2; i.e. the transmit antenna coincides with the last receive antenna in the X-axis direction. The receiving linear array comprises 4 receiving antennas; the transmitting antenna array comprises 3 transmitting antennas, the transmitting antennas are represented by cross stripes shown in fig. 2, and the receiving antennas are represented by diagonal stripes shown in fig. 2. After the modules are completed, the cascade connection among the modules can be realized by directly placing the modules on the substrate; in this embodiment, the distance between the first receiving antenna of the next radar module and the previous first receiving antenna is 3N. The radar module size should be as consistent as possible with the physical size of the receiving antenna or transmitting antenna, so that each newly added transmitting antenna will correspond to a virtual receiving array, and the length size relationship can be extended infinitely according to the method shown in the figure. The effect is that a plurality of radar chips are directly used for further expanding the virtual array, and a larger virtual array is realized.
In some embodiments, the obtaining a virtual array from the arrangement of the receiving antennas and the transmitting antennas by the plurality of radar modules includes:
the total length of the receiving linear array is N; the distance between the transmitting antennas is 4N/3;
when a plurality of radar modules are arranged, the receiving antennas of one radar module and the next radar module are 11N/4.
The receiving antennas of the receiving linear array are arranged in an equidistant array.
In a specific implementation manner of the above embodiment, the receiving linear array may be an equidistant array, and the total length thereof is N, so that the distance between the two transmitting antennas is 4N/3, as shown in fig. 3. If the receiving linear arrays are arranged in a sparse array, N is correspondingly increased; after the modules are completed, the cascade connection between the modules can be realized by direct placement. The receiving linear array comprises 4 receiving antennas; the transmitter array includes 3 transmitter antennas, the transmitter antennas are represented by horizontal stripes as shown in fig. 3, and the receiver antennas are represented by diagonal stripes as shown in fig. 3. According to this embodiment, the left receiving antenna of the next module is spaced from the left receiving antenna of the previous module by a distance N/34 x 11. A cross-sectional view thereof is shown in fig. 4. In this way, a scalable virtual array can be obtained by a modular radar arrangement. The radar module size should be as consistent as possible with the physical dimensions of the receive or transmit antennas so that each newly added transmit antenna will correspond to a virtual receive array, and this length-size relationship can be extended indefinitely as in the method of fig. 6. The effect is that a plurality of radar chips are directly used for further expanding the virtual array, and a larger virtual array is realized. In addition, the arrangement mode listed in the embodiment mode can obtain a larger array size, and because the size of a single radar module is designed, namely the size of the radar module is equivalent to that of an antenna, multiple chips can be directly placed and expanded to form a virtual array through proper positions.
In some embodiments, inter-module calibration, including LO frequency synchronization calibration and RF channel calibration, is performed on a plurality of the radar modules that complete the physical cascade.
In an implementation manner of this embodiment, the LO frequency synchronization calibration includes: coupling the LO signal into a substrate of the radar module in a coupling mode; inputting the synchronous LO signal to radar chips of different radar modules through a transmission line; judging whether LO frequency is synchronous or not by receiving signals from different transmitting linear arrays; and if the LO frequency is not synchronous, performing time delay synchronization on the LO frequency through a digital extension line. Wherein, through receiving the signal that comes from emitting linear array transmission, judge whether LO frequency is synchronous, include: the method comprises the steps of sequentially transmitting signals through the transmitting linear arrays of different radar chips, detecting whether the frequency of the intermediate frequency signals obtained by the receiving linear arrays of all the radar chips is the same or not, and judging whether the distances of the same target appearing in the receiving linear arrays of different radar chips are the same or not. Since the LO frequency is typically much lower than the RF frequency, the signals can be coupled to a lower cost substrate by coupling and then the synchronized LO signals can be fed to the different chips through transmission lines. Calibration is performed by far field fixed angle iron. Different chips transmit in turn, if the LO frequencies are not synchronous, the intermediate frequency signal frequencies obtained by the receiving ends of the chips are different, resulting in different distances of the same target appearing at the receiving ends of the different chips. At this time, the digital extension line is used to perform delay adjustment on the LO, so that the target falls into the same FFT Range Bin. The bandwidth can be increased, and the precision of each FFT Range Bin is improved.
In one implementation of this embodiment, the RF channel calibration includes: calibrating a receiving linear array of a radar module, wherein an antenna housing and an antenna are mutually coupled in the radar module, and under the condition that the antenna housing is covered, placing a calibration angle iron at a normal line of a radar to acquire amplitude-phase data of the receiving linear array of each radar chip and store the amplitude-phase data into a database; acquiring amplitude-phase data of the receiving linear array of each radar module once within 0.2-0.8 degrees in a field angle, and storing the amplitude-phase data into a database; calibrating the transmitting linear array of the radar module, under the condition of LO frequency synchronization, continuously transmitting a dot frequency signal by a first transmitting antenna, simultaneously transmitting another calibrated transmitting end and the first antenna, rotating the phase of the calibrated antenna by 360 degrees by using a digital phase shifter, and performing reverse calibration by using zero scanning. In this embodiment, since most chips are provided with on-chip channel calibration, the off-chip calibration part will be mainly described here. Off-chip calibration, i.e. calibration involving the chip itself and the antenna and RF traces, can be divided into two steps. The first step is to calibrate the receiving ends, and because of the mutual coupling between the antenna housing and the antenna, the amplitude and phase data of each receiving end is collected once every 0.5 degrees by a target in the FoV and is stored in a database. The second step is calibrating the transmitting terminal, under the condition of LO synchronization, the first transmitting antenna continuously transmits dot frequency signals, the other calibrated transmitting terminal and the first antenna transmit simultaneously, the phase of the calibrated antenna is rotated by 360 degrees by using a digital phase shifter, and the phase setting of 180-degree phase difference is found by using zero point scanning to carry out calibration.
In some embodiments, intra-module calibration of a radar module includes:
in one radar module, a plurality of transmitting antennas of the transmitting linear array transmit signals to a known target in a time-sharing mode, and the phase received by the receiving antennas of the receiving linear array is calculated to finish the calibration in the module. In this embodiment, since the position of the target is a known position, the arrival angle from the target to the receiving antenna array can be calculated, and then the phase of the corresponding signal can be calculated from the arrival angle and the antenna placement distance of the receiving antenna array. And forming a calibration matrix by using the phase and the corresponding amplitude, and calibrating the actual arbitrary signal.
According to the modular millimeter wave radar, the transmitting linear arrays and the receiving linear arrays of the plurality of radar modules are arranged to be physically cascaded, after the physical cascade is completed, intra-module calibration is performed on one radar module, and inter-module calibration is performed on the plurality of radar modules after the physical cascade is completed; the modularization of the millimeter wave radar is realized; with a modular vehicle radar, it becomes easier to build a virtual array. The modules can be cascaded only by mounting the modules on the substrate in front of and behind the modules. The design of the high-precision radar is more flexible and is easier to realize.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present application within the knowledge of those skilled in the art.
Claims (10)
1. A modularized millimeter wave radar is characterized by comprising a plurality of radar modules, wherein each radar module comprises a radar chip, a receiving linear array and a transmitting linear array which are connected with the radar chip, and the distance between the receiving linear array and the transmitting linear array and the radar module edge is less than half of a virtual array formed by the receiving linear array and the transmitting linear array; the modular cascading of the plurality of radar modules comprises the following steps:
according to the arrangement of the receiving linear array and the transmitting linear array of the radar module, physically cascading a plurality of radar modules;
and performing intra-module calibration on one radar module, and performing inter-module calibration on a plurality of radar modules which finish physical cascade.
2. The modular millimeter wave radar of claim 1, wherein the physical cascading of the plurality of radar modules according to the arrangement of the receiver and transmitter arrays of each radar module comprises:
arranging the receiving antennas of the receiving linear array along the X axis of the substrate in an equal-distance array or sparse array form;
arranging the transmitting antennas of the transmitting linear array along the X axis of the substrate in an equidistant array;
and arranging a plurality of radar modules according to the receiving antenna and the transmitting antenna to obtain a virtual array.
3. The modular millimeter wave radar of claim 2, wherein the arranging the plurality of radar modules according to the receiving antennas and the transmitting antennas to obtain a virtual array comprises:
the total length of the receiving linear array and the distance between the two transmitting antennas are both N, namely the transmitting antennas and the last receiving antenna are overlapped in the X-axis direction;
when a plurality of radar modules are arranged, the number of receiving antennas of one radar module and the number of receiving antennas of the next radar module are 3N.
4. The modular millimeter wave radar of claim 2, wherein the arranging the plurality of radar modules according to the receiving antennas and the transmitting antennas to obtain a virtual array comprises:
the total length of the receiving linear array is N; the distance between the transmitting antennas is 4N/3;
when a plurality of radar modules are arranged, the receiving antennas of one radar module and the next radar module are 11N/4;
the receiving antennas of the receiving linear array are arranged in an equidistant array.
5. The modular millimeter wave radar according to any one of claims 3 to 4, wherein the receiver array comprises 4 receiver antennas; the transmitter array comprises 3 transmitting antennas.
6. The modular millimeter wave radar of claim 1, wherein the inter-module calibration of the plurality of radar modules that complete the physical cascade comprises LO frequency synchronization calibration and RF channel calibration.
7. The modular millimeter wave radar of claim 6, wherein the LO frequency synchronization calibration comprises:
coupling an LO signal into a substrate of the radar module by a coupling manner;
inputting the synchronous LO signal to radar chips of different radar modules through a transmission line;
judging whether LO frequency is synchronous or not by receiving signals from different transmitting linear arrays;
and if the LO frequency is not synchronous, performing time delay synchronization on the LO frequency through a digital extension line.
8. The modular millimeter wave radar of claim 7, wherein the determining whether the LO frequencies are synchronized by receiving signals transmitted from the transmitter arrays comprises:
and sequentially transmitting signals through the transmitting linear arrays of different radar chips, and detecting whether the frequencies of the intermediate-frequency signals obtained by the receiving linear arrays of all the radar chips are the same or not, so as to judge whether the distances of the same target appearing in the receiving linear arrays of different radar chips are the same or not.
9. The modular millimeter wave radar of claim 6, wherein the RF channel calibration comprises:
calibrating a receiving linear array of a radar module, wherein an antenna housing and an antenna are mutually coupled in the radar module, and under the condition that the antenna housing is covered, placing a calibration angle iron at a normal line of a radar to acquire amplitude-phase data of the receiving linear array of each radar chip and store the amplitude-phase data into a database;
calibrating the transmitting linear array of the radar module, under the condition of LO frequency synchronization, continuously transmitting a dot frequency signal by a first transmitting antenna, simultaneously transmitting another calibrated transmitting end and the first antenna, rotating the phase of the calibrated antenna by 360 degrees by using a digital phase shifter, and calibrating by using zero scanning.
10. A modular millimeter wave radar according to claim 1, wherein said intra-module calibration of one of said radar modules comprises:
in a radar module, sending signals to a known target by a plurality of transmitting antennas of the transmitting linear array in a time-sharing manner, and calculating the phase received by the receiving antennas of the receiving linear array to finish the in-module calibration.
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| CN201911033502.3A CN110940957B (en) | 2019-10-28 | 2019-10-28 | Modular millimeter wave radar |
| PCT/CN2019/121200 WO2021082147A1 (en) | 2019-10-28 | 2019-11-27 | Modular millimeter wave radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112666543A (en) * | 2020-12-01 | 2021-04-16 | 安徽隼波科技有限公司 | Sparse array TDM-MIMO radar and correction method thereof |
| CN113204013A (en) * | 2021-04-19 | 2021-08-03 | 珠海上富电技股份有限公司 | High-resolution millimeter wave radar based on FPGA and signal processing method |
| CN113219456A (en) * | 2021-05-25 | 2021-08-06 | 北京京东方技术开发有限公司 | Millimeter wave radar system |
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| CN113204013A (en) * | 2021-04-19 | 2021-08-03 | 珠海上富电技股份有限公司 | High-resolution millimeter wave radar based on FPGA and signal processing method |
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| CN110940957B (en) | 2022-03-22 |
| WO2021082147A1 (en) | 2021-05-06 |
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