CN222214477U - Antenna, radar system and vehicle - Google Patents
Antenna, radar system and vehicle Download PDFInfo
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- CN222214477U CN222214477U CN202420942122.1U CN202420942122U CN222214477U CN 222214477 U CN222214477 U CN 222214477U CN 202420942122 U CN202420942122 U CN 202420942122U CN 222214477 U CN222214477 U CN 222214477U
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Abstract
The application discloses an antenna, a radar system and a vehicle, wherein the antenna comprises a transmitting antenna array used for transmitting radar signals, a receiving antenna array used for receiving echo signals of the radar signals after being reflected by targets, wherein the transmitting antenna array and the receiving antenna array are used for forming a virtual plane array, virtual array elements of the virtual plane array are uniformly distributed at first array element intervals in a first direction, virtual array elements of the virtual plane array are uniformly distributed at second array element intervals in a second direction, the first direction is perpendicular to the second direction, the positions of transmitting array elements in the transmitting antenna array are related to the first array element intervals, and the positions of receiving array elements in the receiving antenna array are related to the second array element intervals. The application can obtain the equivalent uniform virtual plane array with high gain and no holes, thereby further improving the performances of angular resolution, degree of freedom and the like.
Description
Technical Field
The present application relates to the field of antenna technologies, and in particular, to an antenna, a radar system, and a vehicle.
Background
MIMO Radar (Multiple-Input Multiple-Output Radar) is a Radar system that utilizes Multiple transmit and receive antennas to improve Radar performance. The conventional MIMO radar antenna layout is limited by half wavelength so that the aperture of the antenna is also limited. And smaller array element spacing also results in stronger mutual coupling between antenna elements. In addition, the number of targets identifiable by the conventional direction of arrival (DOA) algorithm is limited by the number of antenna elements in the physical array, which affects the degree of freedom, and when the number of targets identified exceeds the number of antenna elements, many DOA algorithms fail.
Aiming at the problems caused by the half-wavelength limitation and the physical array element number limitation, the MIMO array is subjected to sparse array layout, so that the array element distance breaks through the half-wavelength limitation, the antenna aperture is greatly expanded under the same antenna number, the mutual coupling effect between the antenna units is greatly weakened, the good DOA estimation performance can be obtained, and the increase of the identifiable target number can be ensured.
However, the number of virtual array elements corresponding to the existing MIMO radar array element position is small due to the insufficient optimization of the design, so that holes exist between the equivalent virtual array elements corresponding to the physical array elements adopting the sparse array, and the holes have certain influence on the degree of freedom, the angular resolution capability and the like. Therefore, how to construct a hole-free high-gain equivalent uniform virtual area array based on the limited number of array elements, and to improve the degree of freedom, angular resolution, etc. of the MIMO radar has become a problem to be solved.
Disclosure of utility model
The application provides an antenna, a radar system and a vehicle, and aims to effectively solve the technical problem that a high-gain equivalent uniform virtual area array without holes is constructed under the condition that the number of array elements is limited.
According to a first aspect of the application, there is provided an antenna comprising:
a transmitting antenna array for transmitting radar signals;
the receiving antenna array is used for receiving echo signals of the radar signals after being reflected by the targets;
The transmitting antenna array and the receiving antenna array are used for forming a virtual plane array, virtual array elements of the virtual plane array are uniformly distributed at first array element intervals in a first direction, virtual array elements of the virtual plane array are uniformly distributed at second array element intervals in a second direction, and the first direction is perpendicular to the second direction;
The positions of the transmitting array elements in the transmitting antenna array are related to the first array element spacing;
The position of the receiving array element in the receiving antenna array is related to the second array element spacing.
Further, the transmitting antenna array comprises a plurality of transmitting subarrays, the transmitting subarrays are mutually-prime arrays and comprise a plurality of transmitting array elements distributed along a first direction, and virtual array elements formed by the transmitting subarrays are uniformly distributed at a first array element interval.
Further, the range of values of the first array element pitch is a first range determined by a range of view angles in the first direction and a range of angle blur values.
Further, the first array element pitch is the maximum value in the first range.
Further, the plurality of transmitting subarrays are subarrays with the same positions, and the positions of the transmitting array elements in the transmitting subarrays are determined according to intersections among the positions of the transmitting array elements in the first mutual subarrays, the second mutual subarrays and the third subarrays;
The array element spacing of the transmitting array elements in the first mutual subarray is M x d, the array element spacing of the transmitting array elements in the second mutual subarray is N x d, M and N are the mutual prime numbers, d is the unit spacing, and the value of M+N-1 is equal to the number of the transmitting array elements of the transmitting subarray;
and the positions of the transmitting array elements in the third subarray are used for filling holes in the first mutual subarray and the second mutual subarray.
Further, the positions of the transmitting array elements in the transmitting subarrays are obtained after the positions of the transmitting array elements in the intersection are adjusted according to preset multiples;
The preset multiple is determined according to the ratio between the first array element spacing and the unit spacing.
Further, the coordinates in the first direction of the transmitting array elements are obtained after the position translation of the transmitting array elements in the transmitting subarray according to the hole positions of the virtual plane array.
Further, the receiving antenna array comprises a plurality of receiving subarrays, the receiving subarrays are minimum redundant arrays and comprise a plurality of receiving array elements distributed along the second direction, and virtual array elements formed by the receiving subarrays are uniformly distributed at the second array element intervals.
Further, the positions of the receiving array elements in the receiving subarray are determined according to the characteristics of the minimum redundant array on the basis of the second array element spacing.
Further, the coordinates of the receiving array elements in the second direction are obtained after the position translation of the receiving array elements in the receiving subarray according to the hole positions of the virtual plane array.
Further, the plurality of receiving subarrays and the plurality of transmitting subarrays form a square shape.
Further, the number of the receiving subarrays and the transmitting subarrays is 2.
Further, the virtual planar array is a sum-difference co-array virtual array.
Further, the total number of the transmitting array elements is 12, and the total number of the receiving array elements is 16.
Further, the first array element spacing is full wavelength, and the second array element spacing is half wavelength.
According to a second aspect of the application there is also provided a radar system comprising an antenna as described above, and a processing unit;
the processing unit is used for determining the angle information of the target according to the echo signals.
According to a second aspect of the application there is also provided a vehicle comprising an antenna as described above and/or a radar system as described above.
Through one or more of the above embodiments of the present application, at least the following technical effects may be achieved, that is, on the basis of not increasing hardware cost and layout complexity (i.e., under the condition of limited number of antennas), by configuring the transmitting antenna array and the receiving antenna array, a hole-free high-gain equivalent uniform virtual plane array is obtained, so as to further improve performance of the MIMO radar such as angular resolution, degree of freedom, and the like.
Drawings
The technical solution and other advantageous effects of the present application will be made apparent by the following detailed description of the specific embodiments of the present application with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a conventional antenna;
FIG. 2 is a schematic diagram of a virtual planar array of the antenna of FIG. 1;
FIG. 3 is a second schematic diagram of a conventional antenna;
FIG. 4 is a schematic diagram of a virtual planar array of the antenna of FIG. 3;
Fig. 5 is a schematic diagram of an antenna structure according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a virtual planar array according to an embodiment of the present application;
Fig. 7 is a schematic diagram of an emitter array and a corresponding virtual linear array according to an embodiment of the present application;
Fig. 8 is a schematic diagram of parallel arrangement of emission subarrays according to an embodiment of the present application;
Fig. 9 is a schematic diagram of an antenna before translation according to an embodiment of the present application;
Fig. 10 is a schematic diagram of a translated antenna according to an embodiment of the present application;
Fig. 11 is a schematic diagram of a virtual planar array corresponding to the antenna shown in fig. 9 according to an embodiment of the present application;
Fig. 12 is a schematic diagram of a virtual planar array corresponding to the antenna shown in fig. 10 according to an embodiment of the present application;
FIG. 13 is a horizontal direction diagram provided by an embodiment of the present application;
Fig. 14 shows a vertical direction pattern provided by an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the term "and/or" is merely an association relationship describing the association object, and means that three relationships may exist, for example, a and/or B, and that three cases of a alone, a and B together, and B alone may exist. The character "/" herein generally indicates that the associated object is an "or" relationship unless otherwise specified.
In the prior art, holes exist among equivalent virtual array elements corresponding to an MIMO radar antenna array designed by using a sparse array, for example, a 12-transmission 16-reception antenna layout is shown in fig. 1, wherein red is a transmitting antenna, total 12 channels are provided, blue is a receiving antenna, total 16 channels are provided, an equivalent virtual area array corresponding to fig. 1 is shown in fig. 2, holes in the vertical direction are larger under the condition that the number of the antennas is fixed, and the angular resolution in the vertical direction is lower, so that the performance of the radar does not reach an optimal state.
For another example, another layout of the 12-transmit 16-receive antenna is shown in fig. 3, and the equivalent virtual area array corresponding to fig. 3 is shown in fig. 4, where the number of the antennas is fixed, but the vertical holes are smaller and smaller than those shown in fig. 2, but the angular resolution still has room for further optimization.
Aiming at the problem of low angular resolution in the equivalent virtual area arrays shown in fig. 3 and 4 corresponding to the MIMO radar arrays shown in fig. 1 and 2, the application provides an antenna, a radar system and a vehicle, and the detailed description is given below with reference to the accompanying drawings.
Referring to fig. 5, an embodiment of the present application provides an antenna 500 comprising a transmit antenna array 501 and a receive antenna array 502. The transmitting antenna array 501 is used for transmitting radar signals, and the receiving antenna array 502 is used for receiving echo signals of the radar signals after being reflected by targets.
The echo signals may be used to determine the horizontal azimuth and vertical azimuth of the target. The radar signal may be a frequency modulated continuous wave (frequency modulated continuous wave, FMCW), multiple frequency shift keying (multiple frequency-SHIFT KEYING, MFSK), phase modulated continuous wave (phase modulated continuous wave, PMCW), or a waveform used by other radars, without limitation.
The transmitting antenna array 501 and the receiving antenna array 502 are used to form a virtual planar array (may also be referred to as a virtual planar array), in which virtual array elements of the virtual planar array are uniformly distributed with a first array element pitch in a first direction, and in which virtual array elements of the virtual planar array are uniformly distributed with a second array element pitch in a second direction, and the first direction is perpendicular to the second direction.
The first direction may be a horizontal direction or a vertical direction, and the second direction may be a vertical direction or a horizontal direction, respectively. If the first direction is the horizontal direction, the virtual array element in the first direction is used for determining the horizontal azimuth measurement value of the target, and the virtual array element in the second direction is used for determining the vertical azimuth measurement value of the target. In the drawings and examples of the present application, the first direction is taken as a vertical direction as an example.
The positions of the transmitting elements in the transmitting antenna array 501 are determined according to the first element spacing, and the positions of the receiving elements in the receiving antenna array 502 are related to the second element spacing.
The horizontal direction and the vertical direction described in the embodiments of the present application relate to the positions of the virtual planar arrays formed by the transmitting antenna array 501 and the receiving antenna array 502.
The number of array elements in the receiving antenna array 502 and the transmitting antenna array 501 may be affected by hardware cost, complexity of layout and installation, size and volume constraint of the antennas, etc., and the number of array elements may be limited to a few to tens in different antenna application scenarios, for example, in a vehicle radar system, the number of array elements in the receiving antenna array 502 and the transmitting antenna array 501 is limited to a few to tens in an air radar system.
The embodiment of the application constructs and obtains the high-gain equivalent uniform virtual plane array without holes on the basis of not increasing hardware cost and layout complexity (namely under the condition of limited number of antennas), thereby further improving the performance of the MIMO radar such as angle resolution, freedom degree and the like.
In addition, the first array element pitch refers to a pitch between adjacent virtual array elements in a first direction in the virtual plane array, and correspondingly, the second array element pitch refers to a pitch between adjacent virtual array elements in a second direction in the virtual plane array. The first array element spacing may be the same as the second array element spacing or may be different. The values of the first array element spacing and the second array element spacing can be determined according to the requirements of the vertical direction angle resolution and the horizontal direction angle resolution.
Schematically, the distribution of the virtual planar array is shown in fig. 6, taking the first direction as the vertical direction as an example, the first element spacing between the virtual array elements in the first direction is larger than the second element spacing between the virtual array elements in the second direction.
Unlike the prior art, in the embodiment of the present application, a uniformly distributed virtual plane array without holes can be virtualized by the transmitting antenna array 501 and the receiving antenna array 502, so as to improve the performances of angular resolution, degree of freedom, and the like.
In some embodiments of the present application, the transmitting antenna array 501 includes a plurality of transmitting sub-arrays, where the transmitting sub-arrays are mutually-mass arrays and include a plurality of transmitting array elements arranged along a first direction, that is, the transmitting array elements in the transmitting sub-arrays are arranged in parallel along the first direction to form a straight line, and the transmitting sub-arrays are sparse linear arrays. The virtual array elements formed by the emission subarrays are uniformly distributed at the first array element interval.
The transmitting subarray is a mutual array, which means that the transmitting subarray comprises two or more mutually different subarrays, the array element spacing between the mutually different subarrays is a mutual prime number, and if the array element spacing in one subarray is 2 x unit spacing d, and the array element spacing in the other subarray is 3 x unit spacing d, the two subarrays are mutually-prime subarrays, and the transmitting subarray comprising the two mutually-prime subarrays is the mutually-prime array.
Because the mutual subarrays are transmitted when the subarrays are mutually arranged, the included subarrays have unique antenna spacing and phase delay, beams in different directions can be formed, better angle resolution can be provided due to the difference between the subarrays, and the direction and the angle of a target can be determined more accurately.
It should be noted that, the number of the transmitting subarrays is determined according to the layout shape of the physical array elements, and may be one transmitting subarray, where the physical array elements are linear, and the one transmitting subarray includes all the transmitting array elements. Two transmitting subarrays and other two receiving subarrays can form a square shape. Three transmitting subarrays may be formed, and three receiving subarrays may be formed in three shapes, which is not limited.
In another embodiment of the present application, the range of values of the first array pitch is a first range determined by the range of angles of view in the first direction and the range of angle blur values. Illustratively, if the range of the view angle θ in the first direction is [ -30 °,30 ° ], the angle ambiguity f=2d1sin (θ)/λe [ -1,1], and further the range of the value d1 e (0, λ ] of the first element spacing d1 is determined, and in this range, the virtual plane array can avoid the problem of the angle estimation ambiguity.
In order to further expand the array aperture in the vertical direction (the first direction is the vertical direction in this embodiment), the maximum value is selected from the first range as the first array pitch, taking the above-described (0, λ) as an example, d1=λ.
In other embodiments of the present application, the plurality of transmitting subarrays are subarrays having identical positions, and the positions of the transmitting array elements in the transmitting subarrays are determined according to intersections between the positions of the transmitting array elements in the first mutual subarray, the second mutual subarray, and the third subarray.
The array element spacing of the transmitting array elements in the first mutual subarray is M x d, the array element spacing of the transmitting array elements in the second mutual subarray is N x d, M and N are the mutual prime numbers, d is the unit spacing, and the value of M+N-1 is equal to the number of the transmitting array elements of the transmitting subarray.
And the positions of the transmitting array elements in the third subarray are used for filling holes in the first mutual subarray and the second mutual subarray.
The positions of the transmitting array elements among the transmitting subarrays are the same, that is, the elements of the transmitting subarrays are the same, and if one transmitting subarray is { X1, X2, X3}, the other transmitting subarrays are { X1, X2, X3}, wherein X1, X2, X3 are vector positions of the transmitting array elements.
More specifically, the vector positions of the transmitting array elements in the transmitting subarrays are determined according to intersections among the vector positions of the transmitting array elements in the first mutual subarray, the second mutual subarray and the third subarray.
The first mutual subarray and the second mutual subarray may be {0:m: M (N-M) }, the second mutual subarray may be { M (N-M): N (M (N-M) +n (M-1)) } and the first mutual subarray is {0,3}, and the second mutual subarray is {3,7,11}, taking prime numbers m=3 and n=4 as examples. If m=2 and n=3, the first mutual subarray is {0,2}, and the second mutual subarray is {2,5}.
Further, since holes exist in the virtual linear arrays formed by the mutual subarrays, in order to fill the holes, a third subarray is also required to be designed to fill the holes in the virtual linear arrays corresponding to the first mutual subarray and the second mutual subarray. Based on the first mutual-matrix subarray {0:M: M (N-M) }, the second mutual-matrix subarray { M (N-M): N (M (N-M) +N (M-1)) } and the third subarray comprising { N-M, M (N-M) +N (M-1) +1} wherein { N-M } is used for filling the virtual array element holes corresponding to the first mutual-matrix subarray and { M (N-M) +N (M-1) +1} is used for filling the virtual array element holes corresponding to the second mutual-matrix subarray. Taking m=3 and n=4 as examples, the third subarray is {1,12}. For another example, taking m=2 and n=3 as the examples, the third subarray is {1,6}.
Further, taking the intersection between the first mutual subarray, the second mutual subarray and the third subarray as the vector position of the transmitting array element in the transmitting subarray, taking m=3 and n=4 as examples, the transmitting subarray s= [0,1,3,7,11,12] x d is schematically shown.
Furthermore, in order to arrange the virtual array elements in the vertical direction at the first array element pitch, the positions of the transmitting array elements in the intersection set need to be adjusted according to a preset multiple, where the preset multiple is determined according to the ratio between the first array element pitch and the unit pitch.
Based on the above-described emissive subarrays s= [0,1,3,7,11,12] x d, and d1=λ=2d as examples, the adjusted emissive subarrays S' = [0,2,6,14,22,24] x λ/2. The physical array of S' and the corresponding virtual linear array are shown in fig. 7, and the space between the virtual array elements in the virtual linear array is 2d.
In other embodiments of the present application, in order to further expand the virtual planar array, the adjusted emissive subarray S 'is translated, specifically, by how many unit pitches are required to be translated, and according to the total number of emissive array elements, if the total number of emissive array elements in the emissive array is 12, the adjusted emissive subarray S' is translated to the right by 4 unit pitches.
It should be noted that, the translation of the transmitting subarray refers to the positional translation of the transmitting array element along the first direction, and in the case that the first direction is the vertical direction, the translation is the ordinate of the transmitting array element.
The translation amount of the emitter array is determined according to the hole condition of the virtual array, and in the case of the emitter array S' = [0,2,6,14,22,24 ]. Times.lambda.2, the hole condition in the virtual plane array needs to be filled after the emitter array is translated for 4 unit intervals.
After the translation of the adjusted transmitting subarrays S' is completed, all the transmitting subarrays are determined to be obtained, all the transmitting subarrays are required to be arranged in parallel, the front and rear positions are kept uniform in the first direction, and after the transmitting subarrays are arranged in parallel, the position information of all the transmitting array elements is obtained. For example, if the number of the emission subarrays is 3, the 3 emission subarrays are arranged in parallel as shown in fig. 8.
In other embodiments of the present application, the receiving antenna array 502 includes a plurality of receiving sub-arrays, where the receiving sub-arrays are minimum redundancy arrays and include a plurality of receiving array elements arranged along the second direction, and virtual array elements formed by the receiving sub-arrays are uniformly distributed at the second array element intervals.
The positions of the receiving array elements are determined through a minimum redundant array idea, namely, under the condition that the number of the receiving array elements in the receiving subarrays is fixed and the space between the virtual array elements to be formed is the second array element space, the situation that the corresponding number of the virtual array elements is the largest when the positions of the receiving array elements are continuously adjusted is found through a traversing searching mode, the positions of the receiving array elements under the condition that the number of the virtual array elements is the largest are taken as the positions of all the receiving array elements in the receiving subarrays, and the number of the receiving subarrays is calculated according to the total number of the receiving subarrays and the number of the receiving array elements in the receiving subarrays. The positions of the receiving array elements among the receiving subarrays are the same.
TABLE 1 minimum redundant array traversal schematic table
As shown in table 1, when the number of different receiving array elements in the receiving subarray is different, the number of the virtual array elements can be the largest through searching in a traversing manner, for example, when the number of the receiving array elements in the receiving subarray is 3, the positions of the receiving array elements are [0,1,3] through traversing, and the corresponding number of the virtual array elements is the largest.
In the receiving subarray, the receiving array elements are arranged along the horizontal direction, and the arrangement direction of the receiving array elements is opposite to that of the transmitting array elements. The interval between adjacent virtual array elements in the virtual linear array formed by the receiving subarrays is a second array element interval.
In other embodiments of the present application, in order to expand the virtual planar array, the receiving subarrays are further translated, and the unit spacing of the receiving array elements corresponding to the transmitting array elements needs to be determined after the receiving array elements are required to be translated through testing, that is, after the initial positions of the receiving array elements are obtained, the existing hole conditions are determined according to the virtual linear arrays formed by the receiving array elements, so as to determine the number and the direction of the unit spacing of the receiving array elements needing to be translated. Illustratively, taking the example that the position of the receiving array element is [0,1,4,10,16,18,21,23] ×λ/2, and the virtual plane array formed by the receiving array element and the transmitting array element needs to be shifted by 4 unit intervals along the second direction, so that the receiving array element is [4,5,8,14,20,22,25,27] ×λ/2.
It should be noted that, the translation of the receiving array element is performed along the second direction, and in the example where the second direction is the horizontal direction, the abscissa of the receiving array element is translated.
In other embodiments of the present application, in order to improve space utilization of the antenna board, the transmitter sub-arrays and the receiver sub-arrays that are disposed in parallel are assembled into a square shape, and the number of square shapes may be plural, which is determined according to the number of transmitter sub-arrays and receiver sub-arrays.
According to the antenna provided by the embodiment of the application, the transmitting array elements and the receiving array elements are in the shape of the Chinese character 'kou', so that the space utilization rate of the antenna board is improved, and the mutual coupling interference is reduced.
The application also provides an antenna, in which the number of transmitting array elements is 12, and the number of receiving array elements is 16. Under the condition that the number of transmitting array elements and the number of receiving array elements are fixed, a virtual plane array is obtained through the following design, wherein in the virtual plane array, virtual array elements of the virtual plane array are uniformly distributed at a first array element interval in the first direction, and virtual array elements of the virtual plane array are uniformly distributed at a second array element interval in the second direction.
Here, the first direction is a vertical direction, and the second direction is a horizontal direction.
For the transmitting antenna array 501, according to the range of the set view angle θ being [ -30 °,30 ° ], and at the same time, the angle ambiguity value f=2d1sin (θ)/λe [ -1,1], the value range d 1e (0, λ ] (i.e. the first range) of the unit interval d1 between the array elements of the virtual array elements can be calculated, that is, in the case of no angle ambiguity, the first array element interval d1 can be the full wavelength length of the signal, i.e. the first array element interval is λ.
According to the ratio of the first array element spacing lambda to the unit spacing lambda/2, the number of the emitting subarrays is 2, and under the condition that the number of the emitting array elements is 12, the number of the elements in the emitting subarrays is 6, and on the basis, the positions of all the emitting array elements in the emitting subarrays are required to be determined in the following mode.
S1={0:M:M(N-M)};
S2={N-M};
S3={M(N-M):N:(M(N-M)+N(M-1))};
S4={M(N-M)+N(M-1)+1};
Wherein M and N are prime numbers, S1 and S3 are two prime first prime subarrays and second prime subarrays, S2 and S4 are third subarrays, S2 is used for filling holes in the virtual linear array corresponding to the first prime subarrays, and S4 is used for filling holes in the virtual linear array corresponding to the second prime subarrays. In the present application, the reciprocal prime number is set to m=3, and n=4, and it should be noted that the reciprocal prime number needs to satisfy the number of transmitting array elements in m+n-1=transmitting subarrays. In other embodiments of the present application, the reciprocal prime number may be selected from M being 2, n being 5, or others, which is not limited.
In addition, when the reciprocal prime numbers are closer, the aperture of the array is larger, and the reciprocal prime numbers m=3 and n=4 set in the embodiment can make the aperture of the virtual array element larger compared with other reciprocal prime numbers.
In order to improve the space utilization of the antenna, in this embodiment, the transmitting subarrays and the receiving subarrays are assembled into a square shape, and therefore, the number of the transmitting subarrays and the receiving subarrays is set to 2.
Based on the determined reciprocal prime number M=3 and N=4, two 6 array element hole-free reciprocal emission subarrays are obtained, wherein the position S= [0,1,3,7,11,12] x lambda/2 of the emission array element in each emission subarray is amplified according to the direct ratio of the first array element spacing to the unit spacing, and the array element position S' = [0,2,6,14,22,24] x lambda/2 is amplified once.
For the receiving antenna array 502, the minimum redundant array with the largest number of continuous virtual array elements is obtained by performing characteristic traversal search on the minimum redundant array, and on the basis of 16 receiving array elements, the minimum redundant array comprises 8 receiving array elements, and the positions of the receiving array elements of the minimum redundant array are specifically [0,1,4,10,16,18,21,23] multiplied by lambda/2 under the condition that the second array element distance is lambda/2.
On the basis that the two transmitting subarrays are [0,2,6,14,22,24] ×λ/2 and the two receiving subarrays are [0,1,4,10,16,18,21,23] ×λ/2, the transmitting subarrays and the receiving subarrays are assembled in parallel to form an antenna in a shape of a Chinese character 'kou' as shown in fig. 9, in which the transmitting antenna array 501TX1 = { (TX 1, ty 1) |tx1 = [0,31] ×λ/2, ty1 = [0,2,6,14,22,24] ×λ/2}, where TX1 represents a horizontal position coordinate of a transmitting antenna array element and ty1 represents a vertical position coordinate of a transmitting antenna array element. The reception antenna array 502RX 1= { (RX 1, ry 1) |rx1= [0,1,4,10,16,18,21,23] ×λ/2, ry1= [0,32] ×λ/2}, RX1 represents the reception antenna element horizontal direction position coordinates, and ry1 represents the reception antenna element vertical direction position coordinates.
It should be noted that, the value of tx1 in the transmitting array and the value of ry1 in the receiving array are specifically determined according to the corresponding rx1 length and ty1 length and the corresponding translation distance. Specifically, tx 1= [0,31] ×λ/2 is because rx1 has a length of 23, and a further translation distance is 4λ/2, 31=23+4×2, so that the length of tx1 is determined. Similarly, the length of ry1 is determined according to the length of ty1, and the length of ty1 is 24, and the translation distance is 4λ/2, then 32=24+4x2. In summary, the abscissa of the transmitting array element in the transmitting array is determined according to the length of the receiving array element in the receiving array and the translation distance of the receiving array element, and likewise, the ordinate of the receiving array element in the receiving array is determined according to the length of the transmitting array element in the transmitting array and the translation distance of the transmitting array element.
In addition, in order to further expand the virtual planar array, the coordinate value in the vertical direction in the transmitting array element is translated, the coordinate value in the horizontal direction in the receiving array element is translated, under the condition of 12 transmitting and 16 receiving, the transmitting array element is translated to the right by 4 unit intervals, and the receiving array element is translated to the upper side by 4 unit intervals, so as to obtain the translated antenna TX2＝{(tx2,ty2)|tx2＝[0,31]×λ/2,ty2＝[4,6,10,18,26,28]×λ/2},RX2＝{(rx2,ry2)|rx2＝[4,5,8,14,20,22,25,27]×λ/2;ry2＝[0,32]×λ/2}, shown in fig. 10, wherein tx2 represents the horizontal position coordinate of the translated transmitting antenna array element, ty2 represents the vertical position coordinate of the translated transmitting antenna array element, rx2 represents the horizontal position coordinate of the translated receiving antenna array element, and ry2 represents the vertical position coordinate of the translated receiving antenna array element.
The virtual plane array corresponding to fig. 9 is shown in fig. 11, the aperture of the virtual plane array is 46 λ×52λ, and the virtual plane array corresponding to fig. 10 is shown in fig. 12, the aperture of the virtual plane array is 54 λ×56λ, so that it is known that the aperture of the virtual plane array increases and the virtual plane array increases after the translation.
After the above-mentioned translated antenna is obtained, according to the working principle of the MIMO radar antenna array, the transmitting and receiving antenna arrays 502 after matching and filtering are equivalent to a sum array virtual array (i.e. virtual plane array), and the equivalent relationship of the virtual array element position set SX after matching and filtering is as follows:
SX={ux+vx|ux∈TX2;vx∈RX2};
Further, according to the sum co-array principle, the sum co-array element position set of the MIMO radar antenna array can be obtained by substituting the transmit array element position set and the receive array element position set TX2 = { (TX 2, ty 2) |tx2 = [0,31] ×λ/2, ty2 = [4,6,10,18,26,28] ×λ/2} and RX2 = { (RX 2, ry 2) |rx2 = [4,5,8,14,20,22,25,27] ×λ/2, ry2 = [0,32] ×λ/2} into the above formula, where the sum co-array element position set of the MIMO radar antenna array is expressed as:
SX={(sx,sy)|sx=[4,5,8,14,20,22,25,27,35,36,39,45,51,53,56,58]×
λ/2;sy=[4,6,10,18,26,28,36,38,42,50,58,60]×λ/2};
wherein sx and sy are respectively a horizontal direction position and a vertical direction position.
Meanwhile, according to the differential array principle, the received signal can be equivalently used as a sum-difference common array virtual array, and the equivalent relation of the virtual array element position set SX is as follows:
SDX＝{(ux-uy)+(vx-vy)|ux,uy∈TX2;vx,vy∈RX2}.
Substituting the transmitting array element position set TX and the receiving array element position set RX2 into the above according to the sum-difference co-array principle, the sum-difference co-array element position set (i.e., the positions of each virtual element in the virtual plane array) of the MIMO radar antenna array can be expressed as:
SDX={(sdx,sdy)|sdx=(-54:1:54)×λ/2;sdy=(-56:2:56)×λ/2};
The sdx and sdy are horizontal and vertical positions, respectively, and thus it is known that the virtual array element pitch in the vertical direction is λ, the virtual array element pitch in the horizontal direction is λ/2, and the virtual array aperture is 24λ×56λ. According to Rayleigh Li Panju D is a virtual array aperture, ρ is an angular resolution, which can be found to be 0.0452 ° in the horizontal direction and 0.0436 ° in the vertical direction. Based on the virtual plane array, the corresponding horizontal direction pattern is shown in fig. 13, and the vertical direction pattern is shown in fig. 14.
The sum-difference co-array virtual array generated by the above derivation is a non-aperture uniform area array, on which parameter estimation such as DFT, subspace algorithm and the like can be directly applied, compared with the antenna arrays shown in figures 1 and 2, the antenna provided by the embodiment of the application can form a virtual plane array without uniform holes, can improve the performances of degree of freedom, angle resolution and the like, and is also convenient for the subsequent DFT and subspace algorithm application.
In this embodiment, the first array element pitch is set to λ, the second array element pitch is set to λ/2, and the virtual array element aperture in the vertical direction in the virtual plane array is enlarged, so that the angular resolution in the horizontal direction is maintained in an optimal state, and meanwhile, the angular resolution in the vertical direction is improved.
Based on any one of the above embodiments, another embodiment of the present application further provides a radar system, including an antenna and a processing unit. The antenna 500 includes a transmitting antenna array 501 and a receiving antenna array 502, where the transmitting antenna array 501 and the receiving antenna array 502 are used to form a virtual plane array, virtual array elements of the virtual plane array are uniformly distributed with a first array element spacing in a first direction, and virtual array elements of the virtual plane array are uniformly distributed with a second array element spacing in a second direction, which is specifically referred to the above description and will not be repeated herein.
The processing unit is used for determining the angle information of the target according to the echo signals.
Based on any one of the foregoing embodiments, another embodiment of the present application further provides a vehicle, where the vehicle may include the antenna, the radar system, or the antenna and the radar system, and detailed descriptions thereof are omitted herein.
In summary, although the present application has been described in terms of the preferred embodiments, the preferred embodiments are not limited to the above embodiments, and various modifications and changes can be made by one skilled in the art without departing from the spirit and scope of the application, and the scope of the application is defined by the appended claims.
Claims (17)
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