CN112955774A - Antenna assembly of microwave radar, microwave radar and movable platform - Google Patents
Antenna assembly of microwave radar, microwave radar and movable platform Download PDFInfo
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- CN112955774A CN112955774A CN201980052680.2A CN201980052680A CN112955774A CN 112955774 A CN112955774 A CN 112955774A CN 201980052680 A CN201980052680 A CN 201980052680A CN 112955774 A CN112955774 A CN 112955774A
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- 230000005540 biological transmission Effects 0.000 claims description 37
- 238000012545 processing Methods 0.000 claims description 16
- 238000005259 measurement Methods 0.000 abstract description 33
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- 238000010586 diagram Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
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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
- G01S7/35—Details of non-pulse systems
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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
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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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- 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
An antenna assembly of a microwave radar, the microwave radar and a movable platform are provided, wherein the antenna assembly comprises a dielectric substrate (11), and a transmitting antenna array and a receiving antenna array which are arranged on the dielectric substrate (11), the receiving antenna array comprises a plurality of receiving antennas (12) which are equidistantly arranged along a first direction, the transmitting antenna array comprises at least three transmitting antennas which are arranged along the first direction, the at least three transmitting antennas comprise first transmitting antennas (13) and second transmitting antennas (14), the distance between every two adjacent first transmitting antennas (13) is N times of the distance between every two adjacent receiving antennas (12), and/or the distance between every two adjacent second transmitting antennas (14) is N times of the distance between every two adjacent receiving antennas (12), the first transmitting antennas (13) and the second transmitting antennas (14) can be staggered by a preset distance in a second direction which is basically perpendicular to the first direction, the two-dimensional angle measurement can be effectively realized, the resolving power of the microwave radar to a target is improved, and the microwave radar has the advantages of small size, low cost and convenience in application and popularization.
Description
Technical Field
The embodiment of the invention relates to the technical field of microwave radars, in particular to an antenna assembly of a microwave radar, the microwave radar and a movable platform.
Background
For a conventional single-transmitting-channel microwave radar, the angle measurement precision of the microwave radar is closely related to the number of receiving channels of the microwave radar, the higher the precision is, the more the number of the receiving channels of the required microwave radar is, the larger the size of the corresponding microwave radar is, and the higher the cost is. And the VMIMO microwave radar finally realizes the angle measurement precision equivalent to the conventional single-transmitting-channel microwave radar with multiplied receiving channels by adding a small number of transmitting channels.
However, in the related art, for example, the millimeter wave anti-collision microwave radar on the unmanned aerial vehicle or the automobile platform can only realize one-dimensional angle measurement in the pitch direction or the horizontal direction, and cannot realize two-dimensional angle measurement, so that the microwave radar has low resolving power for a target.
Disclosure of Invention
In view of the above defects in the prior art, embodiments of the present invention provide an antenna assembly of a microwave radar, and a movable platform, which are helpful for solving the technical problem in the prior art that the microwave radar has a low resolving power for a target.
A first aspect of an embodiment of the present invention provides an antenna assembly for a microwave radar, including: the antenna comprises a dielectric substrate, a transmitting antenna array and a receiving antenna array, wherein the transmitting antenna array and the receiving antenna array are arranged on the dielectric substrate;
the receiving antenna array comprises a plurality of receiving antennas which are arranged at equal intervals along a first direction;
the transmitting antenna array comprises at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas comprise a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas is N times of the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times of the distance between the receiving antennas;
the first transmitting antenna and the second transmitting antenna are staggered in a second direction by a preset distance, and the first direction is basically vertical to the second direction.
A second aspect of the embodiments of the present invention provides a microwave radar, including an antenna assembly and a signal processing circuit, where the signal processing circuit is electrically connected to the antenna assembly, and is configured to process a signal received by the antenna assembly to obtain position information of a target object, and the antenna assembly includes:
the antenna comprises a dielectric substrate, a plurality of transmitting antennas and at least two receiving antennas, wherein the transmitting antennas and the at least two receiving antennas are arranged on the dielectric substrate; the receiving antenna array comprises a plurality of receiving antennas which are arranged at equal intervals along a first direction;
the transmitting antenna array comprises at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas comprise a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas is N times of the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times of the distance between the receiving antennas;
the first transmitting antenna and the second transmitting antenna are staggered in a second direction by a preset distance, and the first direction is basically vertical to the second direction.
A third aspect of an embodiment of the present invention provides a mobile platform, including a body, and a microwave radar mounted on the body, where the microwave radar includes an antenna assembly, and the antenna assembly includes: the antenna comprises a dielectric substrate, a plurality of transmitting antennas and at least two receiving antennas, wherein the transmitting antennas and the at least two receiving antennas are arranged on the dielectric substrate;
the receiving antenna array comprises a plurality of receiving antennas which are arranged at equal intervals along a first direction;
the transmitting antenna array comprises at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas comprise a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas is N times of the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times of the distance between the receiving antennas;
the first transmitting antenna and the second transmitting antenna are staggered in a second direction by a preset distance, and the first direction is basically vertical to the second direction.
The antenna assembly of the microwave radar, the microwave radar and the movable platform provided by the embodiment of the invention comprise a dielectric substrate, and a transmitting antenna array and a receiving antenna array which are arranged on the dielectric substrate, wherein the receiving antenna array comprises a plurality of receiving antennas which are equidistantly arranged along a first direction, the transmitting antenna array comprises at least three transmitting antennas which are arranged along the first direction, the at least three transmitting antennas comprise a first transmitting antenna and a second transmitting antenna, the distance between two adjacent first transmitting antennas is N times of the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times of the distance between the receiving antennas, the first transmitting antenna and the second transmitting antenna can be staggered by a preset distance in a second direction which is basically vertical to the first direction, and the transmitting antennas are arranged at a certain distance in the first direction and the second direction, therefore, the two-dimensional angle measurement can be effectively realized, the resolving power of the microwave radar to the target is improved, and the microwave radar has the advantages of small size, low cost and convenience in application and popularization.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of an antenna assembly of a microwave radar according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating an equivalent antenna effect of an antenna array of a microwave radar according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an antenna assembly of a microwave radar according to a second embodiment of the present invention;
fig. 4 is a schematic diagram illustrating an equivalent antenna effect of an antenna array of a microwave radar according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of an antenna assembly of a microwave radar according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a microwave radar according to a fourth embodiment of the present invention.
Reference numerals:
11-dielectric substrate 12-receiving antenna 13-first transmitting antenna
14-second transmitting antenna 15-virtual antenna 1-antenna assembly
2-signal processing circuit
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.
Furthermore, the term "coupled" is intended to include any direct or indirect coupling. Thus, if a first device couples to a second device, that connection may be through a direct connection, or through an indirect connection via other devices.
It should be understood that the term "and/or" is used herein only to describe an association relationship of associated objects, and means that there may be three relationships, for example, a1 and/or B1, which may mean: a1 exists alone, A1 and B1 exist simultaneously, and B1 exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The VMIMO (Virtual Multiple Input Multiple Output) microwave radar can control a transmitting channel by a time division or phase modulation mode through adding a small number of transmitting channels, transmits orthogonal signals, finally realizes the angle measurement precision equivalent to the conventional single transmitting channel radar with multiplied receiving channels, and greatly reduces the radar cost and the radar size.
The embodiment of the invention provides an antenna assembly of a microwave radar, which comprises a transmitting antenna array and a receiving antenna array.
The transmitting antenna array may include a plurality of transmitting antennas, and the plurality of transmitting antennas may be arranged along a first direction and staggered by a certain distance in a second direction.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings.
The technical scheme provided by each embodiment of the invention can be applied to any field suitable for microwave radars, in particular to the field of high-precision target detection and positioning of the microwave radars in a large-angle range. Specific application products can include agricultural plant protection unmanned aerial vehicles, vehicle-mounted obstacle avoidance radars and other multi-channel radar products with the angle measurement function.
Example one
Fig. 1 is a schematic structural diagram of an antenna assembly of a microwave radar according to an embodiment of the present invention. As shown in fig. 1, the antenna assembly of the microwave radar in the present embodiment may include: the antenna comprises a dielectric substrate 11, and a transmitting antenna array and a receiving antenna array which are arranged on the dielectric substrate 11;
the receiving antenna array comprises a plurality of receiving antennas 12 which are arranged at equal intervals along a first direction;
the transmitting antenna array comprises at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas comprise a first transmitting antenna 13 and a second transmitting antenna 14; the distance between two adjacent first transmitting antennas 13 is N times the distance between the receiving antennas 12, and/or the distance between two adjacent second transmitting antennas 14 is N times the distance between the receiving antennas 12;
the first transmitting antenna 13 and the second transmitting antenna 14 are staggered by a preset distance in a second direction, and the first direction is substantially perpendicular to the second direction.
Alternatively, the first direction and the second direction may be any two substantially perpendicular directions. The substantially perpendicular may mean that an included angle between the first direction and the second direction is close to 90 °, for example, an absolute value of a difference between the included angle and 90 ° may be smaller than a preset value, and if the preset value is 10 °, if the included angle between the first direction and the second direction is between 80 ° and 100 °, the first direction and the second direction are considered to be substantially perpendicular.
For convenience of description, the first direction is taken as a pitch direction, and the second direction is taken as a horizontal direction in the embodiment of the present invention. Referring to fig. 1, the up-down direction in the drawing may represent a pitch direction, and the left-right direction may represent a horizontal direction.
In the antenna assembly provided in this embodiment, a transmitting antenna array and a receiving antenna array may be disposed on the dielectric substrate 11, where the transmitting antenna array may include a plurality of transmitting antennas, specifically, the transmitting antenna array may include a first transmitting antenna 13 and a second transmitting antenna 14, the total number of the first transmitting antenna 13 and the second transmitting antenna 14 may be greater than or equal to 3, and the receiving antenna array may include a plurality of receiving antennas 12.
Optionally, the number of the receiving antennas 12, the number of the first transmitting antennas 13, and the number of the second transmitting antennas 14 may be set according to actual needs. The greater the number of transmitting antennas and receiving antennas 12, the greater the angle measurement accuracy.
The receive antenna array shown in fig. 1 includes four receive antennas 12, and the four receive antennas 12 may be arranged equidistantly in the elevation direction. The transmit antenna array may comprise four transmit antennas, of which there are two first transmit antennas 13 and two second transmit antennas 14.
For convenience of description, the four transmitting antennas in fig. 1 are sequentially written from top to bottom: the antenna comprises a transmitting antenna A, a transmitting antenna B, a transmitting antenna C and a transmitting antenna D, wherein the transmitting antennas A and C are first transmitting antennas 13, and the transmitting antennas B and D are second transmitting antennas 14.
The first transmitting antenna 13 and the second transmitting antenna 14 may be staggered by a predetermined distance in the horizontal direction, for example, the aforementioned transmitting antennas B and D may be arranged horizontally shifted to the right by a certain distance with respect to the transmitting antennas a and C.
The distance between two adjacent first transmitting antennas 13 may be N times the distance between the receiving antennas 12, and/or the distance between two adjacent second transmitting antennas 14 may be N times the distance between the receiving antennas 12.
Specifically, the distance between the transmitting antennas a and C, or the distance between the transmitting antennas B and D, may be equal to N times the distance between the receiving antennas 12, where the distance between the receiving antennas 12 may refer to the distance between two adjacent receiving antennas 12 in the elevation direction, and N may be a natural number greater than 1.
That is, the transmitting antenna a and the transmitting antenna C are horizontally aligned and arranged at a distance several times the pitch of the receiving antennas 12 in the elevation direction, and the transmitting antenna B and the transmitting antenna D are horizontally aligned and arranged at a distance several times the pitch of the receiving antennas 12 in the elevation direction. The transmitting antenna A/the transmitting antenna C and the transmitting antenna B/the transmitting antenna D are staggered with a certain distance in the horizontal direction.
The first transmitting antenna 13 and the second transmitting antenna 14 are staggered in the horizontal direction, and the purpose of horizontal angle measurement can be achieved by increasing the arrangement of the antennas in the horizontal dimension. The horizontally staggered distance value can be determined by a horizontal angle measurement range and angle measurement precision, the larger the staggered distance is, the smaller the angle measurement range is, and the higher the angle measurement precision is, and on the contrary, the smaller the staggered distance is, the larger the angle measurement range is, and the lower the angle measurement precision is.
Optionally, N may be equal to the number of all the receiving antennas 12, that is, in fig. 1, the distance between two first transmitting antennas 13 in the elevation direction may be equal to 4 times the distance between two adjacent receiving antennas 12 in the elevation direction, and likewise, the distance between two second transmitting antennas 14 in the elevation direction may also be equal to 4 times the distance between two adjacent receiving antennas 12 in the elevation direction, so that the angle measurement requirement of the VMIMO microwave radar can be effectively met.
Optionally, each of the second transmitting antennas 14 is offset from the first transmitting antenna 13 by the same distance in the horizontal direction. Specifically, the distance of the transmitting antenna B and the transmitting antenna a staggered in the horizontal direction may be equal to the distance of the transmitting antenna D and the transmitting antenna a staggered in the horizontal direction, so that angle information is conveniently measured and calculated, and the processing efficiency is improved.
Fig. 2 is a schematic diagram illustrating an equivalent antenna effect of an antenna array of a microwave radar according to an embodiment of the present invention. As shown in fig. 2, the four solid circles at the upper left represent four receiving antennas 12 arranged equidistantly, and the four solid circles at the lower left represent four transmitting antennas, two of which are the first transmitting antennas 13 at the left side and two of which are the second transmitting antennas 14 at the right side.
Four transmitting antennas and four receiving antennas 12 can be equivalent to 1 transmitting and 16 receiving antennas, and the radar cost and the radar size can be effectively reduced. The right sixteen dashed circles represent sixteen virtual antennas 15, which sixteen virtual antennas 15 may represent equivalent antenna arrays resulting from the layout of the transmit and receive antennas 12 in the figure.
Optionally, if the distance between the receiving antennas 12 is d, the distance between the two first transmitting antennas 13 may be set to be 4d, the distance between the two second transmitting antennas 14 may also be 4d, and the distance between the first transmitting antenna 13 and the second transmitting antenna 14 staggered in the horizontal direction is set to be d, so that the receiving and processing of the signal can be better achieved.
In practical application, the number and the positions of the antennas can be set according to angle measurement requirements, multiple transmitting channels and multiple receiving channels are adopted, the receiving antennas 12, the first transmitting antennas 13 and the second transmitting antennas 14 are reasonably distributed, in the working process of the antennas, the transmitting channels are controlled in a time division or phase modulation mode, orthogonal signals are transmitted, coherent signal processing is carried out on the received signals, and high-precision angle measurement capability of equivalently doubling the number of the receiving antennas is achieved.
Alternatively, each transmitting antenna may transmit signals by time division modulation or phase modulation. The signals transmitted by the transmit antennas may be orthogonal signals. For example, different phases can be adopted for different transmitting channels for modulation, and the phases are orthogonal to each other, so that signals of the transmitting channels cannot be spatially combined, and the purpose of multiple transmitting channels and multiple receiving channels is achieved.
The elevation/horizontal plane is subjected to angle measurement, antennas are required to be arranged in the elevation/horizontal plane, and the deflection angle of the target relative to the antenna array in the elevation/horizontal plane is calculated according to the phase difference between the signals received by each receiving antenna 12, so that the angle measurement can be realized.
Therefore, the transmitting antennas a and C (or the transmitting antennas B and D) and the receiving antenna 12 are arranged in the pitching plane, and pitching angle measurement can be realized; the transmitting antennas a and B (transmitting antennas or C and D) and the receiving antenna 12 are arranged in a horizontal plane, and horizontal angle measurement can be realized, thereby realizing a two-dimensional angle measurement function of the microwave radar as a whole.
The antenna assembly of the microwave radar provided in this embodiment includes a dielectric substrate 11, and a transmitting antenna array and a receiving antenna array that are disposed on the dielectric substrate 11, where the receiving antenna array includes a plurality of receiving antennas 12 that are arranged equidistantly along a first direction, the transmitting antenna array includes at least three transmitting antennas that are arranged along the first direction, the at least three transmitting antennas include a first transmitting antenna 13 and a second transmitting antenna 14, a distance between two adjacent first transmitting antennas 13 is N times a distance between the receiving antennas 12, and/or a distance between two adjacent second transmitting antennas 14 is N times a distance between the receiving antennas 12, the first transmitting antenna 13 and the second transmitting antenna 14 may be staggered by a preset distance in a second direction that is substantially perpendicular to the first direction, and since the transmitting antennas are arranged at a certain distance in both the first direction and the second direction, therefore, the two-dimensional angle measurement can be effectively realized, the resolving power of the microwave radar to the target is improved, and the microwave radar has the advantages of small size, low cost and convenience in application and popularization.
In the above-mentioned first embodiment, an antenna assembly for microwave radar is provided, on the basis of which the number and layout of the receiving antennas 12, the first transmitting antennas 13 and the second transmitting antennas 14 can be replaced by other manners, for example, the number of the receiving antennas 12 can be further increased or decreased, and the number of the first transmitting antennas 13 or the second transmitting antennas 14 can be further increased or decreased. The pitching angle measurement function and the horizontal angle measurement function of the microwave radar can be realized as long as the transmitting antennas are arranged in a pitching manner and in a horizontal staggered manner.
It is understood that, in order to further reduce the cost, the number of the receiving antenna 12, the first transmitting antenna 13, and the second transmitting antenna 14 may be reduced, and in order to further improve the radar angle resolution performance, the number of the receiving antenna 12, the first transmitting antenna 13, and the second transmitting antenna 14 may be increased. The following description will be given by taking example two and example three as examples.
Example two
Fig. 3 is a schematic structural diagram of an antenna assembly of a microwave radar according to a second embodiment of the present invention. As shown in fig. 3, the antenna assembly of the microwave radar in the present embodiment may include: the antenna comprises a dielectric substrate 11, and a transmitting antenna array and a receiving antenna array which are arranged on the dielectric substrate 11.
The receive antenna array comprises four receive antennas 12 arranged equidistantly in the elevation direction.
The transmitting antenna array comprises three transmitting antennas arranged along a pitching direction, and specifically comprises a first transmitting antenna 13 and two second transmitting antennas 14, wherein the distance between every two adjacent second transmitting antennas 14 is N times of the distance between every two adjacent receiving antennas 12; wherein, the first transmitting antenna 13 and the second transmitting antenna 14 are staggered by a preset distance in the elevation direction.
Fig. 4 is a schematic diagram illustrating an equivalent antenna effect of an antenna array of a microwave radar according to a second embodiment of the present invention. As shown in fig. 4, the four solid circles on the upper left represent four equally spaced receiving antennas 12, and the three solid circles on the lower left represent three transmitting antennas, one on the left being a first transmitting antenna 13 and two on the right being a second transmitting antenna 14.
Four transmit antennas and three receive antennas 12, which may be equivalently 1 transmit 12 receive antenna. The right twelve dashed circles represent twelve virtual antennas 15 corresponding to the equivalent antenna array obtained from the layout of the transmit and receive antennas 12 in the figure.
Optionally, if the distance between the receiving antennas 12 is d, the distance between the two second transmitting antennas 13 may be set to be 4d, the distance between the second transmitting antenna 14 and the first transmitting antenna 13 in the elevation direction is set to be 2d, and the distance between the first transmitting antenna 13 and the second transmitting antenna 14 staggered in the horizontal direction is set to be d, so that the receiving and processing of the signal can be better realized.
In other alternative embodiments, the three transmit antennas of the transmit antenna array may include two first transmit antennas 13 and one second transmit antenna 14, and the spacing between two adjacent first transmit antennas 13 is N times the spacing between the receive antennas 12.
The antenna module of microwave radar that this embodiment provided through setting up four receiving antenna and three transmitting antenna, can equivalently realize twelve receiving channel, under equal angle measurement accuracy requirement, can greatly reduce microwave radar cost and size, satisfies the angle measurement demand of different occasions.
EXAMPLE III
Fig. 5 is a schematic structural diagram of an antenna assembly of a microwave radar according to a third embodiment of the present invention. As shown in fig. 5, the antenna assembly of the microwave radar in the present embodiment may include: the antenna comprises a dielectric substrate 11, and a transmitting antenna array and a receiving antenna array which are arranged on the dielectric substrate 11.
The receive antenna array comprises four receive antennas 12 arranged equidistantly in the elevation direction.
The transmitting antenna array comprises six transmitting antennas arranged along a pitching direction, and specifically comprises three first transmitting antennas 13 and three second transmitting antennas 14, wherein the distance between two adjacent first transmitting antennas 13 is N times of the distance between the receiving antennas 12, and meanwhile, the distance between two adjacent second transmitting antennas 14 is also N times of the distance between the receiving antennas 12. The first transmitting antenna 13 and the second transmitting antenna 14 are staggered by a preset distance in the elevation direction.
The antenna module of the microwave radar that this embodiment provided through four receiving antenna and 6 transmitting antenna, can equivalently realize twenty four receiving channel, can effectively improve the angle measurement precision.
On the basis of the technical solutions provided by the above embodiments, optionally, the feeding point of each transmitting antenna may be located in the middle or the side of the dielectric substrate 11; and/or, the feeding point of each receiving antenna 12 may be located in the middle or the side of the dielectric substrate 11, which can effectively implement antenna feeding and ensure the normal operation of each antenna.
On the basis of the technical solutions provided in the foregoing embodiments, optionally, the transmitting antenna and/or the receiving antenna 12 may be a PCB (Printed Circuit board) antenna, and the structure layout is simple and is convenient to implement.
On the basis of the technical solutions provided in the foregoing embodiments, optionally, each of the transmitting antennas includes a plurality of radiators and a transmission line for connecting the radiators together; and/or, each of the receiving antennas 12 includes a plurality of radiators and a transmission line for connecting the plurality of radiators together.
As shown in fig. 1, the boxes in each antenna may be used to represent radiators, and the lines between the radiators may be used to represent transmission lines. The transmission line may be a microstrip transmission line or a microwave coaxial cable. The plurality of radiators of each transmitting antenna can be connected in series through a microstrip transmission line; and/or, the radiators of each of the receiving antennas 12 may be connected in series through a microstrip transmission line.
Each radiator in the transmitting antenna is the same or different in shape or partially the same; and/or, each radiator in the receiving antenna 12 has the same or different shape or is partially the same. Wherein the shape of the radiator may include at least one of: rectangular, triangular, circular, hexagonal.
Alternatively, the antennas may have an axisymmetric structure or a centrosymmetric structure, and the distance between the antennas in the embodiments of the present invention may refer to a distance between central axes or central positions of the antennas.
On the basis of the technical solutions provided by the above embodiments, optionally, the size of each transmitting antenna is the same; and/or each receive antenna 12 is the same size.
For example, in fig. 1, the sizes of the four receiving antennas 12 may be completely the same, and the sizes of the four transmitting antennas may also be completely the same, so that control over each antenna is facilitated, and stability of an antenna assembly of the microwave radar is improved.
Example four
The fourth embodiment of the invention provides a microwave radar. Fig. 6 is a schematic structural diagram of a microwave radar according to a fourth embodiment of the present invention. As shown in fig. 6, the microwave radar provided in this embodiment may include: the antenna comprises an antenna component 1 and a signal processing circuit 2, wherein the signal processing circuit 2 is electrically connected with the antenna component 1 and is used for processing signals received by the antenna component 1 and acquiring position information of a target object.
The antenna assembly 1 includes: the antenna comprises a dielectric substrate, a plurality of transmitting antennas and at least two receiving antennas, wherein the transmitting antennas and the at least two receiving antennas are arranged on the dielectric substrate;
the receiving antenna array comprises a plurality of receiving antennas which are arranged at equal intervals along a first direction;
the transmitting antenna array comprises at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas comprise a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas is N times of the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times of the distance between the receiving antennas;
the first transmitting antenna and the second transmitting antenna are staggered in a second direction by a preset distance, and the first direction is basically vertical to the second direction.
In this embodiment, the signal processing circuit 2 is electrically connected to the antenna assembly 1, and can process the signal received by the antenna assembly 1 to obtain the position information of the target object. Alternatively, the position information may include angle information of the target object, or may include other information that can be further obtained based on the angle information, such as height information, distance information, and the like.
Taking the first direction as a pitching direction and the second direction as a horizontal direction as an example, measuring the angle in the pitching/horizontal plane requires arranging antennas in the pitching/horizontal plane, and calculating the deflection angle of the target in the pitching/horizontal plane relative to the antenna array according to the phase difference between the received signals of each receiving antenna, so that the angle measurement can be realized.
In this embodiment, the structure, position, function, connection relationship, etc. of each component of the antenna assembly may refer to the foregoing embodiments, and are not described herein again.
Optionally, N is equal to the number of all the receiving antennas.
Optionally, the number of the second transmitting antennas is at least two, and each of the second transmitting antennas is offset from the first transmitting antenna by an equal distance in the second direction.
Optionally, the feed point of each transmitting antenna is located in the middle or the side of the dielectric substrate; and/or the feed point of each receiving antenna is positioned at the middle part or the side part of the dielectric substrate.
Optionally, the transmitting antenna and/or the receiving antenna is a PCB antenna.
Optionally, the size of each transmitting antenna is the same; and/or each receive antenna is the same size.
Optionally, each of the transmitting antennas includes a plurality of radiators and a transmission line for connecting the radiators together;
and/or each receiving antenna comprises a plurality of radiators and a transmission line for connecting the radiators together.
Optionally, the transmission line is a microstrip transmission line or a microwave coaxial cable.
Optionally, the multiple radiators of each transmitting antenna are connected in series through a microstrip transmission line;
and/or the radiators of each receiving antenna are connected in series through a microstrip transmission line.
Optionally, each radiator in the transmitting antenna has the same or different shape or is partially the same;
and/or the shape of each radiator in the receiving antenna is the same or different or partially the same.
Optionally, the shape of the radiator includes at least one of: rectangular, triangular, circular, hexagonal.
Optionally, each transmitting antenna transmits signals by time division modulation or phase modulation.
Optionally, the signal transmitted by the transmitting antenna is an orthogonal signal.
The microwave radar provided in this embodiment may include an antenna assembly 1 and a signal processing circuit 2, where the signal processing circuit 2 is electrically connected to the antenna assembly 1, and is configured to process a signal received by the antenna assembly 1 to obtain position information of a target object, the antenna assembly 1 includes a dielectric substrate, and a transmitting antenna array and a receiving antenna array that are disposed on the dielectric substrate, the receiving antenna array includes a plurality of receiving antennas that are arranged equidistantly along a first direction, the transmitting antenna array includes at least three transmitting antennas that are arranged along the first direction, the at least three transmitting antennas include a first transmitting antenna and a second transmitting antenna, a distance between two adjacent first transmitting antennas is N times a distance between the receiving antennas, and/or a distance between two adjacent second transmitting antennas is N times a distance between the receiving antennas, the first transmitting antenna and the second transmitting antenna can be staggered by a preset distance in a second direction basically perpendicular to the first direction, and the transmitting antennas are arranged at certain intervals in the first direction and the second direction, so that two-dimensional angle measurement can be effectively realized, the resolving capability of the microwave radar on a target is improved, the size is small, the cost is low, and the microwave radar is convenient to apply and popularize.
The embodiment of the invention also provides a movable platform, which comprises a machine body and a microwave radar arranged on the machine body, wherein the microwave radar comprises an antenna assembly, and the antenna assembly comprises: the antenna comprises a dielectric substrate, a plurality of transmitting antennas and at least two receiving antennas, wherein the transmitting antennas and the at least two receiving antennas are arranged on the dielectric substrate;
the receiving antenna array comprises a plurality of receiving antennas which are arranged at equal intervals along a first direction;
the transmitting antenna array comprises at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas comprise a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas is N times of the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times of the distance between the receiving antennas;
the first transmitting antenna and the second transmitting antenna are staggered in a second direction by a preset distance, and the first direction is basically vertical to the second direction.
In the movable platform provided in the embodiments of the present invention, the structure, position, function, connection relationship, and the like of each component of the antenna assembly can refer to the foregoing embodiments, and details are not described here.
Optionally, N is equal to the number of all the receiving antennas.
Optionally, the number of the second transmitting antennas is at least two, and each of the second transmitting antennas is offset from the first transmitting antenna by an equal distance in the second direction.
Optionally, the feed point of each transmitting antenna is located in the middle or the side of the dielectric substrate; and/or the feed point of each receiving antenna is positioned at the middle part or the side part of the dielectric substrate.
Optionally, the transmitting antenna and/or the receiving antenna is a PCB antenna.
Optionally, the size of each transmitting antenna is the same; and/or each receive antenna is the same size.
Optionally, each of the transmitting antennas includes a plurality of radiators and a transmission line for connecting the radiators together;
and/or each receiving antenna comprises a plurality of radiators and a transmission line for connecting the radiators together.
Optionally, the transmission line is a microstrip transmission line or a microwave coaxial cable.
Optionally, the multiple radiators of each transmitting antenna are connected in series through a microstrip transmission line;
and/or the radiators of each receiving antenna are connected in series through a microstrip transmission line.
Optionally, each radiator in the transmitting antenna has the same or different shape or is partially the same;
and/or the shape of each radiator in the receiving antenna is the same or different or partially the same.
Optionally, the shape of the radiator includes at least one of: rectangular, triangular, circular, hexagonal.
Optionally, each transmitting antenna transmits signals by time division modulation or phase modulation.
Optionally, the signal transmitted by the transmitting antenna is an orthogonal signal.
Optionally, the movable platform is an unmanned aerial vehicle, a remote control ground robot, a motor vehicle or a cradle head.
The movable platform provided by the embodiment of the invention may include a body, and a microwave radar mounted on the body, where the microwave radar includes an antenna assembly, the antenna assembly includes a dielectric substrate, and a transmitting antenna array and a receiving antenna array that are disposed on the dielectric substrate, the receiving antenna array includes a plurality of receiving antennas that are equidistantly arranged along a first direction, the transmitting antenna array includes at least three transmitting antennas that are arranged along the first direction, the at least three transmitting antennas include first transmitting antennas and second transmitting antennas, a distance between two adjacent first transmitting antennas is N times a distance between the receiving antennas, and/or a distance between two adjacent second transmitting antennas is N times a distance between the receiving antennas, and the first transmitting antennas and the second transmitting antennas may be staggered by a preset distance in a second direction substantially perpendicular to the first direction, because the transmitting antennas are arranged at certain intervals in the first direction and the second direction, two-dimensional angle measurement can be effectively realized, the resolution capability of the microwave radar to a target is improved, and the microwave radar has the advantages of small size, low cost and convenience in application and popularization.
In the embodiments of the present invention, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (40)
1. An antenna assembly for a microwave radar, comprising: the antenna comprises a dielectric substrate, a transmitting antenna array and a receiving antenna array, wherein the transmitting antenna array and the receiving antenna array are arranged on the dielectric substrate;
the receiving antenna array comprises a plurality of receiving antennas which are arranged at equal intervals along a first direction;
the transmitting antenna array comprises at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas comprise a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas is N times of the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times of the distance between the receiving antennas;
the first transmitting antenna and the second transmitting antenna are staggered in a second direction by a preset distance, and the first direction is basically vertical to the second direction.
2. The antenna assembly of claim 1, wherein N is equal to a number of all of the receive antennas.
3. The antenna assembly of claim 1, wherein the second transmit antennas comprise at least two, each of the second transmit antennas being staggered an equal distance in the second direction from the first transmit antenna.
4. The antenna assembly of claim 1, wherein the feed point of each radiating antenna is located in the middle or on a side of the dielectric substrate; and/or the feed point of each receiving antenna is positioned at the middle part or the side part of the dielectric substrate.
5. The antenna assembly of claim 1, wherein the transmitting antenna and/or the receiving antenna is a PCB antenna.
6. The antenna assembly of claim 1, wherein each transmit antenna is the same size; and/or each receive antenna is the same size.
7. The antenna assembly of claim 1, wherein each of said radiating antennas comprises a plurality of radiators and a transmission line for connecting the plurality of radiators together;
and/or each receiving antenna comprises a plurality of radiators and a transmission line for connecting the radiators together.
8. The antenna assembly of claim 7, wherein the transmission line is a microstrip transmission line or a microwave coaxial cable.
9. The antenna assembly of claim 7, wherein the plurality of radiators of each of the transmit antennas are connected in series by a microstrip transmission line;
and/or the radiators of each receiving antenna are connected in series through a microstrip transmission line.
10. The antenna assembly of claim 7, wherein each radiator in the radiating antennas is the same or different or partially the same shape;
and/or the shape of each radiator in the receiving antenna is the same or different or partially the same.
11. The antenna assembly of claim 7, wherein the shape of the radiator comprises at least one of: rectangular, triangular, circular, hexagonal.
12. The antenna assembly of claim 1, wherein each transmit antenna transmits signals by time division modulation or phase modulation.
13. The antenna assembly of claim 12, wherein the signals transmitted by the transmit antennas are orthogonal signals.
14. A microwave radar comprising an antenna assembly and signal processing circuitry, the signal processing circuitry being electrically connected to the antenna assembly for processing signals received by the antenna assembly to obtain positional information of a target object, the antenna assembly comprising:
the antenna comprises a dielectric substrate, a plurality of transmitting antennas and at least two receiving antennas, wherein the transmitting antennas and the at least two receiving antennas are arranged on the dielectric substrate; the receiving antenna array comprises a plurality of receiving antennas which are arranged at equal intervals along a first direction;
the transmitting antenna array comprises at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas comprise a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas is N times of the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times of the distance between the receiving antennas;
the first transmitting antenna and the second transmitting antenna are staggered in a second direction by a preset distance, and the first direction is basically vertical to the second direction.
15. The microwave radar of claim 14 wherein N is equal to the number of all of the receive antennas.
16. The microwave radar of claim 14 wherein the second transmit antennas comprise at least two, each of the second transmit antennas being offset from the first transmit antenna by an equal distance in the second direction.
17. A microwave radar as recited in claim 14, wherein the feed point of each transmit antenna is located at a middle or side portion of the dielectric substrate; and/or the feed point of each receiving antenna is positioned at the middle part or the side part of the dielectric substrate.
18. A microwave radar as recited in claim 14, wherein said transmit antenna and/or said receive antenna is a PCB antenna.
19. The microwave radar of claim 14, wherein each transmit antenna is the same size; and/or each receive antenna is the same size.
20. The microwave radar of claim 14, wherein each of the transmit antennas includes a plurality of radiators and a transmission line for connecting the plurality of radiators together;
and/or each receiving antenna comprises a plurality of radiators and a transmission line for connecting the radiators together.
21. A microwave radar according to claim 20 wherein the transmission line is a microstrip transmission line or a microwave coaxial cable.
22. The microwave radar of claim 20, wherein the plurality of radiators of each of the transmit antennas are connected in series by a microstrip transmission line;
and/or the radiators of each receiving antenna are connected in series through a microstrip transmission line.
23. The microwave radar of claim 20, wherein each radiator in the transmit antenna is the same or different or partially the same shape;
and/or the shape of each radiator in the receiving antenna is the same or different or partially the same.
24. The microwave radar of claim 20 wherein the shape of the radiator comprises at least one of: rectangular, triangular, circular, hexagonal.
25. A microwave radar as recited in claim 14, wherein each transmit antenna transmits signals by way of time division modulation or phase modulation.
26. A microwave radar as recited in claim 25, wherein said signal transmitted by said transmit antenna is a quadrature signal.
27. A mobile platform comprising a body, and a microwave radar mounted on the body, the microwave radar including an antenna assembly, the antenna assembly comprising: the antenna comprises a dielectric substrate, a plurality of transmitting antennas and at least two receiving antennas, wherein the transmitting antennas and the at least two receiving antennas are arranged on the dielectric substrate;
the receiving antenna array comprises a plurality of receiving antennas which are arranged at equal intervals along a first direction;
the transmitting antenna array comprises at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas comprise a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas is N times of the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times of the distance between the receiving antennas;
the first transmitting antenna and the second transmitting antenna are staggered in a second direction by a preset distance, and the first direction is basically vertical to the second direction.
28. The movable platform of claim 27, wherein N is equal to a number of all of the receive antennas.
29. The movable platform of claim 27, wherein the second transmit antennas comprise at least two, each of the second transmit antennas being offset from the first transmit antenna by an equal distance in the second direction.
30. The movable platform of claim 27, wherein the feed point of each transmit antenna is located in a middle or side portion of the dielectric substrate; and/or the feed point of each receiving antenna is positioned at the middle part or the side part of the dielectric substrate.
31. The movable platform of claim 27, wherein the transmit antenna and/or the receive antenna is a PCB antenna.
32. The movable platform of claim 27, wherein each transmit antenna is the same size; and/or each receive antenna is the same size.
33. The movable platform of claim 27, wherein each of the transmit antennas comprises a plurality of radiators and a transmission line for connecting the plurality of radiators together;
and/or each receiving antenna comprises a plurality of radiators and a transmission line for connecting the radiators together.
34. The movable platform of claim 33, wherein the transmission line is a microstrip transmission line or a microwave coaxial cable.
35. The movable platform of claim 33, wherein the plurality of radiators of each of the transmit antennas are connected in series by a microstrip transmission line;
and/or the radiators of each receiving antenna are connected in series through a microstrip transmission line.
36. The movable platform of claim 33, wherein each radiator in the transmit antenna is the same or different or partially the same shape;
and/or the shape of each radiator in the receiving antenna is the same or different or partially the same.
37. The movable platform of claim 33, wherein the shape of the radiator comprises at least one of: rectangular, triangular, circular, hexagonal.
38. The movable platform of claim 27, wherein each transmit antenna transmits signals by time division modulation or phase modulation.
39. The movable platform of claim 38, wherein the signals transmitted by the transmit antennas are orthogonal signals.
40. The movable platform of claim 27, wherein the movable platform is an unmanned aerial vehicle, a remotely controlled ground robot, a motor vehicle, or a pan-tilt head.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/130745 WO2021134583A1 (en) | 2019-12-31 | 2019-12-31 | Antenna assembly for microwave radar, microwave radar, and mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112955774A true CN112955774A (en) | 2021-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980052680.2A Pending CN112955774A (en) | 2019-12-31 | 2019-12-31 | Antenna assembly of microwave radar, microwave radar and movable platform |
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| CN (1) | CN112955774A (en) |
| WO (1) | WO2021134583A1 (en) |
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| WO2021134583A1 (en) | 2021-07-08 |
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