CN113917460A - Radar imaging equipment and terminal - Google Patents
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- CN113917460A CN113917460A CN202111162123.1A CN202111162123A CN113917460A CN 113917460 A CN113917460 A CN 113917460A CN 202111162123 A CN202111162123 A CN 202111162123A CN 113917460 A CN113917460 A CN 113917460A
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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
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- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- H—ELECTRICITY
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- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
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- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
- H01Q1/225—Supports; Mounting means by structural association with other equipment or articles used in level-measurement devices, e.g. for level gauge measurement
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Abstract
The application provides radar imaging equipment and a terminal, which comprise a processor, a transmitting chip, a radio frequency switch and a transmitting antenna group, wherein the transmitting antenna group comprises a first transmitting antenna unit and a second transmitting antenna unit, and the first transmitting antenna unit and the second transmitting antenna unit are arranged in parallel along the horizontal direction or the vertical direction; the processor is connected with the input end of the transmitting chip, the output end of the transmitting chip is connected with the radio frequency switch, the first transmitting antenna unit is connected with the first output end of the radio frequency switch, the second transmitting antenna unit is connected with the second output end of the radio frequency switch, and the processor is connected with the radio frequency switch; the first transmitting antenna unit and the second transmitting antenna unit are arranged at different positions, the first transmitting antenna unit is communicated with the transmitting chip, and the second transmitting antenna unit is communicated with the transmitting chip, which is equivalent to two antenna systems. The time-sharing multiplexing of the transmitting chip can be completed by adjusting the input end of the radio frequency switch to conduct the object, so that the dependence on the chip is reduced, and the production cost is reduced.
Description
Technical Field
The application relates to the field of antennas, in particular to a radar imaging device and a terminal.
Background
With the development of society and scientific progress, people have gained huge achievements in the technical field of radars. Millimeter-wave radars are the leading-edge technology in the field of radar technology, and are more of interest to technicians.
In the prior art, a millimeter wave radar for imaging is implemented in a manner of cascading two or more radio frequency chips. Because the chip price is very high, the chip optional type is few, function and performance are limited by the characteristics of the radio frequency chip, when a cascade mode is adopted, the circuit design is not flexible, the dependence on the chip of a single manufacturer is strong, and the product cost is high.
How to overcome the above problems becomes a difficult problem to be overcome by the technicians in the field.
Disclosure of Invention
An object of the present application is to provide a radar imaging apparatus and a terminal to at least partially improve the above-described problems.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a radar imaging apparatus, including: the antenna comprises a processor, a transmitting chip, a radio frequency switch and a transmitting antenna group, wherein the transmitting antenna group comprises a first transmitting antenna unit and a second transmitting antenna unit, and the first transmitting antenna unit and the second transmitting antenna unit are arranged in parallel along the horizontal direction or the vertical direction;
the processor is connected with the input end of the transmitting chip, the output end of the transmitting chip is connected with the input end of the radio frequency switch, the first transmitting antenna unit is connected with the first output end of the radio frequency switch, and the second transmitting antenna unit is connected with the second output end of the radio frequency switch;
the processor is used for sending a trigger signal to the transmitting chip;
the transmitting chip is used for outputting a radio frequency signal after receiving the trigger signal;
the radio frequency switch switches the first output end or the second output end to be conducted according to a preset sequence, so that the first transmitting antenna or the second transmitting antenna is conducted with the transmitting chip.
In one possible implementation manner, in a case where the first transmitting antenna unit and the second transmitting antenna unit are arranged in parallel in a vertical direction, the radar imaging apparatus further includes: the antenna comprises a receiving chip, a splitter and a first receiving antenna group, wherein the first receiving antenna group comprises at least two receiving antenna units, and the horizontal intervals of any two adjacent receiving antenna units in the first receiving antenna group are consistent, and/or the vertical intervals of any two adjacent receiving antenna units in the first receiving antenna group are consistent;
the processor is connected with the output end of the receiving chip, the output end of the transmitting chip is connected with the input end of the branching unit, the first output end of the branching unit is connected with the receiving chip, the second output end of the branching unit is connected with the input end of the radio frequency switch, and each receiving antenna unit is connected with the input end of the receiving chip;
the shunt is used for equally dividing the radio-frequency signal output by the transmitting chip into two paths of sub-signals and respectively transmitting the two paths of sub-signals to the receiving chip and the radio-frequency switch;
the receiving chip is used for acquiring a corresponding first-class difference frequency signal according to the first-class receiving signal and a corresponding sub-signal and transmitting the acquired first-class difference frequency signal to the processor;
the first type of received signals are received signals transmitted by receiving antenna units in the first receiving antenna group;
the processor is used for carrying out first-order Fourier transform on each group of the first-class difference frequency signals to obtain a first distance corresponding to the obstacle.
In a possible implementation, the processor is further configured to determine a vertical azimuth of the obstacle according to the first type of received signal phase difference and the vertical interval;
the phase difference of the first type of received signals is the phase difference of the first type of received signals of any two adjacent receiving antenna units in the first receiving antenna group.
In a possible implementation manner, the horizontal interval and the vertical interval between two adjacent receiving antenna units in the first receiving antenna group are both λ/2, and the interval between the first transmitting antenna unit and the second transmitting antenna unit is 5.5 λ/2, where λ represents the wavelength of 24GHZ millimeter radar waves.
In a possible implementation manner, the transmitting antenna group further includes a third transmitting antenna unit, and the third transmitting antenna unit and the second transmitting antenna unit are arranged in parallel along a horizontal direction;
the third transmitting antenna unit is connected to a third output end of the radio frequency switch.
In one possible implementation, the radar imaging apparatus further includes: the second receiving antenna group comprises at least two receiving antenna units, and the receiving antenna units in the second receiving antenna group are arranged in parallel in the horizontal direction and are consistent in interval;
the receiving chip is further used for acquiring a corresponding second-type difference frequency signal according to the second-type receiving signal and the corresponding sub-signal, and transmitting the acquired second-type difference frequency signal to the processor;
wherein the second type of received signal is a received signal transmitted by a receiving antenna unit in the second receiving antenna group;
the processor is configured to perform first order fourier transform on each group of the second type difference frequency signals to obtain a second distance corresponding to the obstacle.
In one possible implementation, the processor is further configured to determine an obstacle horizontal position angle according to the second type of received signal phase difference and the second interval;
the second type of receiving signal phase difference is a phase difference of second type of receiving signals of any two adjacent receiving antenna units in the second receiving antenna group, and the second interval is an interval between two adjacent receiving antenna units in the second receiving antenna group.
In one possible implementation, the spacing between two adjacent receiving antenna units in the second receiving antenna group is λ/2, and the spacing between the third transmitting antenna unit and the second transmitting antenna unit is 12.5 λ/2, where λ represents the wavelength of 24GHZ millimeter radar waves.
In one possible implementation, the processor is further configured to use an average of all the first distances and the second distances as the final obstacle distance.
In a second aspect, an embodiment of the present application provides a terminal, where the terminal includes the radar imaging device described in any one of the above.
Compared with the prior art, the radar imaging device and the terminal provided by the embodiment of the application comprise: the antenna comprises a processor, a transmitting chip, a radio frequency switch and a transmitting antenna group, wherein the transmitting antenna group comprises a first transmitting antenna unit and a second transmitting antenna unit, and the first transmitting antenna unit and the second transmitting antenna unit are arranged in parallel along the horizontal direction or the vertical direction; the processor is connected with the input end of the transmitting chip, the output end of the transmitting chip is connected with the input end of the radio frequency switch, the first transmitting antenna unit is connected with the first output end of the radio frequency switch, the second transmitting antenna unit is connected with the second output end of the radio frequency switch, and the processor is connected with the radio frequency switch; the first transmitting antenna unit and the second transmitting antenna unit are arranged at different positions, the first transmitting antenna unit is communicated with the transmitting chip, and the second transmitting antenna unit is communicated with the transmitting chip, which is equivalent to two antenna systems. The time-sharing multiplexing of the transmitting chips can be completed by adjusting the input end of the radio frequency switch to conduct the object, so that more use requirements are met on the premise of not increasing the number of the transmitting chips, the dependence on the chips is reduced, and the production cost is reduced.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic diagram of a cascade of radio frequency chips according to an embodiment of the present disclosure;
fig. 2 is a schematic connection diagram of a radar imaging device according to an embodiment of the present application;
fig. 3 is one of connection schematic diagrams of a radar imaging device provided in an embodiment of the present application;
fig. 4 is a schematic diagram of an antenna unit distribution according to an embodiment of the present application;
fig. 5 is a schematic diagram of a differential frequency signal according to an embodiment of the present application.
In the figure: 10-a processor; 20-an emitting chip; 30-a radio frequency switch; 40-a set of transmit antennas; 401-a first transmit antenna unit; 402-a second transmit antenna unit; 403-a third transmit antenna element; 50-a splitter; 60-a receiving chip; 70-a first set of receive antennas; 80-second receive antenna group.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
As shown in fig. 1, a millimeter wave radar for imaging is often implemented by cascading two or more radio frequency chips, because the chips are very expensive, the selectable types of the chips are few, and the functions and performances are limited by the characteristics of the radio frequency chips, the circuit design is inflexible when the cascading mode is used, the dependence on the chips of a single manufacturer is strong, and the product cost is high.
In order to overcome the above problems, embodiments of the present application provide a radar imaging apparatus. As shown in fig. 2, the radar imaging apparatus includes: the antenna comprises a processor 10, a transmitting chip 20, a radio frequency switch 30 and a transmitting antenna group 40, wherein the transmitting antenna group 40 comprises a first transmitting antenna unit 401 and a second transmitting antenna unit 402, and the first transmitting antenna unit 401 and the second transmitting antenna unit 402 are arranged in parallel along a horizontal direction or a vertical direction.
The processor 10 is connected to an input end of the transmitting chip 20, an output end of the transmitting chip 20 is connected to an input end of the rf switch 30, the first transmitting antenna unit 401 is connected to a first output end of the rf switch 30, the second transmitting antenna unit 402 is connected to a second output end of the rf switch 30, and the processor 10 is connected to the rf switch 30.
The processor 10 is configured to send a trigger signal to the transmitting chip 20.
The transmitting chip 20 is configured to output a radio frequency signal after receiving the trigger signal.
The processor 10 is further configured to send a switching instruction to the rf switch 30 at a preset interval.
The rf switch 30 is configured to switch the output end conducted with the input end of the rf switch 30 according to a preset sequence when receiving the switching instruction. The first transmitting antenna or the second transmitting antenna can receive the radio frequency signal sent by the transmitting chip.
Alternatively, the rf switch 30 may be connected to the processor 10 and controlled by the processor 10 to switch.
Optionally, when a first output end and an input end of the radio frequency switch 30 are conducted, that is, the first transmitting antenna unit 401 is conducted with the transmitting chip 20, the radio frequency signal may be received, and when a second output end and an input end of the radio frequency switch 30 are conducted, that is, the second transmitting antenna unit 402 is conducted with the transmitting chip 20, the radio frequency signal may be received. Because the first transmitting antenna unit 401 and the second transmitting antenna unit 402 are arranged at different positions, the first transmitting antenna unit 401 and the transmitting chip 20 are conducted to be equivalent to one antenna system, and the second transmitting antenna unit 402 and the transmitting chip 20 are conducted to be equivalent to the other antenna system. The time-sharing multiplexing of the transmitting chips 20 can be completed by adjusting the input end conduction objects of the radio frequency switch 30, on the premise of not increasing the number of the transmitting chips 20, more use requirements are met, the dependence on the chips is reduced, and the production cost is reduced.
In summary, an embodiment of the present application provides a radar imaging apparatus, including: the antenna comprises a processor, a transmitting chip, a radio frequency switch and a transmitting antenna group, wherein the transmitting antenna group comprises a first transmitting antenna unit and a second transmitting antenna unit, and the first transmitting antenna unit and the second transmitting antenna unit are arranged in parallel along the horizontal direction or the vertical direction; the processor is connected with the input end of the transmitting chip, the output end of the transmitting chip is connected with the input end of the radio frequency switch, the first transmitting antenna unit is connected with the first output end of the radio frequency switch, the second transmitting antenna unit is connected with the second output end of the radio frequency switch, and the processor is connected with the radio frequency switch; the first transmitting antenna unit and the second transmitting antenna unit are arranged at different positions, the first transmitting antenna unit is communicated with the transmitting chip, and the second transmitting antenna unit is communicated with the transmitting chip, which is equivalent to two antenna systems. The time-sharing multiplexing of the transmitting chips can be completed by adjusting the input end of the radio frequency switch to conduct the object, so that more use requirements are met on the premise of not increasing the number of the transmitting chips, the dependence on the chips is reduced, and the production cost is reduced.
In a case where the first transmitting antenna unit 401 and the second transmitting antenna unit 402 are arranged in parallel in the vertical direction, regarding the structure of the radar imaging apparatus, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 3, where the radar imaging apparatus further includes: the antenna array comprises a receiving chip 60, a splitter 50 and a first receiving antenna group 70, wherein the first receiving antenna group 70 comprises at least two receiving antenna units, the horizontal spacing of any two adjacent receiving antenna units in the first receiving antenna group 70 is consistent, and the vertical spacing of any two adjacent receiving antenna units in the first receiving antenna group 70 is consistent.
Specifically, as shown in fig. 4, the first transmitting antenna unit 401 corresponds to TX1 in fig. 4, the second transmitting antenna unit 402 corresponds to TX2 in fig. 4, and the receiving antenna units in the first receiving antenna group 70 correspond to RX1 to RX5 in fig. 4. It should be noted that the first receiving antenna group 70 shown in fig. 3 and fig. 4 includes 5 receiving antenna units, which are used for illustration and are not used to limit the number of receiving antenna units in the first receiving antenna group 70.
As shown in fig. 4, the first transmitting antenna unit 401 and the second transmitting antenna unit 402 are arranged in parallel in the vertical direction and set at a certain distance. The horizontal spacing of any two adjacent receiving antenna units in the first receiving antenna group 70 is identical, and the vertical spacing of any two adjacent receiving antenna units in the first receiving antenna group 70 is identical.
The processor 10 is connected to the output end of the receiving chip 60, the output end of the transmitting chip 20 is connected to the input end of the splitter 50, the first output end of the splitter 50 is connected to the receiving chip 60, the second output end of the splitter 50 is connected to the input end of the rf switch 30, and each receiving antenna unit is connected to the input end of the receiving chip 60.
The splitter 50 is configured to equally divide the rf signal output by the transmitting chip 20 into two sub-signals, and transmit the two sub-signals to the receiving chip 60 and the rf switch 30, respectively.
The receiving chip 60 is configured to obtain a corresponding first-type difference frequency signal according to the first-type received signal and the corresponding sub-signal, and transmit the obtained first-type difference frequency signal to the processor 10.
The first type of received signals are received signals transmitted by the receiving antenna units in the first receiving antenna group 70. The first type difference frequency signal is a signal obtained by mixing the first type receiving signal and the corresponding sub-signal.
The processor 10 is configured to perform a first order fourier transform on each group of the first type difference frequency signals to obtain a first distance corresponding to the obstacle.
Optionally, the processor 10 starts the first transmitting antenna unit 401 and the second transmitting antenna unit 402 in a time-sharing manner through the rf switch 30, and meanwhile, the receiving antenna units in the first receiving antenna group 70 are all in a working state. Taking fig. 3 and fig. 4 as an example for explanation, RX1 to RX5 respectively receive signals transmitted by TX1 to obtain 5 groups of first type received signals, and RX1 to RX5 respectively receive signals transmitted by TX2 to obtain 5 groups of first type received signals, so that 10 groups of first type received signals are obtained in total.
The receiving chip 60 is configured to obtain a corresponding first-type difference frequency signal according to the first-type received signal and the corresponding sub-signal, and transmit the obtained first-type difference frequency signal to the processor 10. That is, the processor 10 acquires 10 groups of first-class difference frequency signals in total, performs first-order fourier transform on the 10 groups of first-class difference frequency signals respectively, converts the time domain signals into frequency domain signals, and calculates a first distance, d 1-d 10, corresponding to the obstacle from the vertical signal dimension according to the frequency of the frequency domain signals.
As to how to obtain the first distance corresponding to the obstacle, the embodiment of the present application further provides a possible implementation manner, please refer to the following.
The signal model of the first type of difference frequency signal is:
wherein, F { Sn(t) } characterisation of accumulation of N detection signals constituting the time tnAccumulated signal matrix, f0For transmitting signal frequency, N is the number of modulation signal in one frame, N is 1, 2 … N, N is the modulation signal period, mu is the slope of FMCW, A0To transmit signal power, tnAnd v is the time difference between the nth modulation signal and the first modulation signal, and is the movement speed of the radar based on the target principle.
The sinusoidal signal is the projection of a circumference on a straight line, and phi represents the diameter of the circle;
the frequency spectrum of the real signal is a spectrum which is symmetrical about the center, and a peak value point of positive frequency is taken;
to obtain
Where f represents the frequency corresponding to the peak point, Δ f represents the step value of the spectrum abscissa, i.e., the pulse width twI represents the position of the discrete step frequency corresponding to the peak point, and B ═ μ twAnd mu/delta f represents the transmission signal bandwidth, R represents the distance, and R is d.
The above processing is respectively carried out on each group of the first type difference frequency signals, and the processes are repeated for 10 times, so that the distance information of d 1-d 10 can be obtained.
On the basis of the foregoing, the embodiments of the present application also provide a possible implementation manner as to how to determine the vertical azimuth of the obstacle, please refer to the following.
The processor 10 is further arranged to determine the vertical azimuth of the obstacle in dependence on the first type of received signal phase difference and the vertical separation.
The phase difference of the first type of received signals is the phase difference of the first type of received signals of any two adjacent receiving antenna units in the first receiving antenna group 70.
It is understood that the first type of received signal, after being mixed with the corresponding sub-signal, results in a corresponding first type of difference frequency signal. As shown in fig. 5, assume that the first type difference frequency signal of target a is:
A＝A0cos(j2πf0(t-τ)+jπμ(t-τ)2)
for multiple receiving channels of the MIMO radar, the mathematical model of the difference frequency signal of each channel is as follows:
XM＝Aejω0[1 ejωx ej2ωx … ejMωx]
wherein, XMA mathematical model representing the difference frequency signal, M being the number of receive apertures, ωxThe phase difference caused for the target angle.
ωx＝AB2π/λ＝dsin(θ)2π/λ
Where d is the receive antenna spacing, B represents the utilized bandwidth, θ represents the azimuth, and λ represents the band wavelength.
Performing second-order Fourier transform on a target point with the distance R to obtain a signal model:
F{XM}＝Aejω0δ(Ω-ωx)；
where Ω denotes an angular velocity.
And (3) taking the abscissa of the peak point to obtain:
Ω＝ωx＝dsin(θ)2π/λ；
θ＝arcsin(Ωλ/2πd)；
the azimuth angle theta can be obtained
In one possible implementation, the horizontal and vertical spacing between two adjacent receiving antenna units in the first receiving antenna group 70 are both λ/2, and the spacing between the first transmitting antenna unit 401 and the second transmitting antenna unit 402 is 5.5 λ/2, where λ represents the wavelength of 24GHZ millimeter radar waves.
As shown in fig. 4, with respect to the five receiving antenna units RX 1-RX 5 in the first receiving antenna group 70, the horizontal distances from TX1 and TX2 to each receiving antenna unit are equal, and the vertical distances from TX1 and TX2 are greater than the total distance of 5 receiving antenna units. Therefore, compared with 5 receiving antenna units, TX1 and TX2 are two independent transmitting antenna units, that is, the phase of TX1 received by each receiving antenna unit is different from that of TX2, which does not cause aliasing, and it is equivalent to have 10 receiving antenna units in the vertical dimension, where 5 are virtual receiving antenna units, which greatly improves the vertical dimension resolution to 11.4 °.
With continuing reference to fig. 3 and fig. 4, regarding how to further improve the utilization efficiency of the transmitting chip, the embodiment of the present application further provides a possible implementation manner, the transmitting antenna group 40 further includes a third transmitting antenna unit 403, and the third transmitting antenna unit 403 and the second transmitting antenna unit 402 are arranged in parallel along the horizontal direction. The third transmit antenna element 403 corresponds to TX3 in fig. 4.
The third transmitting antenna element 403 is connected to a third output terminal of the rf switch 30.
Optionally, a second output terminal is currently connected to the input terminal of the rf switch 30, and when the rf switch 30 receives the switching instruction, the input terminal of the rf switch 30 is switched to be connected to the third output terminal.
With continuing reference to fig. 3 and 4, in one possible implementation, the radar imaging apparatus further includes: a second receive antenna group 80. The second receiving antenna group 80 includes at least two receiving antenna units, and the receiving antenna units in the second receiving antenna group 80 are arranged in parallel in the horizontal direction and at the same interval. The receiving antenna units in the second receiving antenna group 80 are, for example, RX5 to RX12, or RX6 to RX12 in fig. 4.
It should be noted that RX5 can belong to both the first receive antenna group 70 and the second receive antenna group 80.
The receiving chip 60 is further configured to obtain a corresponding second-type difference frequency signal according to the second-type received signal and the corresponding sub-signal, and transmit the obtained second-type difference frequency signal to the processor 10.
The second type of received signals are received signals transmitted by the receiving antenna units in the second receiving antenna group 80.
The processor 10 is configured to perform a first order fourier transform on each group of the second type difference frequency signals to obtain a second distance corresponding to the obstacle.
Taking the receiving antenna units in the second receiving antenna group 80 as RX5 to RX12 in fig. 4 as an example, 16 second-class difference frequency signals composed of TX2, TX3, and RX5 to RX512 perform first-order fourier transform on the 16 second-class difference frequency signals, so that the time domain signals are converted into frequency domain signals, and second distances d11 to d27 of the obstacle in the horizontal dimension are calculated according to the frequency of the frequency domain signals. The calculation process is the same as that of the first distance.
On the basis of the foregoing, the embodiments of the present application also provide a possible implementation manner as to how to determine the horizontal position angle of the obstacle, please refer to the following.
The processor 10 is further configured to determine an obstacle horizontal position angle based on the second type of received signal phase difference and the second interval.
The second-type received signal phase difference is a phase difference of second-type received signals of any two adjacent receiving antenna units in the second receiving antenna group 80, and the second interval is an interval between two adjacent receiving antenna units in the second receiving antenna group.
It should be noted that the calculation process of the horizontal azimuth is equivalent to the calculation process of the vertical azimuth.
Optionally, the interval between two adjacent receiving antenna units in the second receiving antenna group 80 is λ/2, and the interval between the third transmitting antenna unit 403 and the second transmitting antenna unit 402 is 12.5 λ/2, where λ represents the wavelength of 24GHZ millimeter radar waves.
The receiving antenna elements corresponding to the third transmitting antenna element 403(TX3) and the second transmitting antenna element 402(TX2) are RX5 to RX 12. RX5 RX12, the vertical distance between TX2 and TX3 to each receiving antenna unit is equal, and the horizontal distance between TX2 and TX3 is larger than the total distance between RX5 and RX12 relative to RX5 RX12, so that TX2 and TX3 are independent transmitting antenna units relative to RX5 RX12, that is, the phase of TX2 received by each receiving antenna unit is different from that of TX3, phase aliasing cannot be caused, the horizontal dimension is equivalent to having 16 receiving antenna units, wherein 8 receiving antenna units are virtual receiving antenna units, and the horizontal dimension angle resolution is greatly improved to 7 degrees.
In one possible implementation, the processor 10 is further configured to take an average of all the first distances and the second distances as a final obstacle distance.
Optionally, the average of d 1-d 27 is taken as the final obstacle distance.
Optionally, the rf switch 30 switches the switches according to a preset sequence after receiving the switching instruction. For example, the input terminal of the rf switch 30 is connected to the first output terminal, the second output terminal, and the third output terminal in sequence.
The processor 10 may be an integrated circuit chip having signal processing capabilities. The Processor 10 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The embodiment of the application further provides a terminal, and the terminal comprises any one of the radar imaging devices.
Alternatively, the terminal may be a drone, an irrigation vehicle, a seeding vehicle, and the like.
It should be noted that the terminal provided in this embodiment can perform the functional purpose of the radar imaging device to achieve the corresponding technical effect. For the sake of brevity, the corresponding contents in the above embodiments may be referred to where not mentioned in this embodiment.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A radar imaging apparatus, characterized in that the radar imaging apparatus comprises: the antenna comprises a processor, a transmitting chip, a radio frequency switch and a transmitting antenna group, wherein the transmitting antenna group comprises a first transmitting antenna unit and a second transmitting antenna unit, and the first transmitting antenna unit and the second transmitting antenna unit are arranged in parallel along the horizontal direction or the vertical direction;
the processor is connected with the input end of the transmitting chip, the output end of the transmitting chip is connected with the input end of the radio frequency switch, the first transmitting antenna unit is connected with the first output end of the radio frequency switch, and the second transmitting antenna unit is connected with the second output end of the radio frequency switch;
the processor is used for sending a trigger signal to the transmitting chip;
the transmitting chip outputs a radio frequency signal after receiving the trigger signal;
the radio frequency switch switches the first output end or the second output end to be conducted according to a preset sequence, so that the first transmitting antenna or the second transmitting antenna is conducted with the transmitting chip.
2. The radar imaging apparatus of claim 1, wherein the first transmitting antenna unit and the second transmitting antenna unit are arranged in parallel in a vertical direction, the radar imaging apparatus further comprising: the antenna comprises a receiving chip, a splitter and a first receiving antenna group, wherein the first receiving antenna group comprises at least two receiving antenna units, and the horizontal intervals of any two adjacent receiving antenna units in the first receiving antenna group are consistent, and/or the vertical intervals of any two adjacent receiving antenna units in the first receiving antenna group are consistent;
the processor is connected with the output end of the receiving chip, the output end of the transmitting chip is connected with the input end of the branching unit, the first output end of the branching unit is connected with the receiving chip, the second output end of the branching unit is connected with the input end of the radio frequency switch, and any receiving antenna unit is connected with the input end of the receiving chip;
the shunt is used for equally dividing the radio-frequency signal output by the transmitting chip into two paths of sub-signals and respectively transmitting the two paths of sub-signals to the receiving chip and the radio-frequency switch;
the receiving chip is used for acquiring a corresponding first-class difference frequency signal according to the first-class receiving signal and a corresponding sub-signal and transmitting the acquired first-class difference frequency signal to the processor;
the first type of received signals are received signals transmitted by receiving antenna units in the first receiving antenna group;
the processor is used for carrying out first-order Fourier transform on each group of the first-class difference frequency signals to obtain a first distance corresponding to the obstacle.
3. The radar imaging device of claim 2 wherein the processor is further configured to determine an obstacle vertical azimuth angle as a function of the first type of received signal phase difference and the vertical separation;
the phase difference of the first type of received signals is the phase difference of the first type of received signals of any two adjacent receiving antenna units in the first receiving antenna group.
4. The radar imaging apparatus of claim 2, wherein a horizontal interval and a vertical interval between adjacent two receiving antenna units in the first receiving antenna group are each λ/2, and an interval between the first transmitting antenna unit and the second transmitting antenna unit is 5.5 λ/2, where λ represents a wavelength of 24GHZ millimeter radar waves.
5. The radar imaging apparatus of claim 2, wherein the transmit antenna group further includes a third transmit antenna unit, the third transmit antenna unit being arranged in parallel with the second transmit antenna unit in a horizontal direction;
the third transmitting antenna unit is connected to a third output end of the radio frequency switch.
6. The radar imaging device of claim 5, further comprising: the second receiving antenna group comprises at least two receiving antenna units, and the receiving antenna units in the second receiving antenna group are arranged in parallel in the horizontal direction and are consistent in interval;
the receiving chip is further used for acquiring a corresponding second-type difference frequency signal according to the second-type receiving signal and the corresponding sub-signal, and transmitting the acquired second-type difference frequency signal to the processor;
wherein the second type of received signal is a received signal transmitted by a receiving antenna unit in the second receiving antenna group;
the processor is configured to perform first order fourier transform on each group of the second type difference frequency signals to obtain a second distance corresponding to the obstacle.
7. The radar imaging device of claim 6 wherein the processor is further configured to determine an obstacle horizontal position angle based on the second type of received signal phase difference and the second interval;
the second type of receiving signal phase difference is a phase difference of second type of receiving signals of any two adjacent receiving antenna units in the second receiving antenna group, and the second interval is an interval between two adjacent receiving antenna units in the second receiving antenna group.
8. The radar imaging device of claim 6, wherein a spacing between two adjacent receive antenna elements within the second set of receive antennas is λ/2, and a spacing between the third transmit antenna element and the second transmit antenna element is 12.5 λ/2, where λ characterizes a wavelength of 24GHZ millimeter radar waves.
9. The radar imaging device of claim 6 wherein the processor is further configured to take an average of all of the first distances and the second distances as a final obstacle distance.
10. A terminal, characterized in that it comprises a radar imaging device according to any one of claims 1 to 9.
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| CN202111162123.1A CN113917460A (en) | 2021-09-30 | 2021-09-30 | Radar imaging equipment and terminal |
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| CN202111162123.1A CN113917460A (en) | 2021-09-30 | 2021-09-30 | Radar imaging equipment and terminal |
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