WO2021134583A1

WO2021134583A1 - Antenna assembly for microwave radar, microwave radar, and mobile platform

Info

Publication number: WO2021134583A1
Application number: PCT/CN2019/130745
Authority: WO
Inventors: 孙维忠; 王春明; 贺翔; 唐照成
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2021-07-08
Also published as: CN112955774A

Abstract

An antenna assembly for a microwave radar, a microwave radar, and a mobile platform. The antenna assembly comprises a dielectric substrate (11), and a transmitting antenna array and a receiving antenna array provided on the dielectric substrate (11); the receiving antenna array comprises a plurality of receiving antennas (12) arranged at equal intervals in a first direction; the transmitting antenna array comprises at least three transmitting antennas arranged in the first direction; and the at least three transmitting antennas include first transmitting antennas (13) and second transmitting antennas (14), the distance between two adjacent first transmitting antennas (13) being N times the distance between the receiving antennas (12), and/or, the distance between two adjacent second transmitting antennas (14) being N times the distance between the 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 substantially perpendicular to the first direction, effectively achieving two-dimensional angle measurement, and improving the target resolution of a microwave radar; moreover, the size is small, and the cost is low, facilitating the application and the promotion.

Description

Antenna component, microwave radar and movable platform of microwave radar

Technical field

The embodiments of the present invention relate to the technical field of microwave radars, and in particular to antenna components, microwave radars and movable platforms of microwave radars.

Background technique

For conventional single-transmitting channel microwave radars, the accuracy of microwave radar angle measurement is closely related to the number of microwave radar receiving channels. The higher the accuracy, the more microwave radar receiving channels are required, and the larger the corresponding microwave radar size and cost. Higher. By adding a small number of transmitting channels, the VMIMO microwave radar finally realizes the angle measurement accuracy equivalent to the conventional single-transmitting channel microwave radar with doubled receiving channels.

However, in related technologies, for example, millimeter wave anti-collision microwave radars on drones or automotive platforms can only achieve one-dimensional angle measurement in the pitch direction or the horizontal direction, and cannot achieve two-dimensional angle measurement, which results in the microwave radar’s impact on the target. Resolving power is low.

Summary of the invention

In view of the above-mentioned defects in the prior art, the embodiments of the present invention provide an antenna assembly, a microwave radar, and a movable platform of a microwave radar, which help solve the technical problem of the low target resolution capability of the microwave radar in the prior art.

A first aspect of the embodiments of the present invention provides an antenna assembly of a microwave radar, including: a dielectric substrate, and a transmitting antenna array and a receiving antenna array provided on the dielectric substrate;

The receiving antenna array includes a plurality of receiving antennas arranged equidistantly along a first direction;

The transmitting antenna array includes at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas include a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas Is N times the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times the distance between the receiving antennas;

Wherein, the first transmitting antenna and the second transmitting antenna are staggered by a predetermined distance in the second direction, and the first direction is substantially perpendicular to the second direction.

A second aspect of the embodiments of the present invention provides a microwave radar, including an antenna component and a signal processing circuit, the signal processing circuit is electrically connected to the antenna component, and is used to process the signal received by the antenna component to obtain a target object. The position information of the antenna component includes:

A dielectric substrate, and a plurality of transmitting antennas and at least two receiving antennas arranged on the dielectric substrate; the receiving antenna array includes a plurality of receiving antennas arranged equidistantly along a first direction;

A third aspect of the embodiments of the present invention provides a movable platform, including a fuselage, and a microwave radar mounted on the fuselage. The microwave radar includes an antenna assembly. The antenna assembly includes a dielectric substrate, and a microwave radar mounted on the fuselage. Multiple transmitting antennas and at least two receiving antennas on the dielectric substrate;

The antenna assembly of the microwave radar, the microwave radar, and the movable platform provided by the embodiment of the present invention include a dielectric substrate, and a transmitting antenna array and a receiving antenna array arranged on the dielectric substrate, and the receiving antenna array includes a first direction, etc. A plurality of receiving antennas arranged apart from each other, the transmitting antenna array includes at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas include a first transmitting antenna and a second transmitting antenna, two adjacent to each other The distance between the first transmitting antennas is N times the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times the distance between the receiving antennas, the first transmitting antenna and the first transmitting antenna The two transmitting antennas can be staggered by a predetermined distance in a second direction that is substantially perpendicular to the first direction. Since the transmitting antennas are arranged at a certain distance in the first direction and the second direction, two-dimensional angle measurement can be effectively realized. Improve the resolution capability of the microwave radar to the target, and the size is small, the cost is low, and it is convenient for application and promotion.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

FIG. 1 is a schematic structural diagram of an antenna assembly of a microwave radar according to Embodiment 1 of the present invention;

2 is a schematic diagram of antenna equivalent effects of a microwave radar antenna array provided by Embodiment 1 of the present invention;

3 is a schematic structural diagram of an antenna assembly of a microwave radar according to Embodiment 2 of the present invention;

4 is a schematic diagram of antenna equivalent effects of a microwave radar antenna array provided by Embodiment 2 of the present invention;

FIG. 5 is a schematic structural diagram of an antenna assembly of a microwave radar according to Embodiment 3 of the present invention;

FIG. 6 is a schematic structural diagram of a microwave radar provided by Embodiment 4 of the present invention.

Reference signs:

11-Dielectric substrate 12-Receiving antenna 13-First transmitting antenna

14-Second transmitting antenna 15-Virtual antenna 1-Antenna component

2- signal processing circuit

Detailed ways

The following clearly describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

The "including" mentioned in the entire specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within the acceptable error range, those skilled in the art can solve the technical problem within a certain error range, and basically achieve the technical effect.

In addition, the term "connected" herein includes any direct and indirect means of connection. Therefore, if it is described in the text that a first device is connected to a second device, it means that the first device can be directly connected to the second device, or indirectly connected to the second device through other devices.

It should be understood that the term "and/or, and/or" used in this article is only an association relationship describing associated objects, which means that there can be three relationships, for example, A1 and/or B1 can mean that A1 exists alone, There are three cases of A1 and B1 at the same time, and B1 alone. In addition, the character "/" in this text generally indicates that the associated objects before and after are in an "or" relationship.

If there is no conflict with each other, those skilled in the art can combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification.

VMIMO (Virtual Multiple Input Multiple Output, virtual multiple input multiple output) microwave radar can increase a small number of transmission channels, use time division or phase modulation to control the transmission channel, transmit orthogonal signals, and finally achieve the equivalent of multiplying the receiving channel. The angle measurement accuracy of the conventional single-transmitting channel radar greatly reduces the cost and size of the radar.

The antenna component is an important part of the microwave radar. The embodiment of the present invention provides an antenna component of the microwave radar, which includes a transmitting antenna array and a receiving antenna array.

Wherein, the transmitting antenna array may include multiple transmitting antennas, and the multiple transmitting antennas may be arranged along a first direction and staggered by a certain distance in the second direction.

In the following, some embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The technical solutions provided by the embodiments of the present invention can be applied to any field applicable to microwave radar, especially to the field of high-precision detection and positioning of targets in a large angle range by microwave radar. Specific application products can include agricultural plant protection drones, vehicle-mounted obstacle avoidance radars, and other multi-channel radar products with angle measurement functions.

Example one

FIG. 1 is a schematic structural diagram of an antenna assembly of a microwave radar according to Embodiment 1 of the present invention. As shown in FIG. 1, the antenna assembly of the microwave radar in this embodiment may include: a dielectric substrate 11, and a transmitting antenna array and a receiving antenna array provided on the dielectric substrate 11;

The receiving antenna array includes a plurality of receiving antennas 12 arranged equidistantly along a first direction;

The transmitting antenna array includes at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas include a first transmitting antenna 13 and a second transmitting antenna 14; one of two adjacent first transmitting antennas 13 The distance between each other 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;

Wherein, the first transmitting antenna 13 and the second transmitting antenna 14 are staggered by a predetermined distance in the second direction, and the first direction is substantially perpendicular to the second direction.

Optionally, the first direction and the second direction may be any two substantially perpendicular directions. The substantially vertical may mean that the included angle between the first direction and the second direction is close to 90°. For example, the absolute value of the difference between the included angle and 90° may be less than a preset value, assuming the preset Set the value to 10°, then, if the angle between the first direction and the second direction is between 80° and 100°, it is considered that the first direction and the second direction are substantially perpendicular.

For ease of description, in the embodiment of the present invention, the first direction is the pitch direction and the second direction is the horizontal direction as an example for description. Referring to Fig. 1, the up and down direction in the figure may indicate the pitch direction, and the left and right direction may indicate the horizontal direction.

In the antenna assembly provided in this embodiment, a transmitting antenna array and a receiving antenna array may be provided on the dielectric substrate 11. The transmitting antenna array may include multiple transmitting antennas, and specifically 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 multiple receiving antennas 12.

Optionally, the number of receiving antennas 12, the number of first transmitting antennas 13, and the number of second transmitting antennas 14 can be set according to actual needs. The greater the number of transmitting antennas and receiving antennas 12, the greater the accuracy of angle measurement.

The receiving antenna array shown in FIG. 1 includes four receiving antennas 12, and the four receiving antennas 12 may be arranged equidistantly along the elevation direction. The transmitting antenna array may include four transmitting antennas, of which there are two first transmitting antennas 13 and two second transmitting antennas 14.

For ease of description, the four transmitting antennas in Figure 1 are marked as transmitting antenna A, transmitting antenna B, transmitting antenna C, and transmitting antenna D from top to bottom. Among them, transmitting antennas A and C are the first transmitting antennas 13. The transmitting antennas B and D are the second transmitting antennas 14.

The first transmitting antenna 13 and the second transmitting antenna 14 can be staggered by a predetermined distance in the horizontal direction. For example, the aforementioned transmitting antennas B and D can be moved horizontally to the right by a certain distance relative to the transmitting antennas A and C.

The distance between two adjacent first transmitting antennas 13 may be N times the distance of the receiving antenna 12, and/or the distance between two adjacent second transmitting antennas 14 may be the distance of the receiving antenna 12 N times.

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 two adjacent receiving antennas. The pitch of 12 in the pitch direction, N can be a natural number greater than 1.

That is to say, the transmitting antenna A and the transmitting antenna C are aligned in the horizontal direction, and the distance between the transmitting antennas 12 and the receiving antenna 12 are aligned in the elevation direction, and the transmitting antenna B and the transmitting antenna D are aligned in the horizontal direction, and the receiving antenna 12 spacing is multiple in the elevation direction. The distance is arranged. Transmitting antenna A/transmitting antenna C and transmitting antenna B/transmitting antenna D are offset by 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 value of the horizontal offset distance can be determined by the horizontal angle measurement range and the angle measurement accuracy. The greater the offset distance, the smaller the angle measurement range, and the higher the angle measurement accuracy. On the contrary, the smaller the offset distance, the larger the angle measurement range, and the angle measurement accuracy. The lower.

Optionally, the N may be equal to the number of all the receiving antennas 12, that is, the distance between the two first transmitting antennas 13 in the elevation direction in FIG. 1 may be equal to the distance between the two adjacent receiving antennas 12 in the elevation direction. 4 times the distance. Similarly, the distance between two second transmitting antennas 14 in the elevation direction can also be equal to 4 times the distance between two adjacent receiving antennas 12 in the elevation direction, which can effectively meet the angle measurement requirements of the VMIMO microwave radar. .

Optionally, the distance between each of the second transmitting antennas 14 and the first transmitting antenna 13 in the horizontal direction is equal. Specifically, the horizontal offset distance between the transmitting antenna B and the transmitting antenna A may be equal to the horizontal offset distance between the transmitting antenna D and the transmitting antenna A, which facilitates the measurement of angle information and improves the processing efficiency.

FIG. 2 is a schematic diagram of an antenna equivalent effect of an antenna array of a microwave radar provided by Embodiment 1 of the present invention. As shown in Figure 2, the four solid circles on the upper left represent four receiving antennas 12 arranged at equal intervals, and the four solid circles on the lower left represent four transmitting antennas, of which the two on the left are the first transmitting antennas 13 , The two on the right are second transmitting antennas 14.

The four transmitting antennas and the four receiving antennas 12 can be equivalent to 1 transmitter and 16 receiver antennas, which can effectively reduce radar cost and radar size. The sixteen dotted circles on the right side represent sixteen virtual antennas 15. These sixteen virtual antennas 15 can represent an equivalent antenna array obtained by the layout of the transmitting antenna and the receiving antenna 12 in the figure.

Optionally, if the distance between the receiving antennas 12 is d, the distance between the two first transmitting antennas 13 can be set to 4d, and the distance between the two second transmitting antennas 14 is also 4d, and the first transmitting antenna is set The distance between 13 and the second transmitting antenna 14 in the horizontal direction is d, which can better realize signal reception and processing.

In practical applications, the number and position of antennas can be set according to the needs of angle measurement. Multiple transmitting channels and multiple receiving channels are used. The receiving antenna 12, the first transmitting antenna 13 and the second transmitting antenna 14 are arranged in a reasonable manner. In the working process, the transmission channel is controlled by time division or phase modulation, and orthogonal signals are transmitted, and the received signals are processed by coherent signals, so as to realize the high-precision angle measurement ability of equivalently doubling the number of receiving antennas.

Optionally, each transmitting antenna can transmit signals through time division modulation or phase modulation. The signal transmitted by the transmitting antenna may be a quadrature signal. For example, different transmission channels can be modulated with different phases, and the phases are orthogonal to each other. In this way, the signals of each transmission channel will not be combined in space, thereby achieving the purpose of multiple transmission channels and multiple reception channels.

To measure the angle in the elevation/horizontal plane, you need to arrange the antennas in the elevation/horizontal plane. According to the phase difference between the signals received by each receiving antenna 12, calculate the deflection angle of the target in the elevation/horizontal plane relative to the antenna array to achieve angle measurement. .

Therefore, the transmitting antennas A and C (or transmitting antennas B and D) and the receiving antenna 12 are arranged in the elevation plane to achieve elevation angle measurement; the transmitting antennas A and B (transmitting antennas or C and D) and the receiving antenna 12 are in the horizontal plane Arrangement can realize horizontal angle measurement, so as to realize the two-dimensional angle measurement function of microwave radar as a whole.

The antenna assembly of the microwave radar provided by this embodiment includes a dielectric substrate 11 and a transmitting antenna array and a receiving antenna array provided on the dielectric substrate 11. The receiving antenna array includes a plurality of receiving antennas arranged equidistantly along a first direction. Antenna 12, the transmitting antenna array includes at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas include a first transmitting antenna 13 and a second transmitting antenna 14, two adjacent first transmitting antennas The distance between the 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, and the first transmitting antenna 13 The second transmitting antenna 14 can be staggered by a preset distance in the second direction substantially perpendicular to the first direction. Since the transmitting antennas are arranged at a certain distance in the first direction and the second direction, it can effectively realize two-dimensional Angle measurement improves the resolution capability of microwave radar to targets, and is small in size and low in cost, which is convenient for application and promotion.

The first embodiment above provides an antenna assembly for a microwave radar. On this basis, the number and layout of the receiving antenna 12, the first transmitting antenna 13, and the second transmitting antenna 14 can be replaced by other methods, for example, the receiving antenna 12 The number can be further increased or decreased, and the number of the first transmitting antenna 13 or the second transmitting antenna 14 can also be further increased or decreased. As long as it is satisfied that the transmitting antenna has both a pitch arrangement and a horizontal misalignment arrangement, the microwave radar pitch angle measurement function and the horizontal angle measurement function can be realized.

It is understandable that in order to further reduce the cost, the number of receiving antennas 12, first transmitting antenna 13, and second transmitting antenna 14 can be reduced. In order to further improve the radar angle resolution performance, the receiving antenna 12, first transmitting antenna 13, and Number of second transmitting antennas 14. The following takes the second embodiment and the third embodiment as examples for description.

Example two

FIG. 3 is a schematic structural diagram of an antenna assembly of a microwave radar according to Embodiment 2 of the present invention. As shown in FIG. 3, the antenna assembly of the microwave radar in this embodiment may include a dielectric substrate 11, and a transmitting antenna array and a receiving antenna array provided on the dielectric substrate 11.

The receiving antenna array includes four receiving antennas 12 arranged equidistantly along the elevation direction.

The transmitting antenna array includes three transmitting antennas arranged along the elevation direction, specifically including a first transmitting antenna 13 and two second transmitting antennas 14. The distance between two adjacent second transmitting antennas 14 is equal to that of the receiving antenna. The distance between the antennas 12 is N times; wherein the first transmitting antenna 13 and the second transmitting antenna 14 are staggered by a predetermined distance in the elevation direction.

FIG. 4 is a schematic diagram of an antenna equivalent effect of an antenna array of a microwave radar according to the second embodiment of the present invention. As shown in Fig. 4, the four solid circles on the upper left represent four receiving antennas 12 arranged at equal intervals, and the three solid circles on the lower left represent three transmitting antennas, of which the first transmitting antenna 13 is on the left. The two on the right are second transmitting antennas 14.

The four transmitting antennas and three receiving antennas 12 can be equivalent to 1 transmitting and 12 receiving antennas. The twelve dotted circles on the right represent twelve virtual antennas 15, corresponding to the equivalent antenna array obtained by the layout of the transmitting antenna and the receiving antenna 12 in the figure.

Optionally, if the distance between the receiving antennas 12 is d, the distance between the two second transmitting antennas 13 can be set to 4d, and the distance between the second transmitting antenna 14 and the first transmitting antenna 13 in the elevation direction can be set to 2d. , Setting the distance between the first transmitting antenna 13 and the second transmitting antenna 14 in the horizontal direction to be d, which can better realize the signal reception and processing.

In other optional implementation manners, the three transmitting antennas of the transmitting antenna array may include two first transmitting antennas 13 and one second transmitting antenna 14. The distance between two adjacent first transmitting antennas 13 is the receiving antenna N times the pitch of 12.

The antenna assembly of the microwave radar provided in this embodiment can achieve twelve receiving channels equivalently by setting four receiving antennas and three transmitting antennas, and can greatly reduce the cost and size of the microwave radar under the same angle measurement accuracy requirements. , To meet the needs of angle measurement in different occasions.

Example three

FIG. 5 is a schematic structural diagram of an antenna assembly of a microwave radar according to Embodiment 3 of the present invention. As shown in FIG. 5, the antenna assembly of the microwave radar in this embodiment may include: a dielectric substrate 11, and a transmitting antenna array and a receiving antenna array provided on the dielectric substrate 11.

The transmitting antenna array includes six transmitting antennas arranged along the elevation direction, specifically including three first transmitting antennas 13 and three second transmitting antennas 14. The distance between two adjacent first transmitting antennas 13 is The distance between the receiving antennas 12 is N times, and the distance between two adjacent second transmitting antennas 14 is also N times the distance between the receiving antennas 12. The first transmitting antenna 13 and the second transmitting antenna 14 are staggered by a predetermined distance in the elevation direction.

The antenna assembly of the microwave radar provided in this embodiment can equivalently realize twenty-four receiving channels through four receiving antennas and six transmitting antennas, which can effectively improve the accuracy of angle measurement.

On the basis of the technical solutions provided by the foregoing 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 The electrical point may be located in the middle or the side of the dielectric substrate 11, which can effectively realize the antenna feeding and ensure the normal operation of each antenna.

On the basis of the technical solutions provided by the foregoing embodiments, optionally, the transmitting antenna and/or the receiving antenna 12 may be PCB (Printed Circuit Board) antennas with simple structure layout and easy implementation .

On the basis of the technical solutions provided by the foregoing embodiments, optionally, each of the transmitting antennas includes multiple radiators, and a transmission line for connecting the multiple radiators together; and/or each The receiving antenna 12 includes a plurality of radiators, and a transmission line for connecting the plurality of radiators together.

As shown in Figure 1, the boxes in each antenna can be used to represent radiators, and the lines between the radiators can be used to represent transmission lines. The transmission line may be a microstrip transmission line or a microwave coaxial cable. The multiple radiators of each transmitting antenna may be connected in series via a microstrip transmission line; and/or, the multiple radiators of each receiving antenna 12 may be connected in series via a microstrip transmission line.

The shape of each radiator in the transmitting antenna is the same or different or partially the same; and/or, the shape of each radiator in the receiving antenna 12 is the same or different or partially the same. Wherein, the shape of the radiator may include at least one of the following: a rectangle, a triangle, a circle, and a hexagon.

Optionally, the antenna may be an axisymmetric structure or a center symmetric structure. The distance between the antennas involved in the embodiments of the present invention may refer to the center axis or the distance between the center positions of the antennas.

On the basis of the technical solutions provided by the foregoing embodiments, optionally, the size of each transmitting antenna is the same; and/or, the size of each receiving antenna 12 is the same.

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, which facilitates the control of each antenna and improves the stability of the antenna assembly of the microwave radar.

Example four

The fourth embodiment of the present invention provides a microwave radar. FIG. 6 is a schematic structural diagram of a microwave radar provided by Embodiment 4 of the present invention. As shown in FIG. 6, the microwave radar provided by this embodiment may include: an antenna assembly 1 and a signal processing circuit 2. The signal processing circuit 2 is electrically connected to the antenna assembly 1 for receiving the antenna assembly 1. The signal is processed to obtain the location information of the target.

The antenna assembly 1 includes: a dielectric substrate, and a plurality of transmitting antennas and at least two receiving antennas arranged on the dielectric substrate;

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. Optionally, the position information may include angle information of the target, 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 the elevation direction and the second direction as the horizontal direction as an example, to measure the angle in the elevation/horizontal plane, it is necessary to arrange the antennas in the elevation/horizontal plane. According to the phase difference between the signals received by each receiving antenna, the target is calculated The angle measurement can be achieved by the deflection angle of the pitch/horizontal plane relative to the antenna array.

In this embodiment, the structure, position, function, connection relationship, etc. of each component of the antenna assembly can be referred to the foregoing embodiments, which will not be repeated here.

Optionally, the N is equal to the number of all the receiving antennas.

Optionally, the second transmitting antennas include at least two, and each of the second transmitting antennas and the first transmitting antenna are staggered by the same distance in the second direction.

Optionally, the feeding point of each transmitting antenna is located in the middle or the side of the dielectric substrate; and/or, the feeding point of each receiving antenna is located in the middle or the side of the dielectric substrate.

Optionally, the transmitting antenna and/or the receiving antenna are PCB antennas.

Optionally, the size of each transmitting antenna is the same; and/or, the size of each receiving antenna is the same.

Optionally, each of the transmitting antennas includes multiple radiators, and a transmission line for connecting the multiple radiators together;

And/or, each of the receiving antennas includes a plurality of radiators, and a transmission line for connecting the plurality of radiators together.

Optionally, the transmission line is a microstrip transmission line or a microwave coaxial cable.

Optionally, multiple radiators of each transmitting antenna are connected in series via a microstrip transmission line;

And/or, multiple radiators of each receiving antenna are connected in series via a microstrip transmission line.

Optionally, the shape of each radiator in the transmitting antenna is the same or different or partly the same;

And/or, the shape of each radiator in the receiving antenna is the same or different or partly the same.

Optionally, the shape of the radiator includes at least one of the following: a rectangle, a triangle, a circle, and a hexagon.

Optionally, each transmitting antenna transmits signals through time division modulation or phase modulation.

Optionally, the signal transmitted by the transmitting antenna is an orthogonal signal.

The microwave radar provided by this embodiment may include an antenna component 1 and a signal processing circuit 2. The signal processing circuit 2 is electrically connected to the antenna component 1 and used to process the signal received by the antenna component 1 to obtain a target The antenna assembly 1 includes a dielectric substrate and a transmitting antenna array and a receiving antenna array arranged on the dielectric substrate. The receiving antenna array includes a plurality of receiving antennas arranged equidistantly along a first direction. The antenna array includes at least three transmitting antennas arranged along a first direction, the at least three transmitting antennas include a first transmitting antenna and a second transmitting antenna, and the distance between two adjacent first transmitting antennas is N times the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times the distance between the receiving antennas, the first transmitting antenna and the second transmitting antenna may be substantially perpendicular to the first direction The second direction is staggered by the preset distance. Because the transmitting antennas are arranged at a certain distance in the first direction and the second direction, it can effectively achieve two-dimensional angle measurement, improve the resolution ability of microwave radar to the target, and the size Smaller, lower cost, easy to apply and popularize.

An embodiment of the present invention also provides a movable platform, including a fuselage, and a microwave radar mounted on the fuselage. The microwave radar includes an antenna assembly. The antenna assembly includes a dielectric substrate, and a microwave radar mounted on the dielectric substrate. Multiple transmitting antennas and at least two receiving antennas on the device;

In the movable platform provided by the embodiment of the present invention, the structure, position, function, connection relationship, etc. of each component of the antenna assembly can be referred to the foregoing embodiments, which will not be repeated here.

Optionally, the N is equal to the number of all the receiving antennas.

Optionally, the movable platform is an unmanned aerial vehicle, a remotely controlled ground robot, a motor vehicle or a pan/tilt.

The movable platform provided by the embodiment of the present invention may include a fuselage and a microwave radar mounted on the fuselage. The microwave radar includes an antenna component, and the antenna component includes a dielectric substrate and a transmitting antenna array provided on the dielectric substrate And a receiving antenna array, the receiving antenna array includes a plurality of receiving antennas arranged equidistantly along a first direction, the transmitting antenna array includes at least three transmitting antennas arranged in a first direction, the at least three transmitting antennas The antenna includes a first transmitting antenna and a second transmitting antenna, the distance between two adjacent first transmitting antennas is N times the distance of the receiving antenna, and/or the distance between two adjacent second transmitting antennas is N times the distance between the receiving antennas, the first transmitting antenna and the second transmitting antenna can be offset by a predetermined distance in a second direction substantially perpendicular to the first direction, because the transmitting antenna is both in the first direction and the second direction. Arranged at a certain distance, so it can effectively realize two-dimensional angle measurement, improve the resolution ability of microwave radar to the target, and the size is small, the cost is low, and it is convenient for application and promotion.

In the several embodiments provided by the present invention, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical or mechanical. Or other forms.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention. range.

Claims

An antenna assembly for microwave radar, characterized by comprising: a dielectric substrate, and a transmitting antenna array and a receiving antenna array provided on the dielectric substrate;

The receiving antenna array includes a plurality of receiving antennas arranged equidistantly along a first direction;

The transmitting antenna array includes at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas include a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas Is N times the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times the distance between the receiving antennas;

Wherein, the first transmitting antenna and the second transmitting antenna are staggered by a predetermined distance in the second direction, and the first direction is substantially perpendicular to the second direction.
The antenna assembly according to claim 1, wherein said N is equal to the number of all said receiving antennas.
The antenna assembly according to claim 1, wherein the second transmitting antenna comprises at least two, each of the second transmitting antenna and the first transmitting antenna are staggered in the second direction The distance is equal.
The antenna assembly according to claim 1, wherein the feeding point of each transmitting antenna is located in the middle or the side of the dielectric substrate; and/or the feeding point of each receiving antenna is located on the dielectric substrate The middle or side.
The antenna assembly according to claim 1, wherein the transmitting antenna and/or the receiving antenna are PCB antennas.
The antenna assembly according to claim 1, wherein the size of each transmitting antenna is the same; and/or, the size of each receiving antenna is the same.
The antenna assembly according to claim 1, wherein each of the transmitting antennas includes a plurality of radiators, and a transmission line for connecting the plurality of radiators together;

And/or, each of the receiving antennas includes a plurality of radiators, and a transmission line for connecting the plurality of radiators together.
The antenna assembly according to claim 7, wherein the transmission line is a microstrip transmission line or a microwave coaxial cable.
The antenna assembly according to claim 7, wherein the multiple radiators of each transmitting antenna are connected in series via a microstrip transmission line;

And/or, multiple radiators of each receiving antenna are connected in series via a microstrip transmission line.
The antenna assembly according to claim 7, wherein the shape of each radiator in the transmitting antenna is the same or different or partly the same;

And/or, the shape of each radiator in the receiving antenna is the same or different or partly the same.
The antenna assembly according to claim 7, wherein the shape of the radiator includes at least one of the following: rectangular, triangular, circular, and hexagonal.
The antenna assembly according to claim 1, wherein each transmitting antenna transmits a signal through time division modulation or phase modulation.
The antenna assembly according to claim 12, wherein the signal transmitted by the transmitting antenna is a quadrature signal.
A microwave radar includes an antenna component and a signal processing circuit, the signal processing circuit is electrically connected to the antenna component, and is used to process the signal received by the antenna component to obtain position information of a target object, and is characterized in that: The antenna assembly includes:

A dielectric substrate, and a plurality of transmitting antennas and at least two receiving antennas arranged on the dielectric substrate; the receiving antenna array includes a plurality of receiving antennas arranged equidistantly along a first direction;

The transmitting antenna array includes at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas include a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas Is N times the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times the distance between the receiving antennas;

Wherein, the first transmitting antenna and the second transmitting antenna are staggered by a predetermined distance in the second direction, and the first direction is substantially perpendicular to the second direction.
The microwave radar according to claim 14, wherein said N is equal to the number of all said receiving antennas.
The microwave radar according to claim 14, wherein the second transmitting antennas include at least two, and each of the second transmitting antennas and the first transmitting antenna are staggered in the second direction. The distance is equal.
The microwave radar according to claim 14, wherein the feeding point of each transmitting antenna is located in the middle or the side of the dielectric substrate; and/or the feeding point of each receiving antenna is located on the dielectric substrate The middle or side.
The microwave radar according to claim 14, wherein the transmitting antenna and/or the receiving antenna are PCB antennas.
The microwave radar according to claim 14, wherein the size of each transmitting antenna is the same; and/or, the size of each receiving antenna is the same.
The microwave radar according to claim 14, wherein each of the transmitting antennas includes a plurality of radiators, and a transmission line for connecting the plurality of radiators together;

And/or, each of the receiving antennas includes a plurality of radiators, and a transmission line for connecting the plurality of radiators together.
The microwave radar according to claim 20, wherein the transmission line is a microstrip transmission line or a microwave coaxial cable.
The microwave radar according to claim 20, wherein the multiple radiators of each transmitting antenna are connected in series via a microstrip transmission line;

And/or, multiple radiators of each receiving antenna are connected in series via a microstrip transmission line.
The microwave radar according to claim 20, wherein the shape of each radiator in the transmitting antenna is the same or different or partly the same;

And/or, the shape of each radiator in the receiving antenna is the same or different or partly the same.
The microwave radar according to claim 20, wherein the shape of the radiator includes at least one of the following: a rectangle, a triangle, a circle, and a hexagon.
The microwave radar according to claim 14, wherein each transmitting antenna transmits signals through time division modulation or phase modulation.
The microwave radar according to claim 25, wherein the signal transmitted by the transmitting antenna is a quadrature signal.
A movable platform includes a fuselage and a microwave radar mounted on the fuselage. The microwave radar includes an antenna assembly. The antenna assembly is characterized in that the antenna assembly includes a dielectric substrate and a microwave radar mounted on the dielectric substrate. Multiple transmitting antennas and at least two receiving antennas;

The receiving antenna array includes a plurality of receiving antennas arranged equidistantly along a first direction;

The transmitting antenna array includes at least three transmitting antennas arranged along a first direction, and the at least three transmitting antennas include a first transmitting antenna and a second transmitting antenna; the distance between two adjacent first transmitting antennas Is N times the distance between the receiving antennas, and/or the distance between two adjacent second transmitting antennas is N times the distance between the receiving antennas;

Wherein, the first transmitting antenna and the second transmitting antenna are staggered by a predetermined distance in the second direction, and the first direction is substantially perpendicular to the second direction.
The movable platform of claim 27, wherein the N is equal to the number of all the receiving antennas.
The movable platform according to claim 27, wherein the second transmitting antennas include at least two, and each of the second transmitting antennas and the first transmitting antenna are staggered in the second direction. The distances are equal.
The movable platform according to claim 27, wherein the feeding point of each transmitting antenna is located in the middle or the side of the dielectric substrate; and/or, the feeding point of each receiving antenna is located in the medium. The middle or side of the substrate.
The movable platform according to claim 27, wherein the transmitting antenna and/or the receiving antenna are PCB antennas.
The movable platform according to claim 27, wherein the size of each transmitting antenna is the same; and/or, the size of each receiving antenna is the same.
The movable platform according to claim 27, wherein each of the transmitting antennas includes a plurality of radiators, and a transmission line for connecting the plurality of radiators together;

And/or, each of the receiving antennas includes a plurality of radiators, and a transmission line for connecting the plurality of radiators together.
The movable platform according to claim 33, wherein the transmission line is a microstrip transmission line or a microwave coaxial cable.
The movable platform according to claim 33, wherein the multiple radiators of each transmitting antenna are connected in series via a microstrip transmission line;

And/or, multiple radiators of each receiving antenna are connected in series via a microstrip transmission line.
The movable platform according to claim 33, wherein the shape of each radiator in the transmitting antenna is the same or different or partly the same;

And/or, the shape of each radiator in the receiving antenna is the same or different or partly the same.
The movable platform according to claim 33, wherein the shape of the radiator includes at least one of the following: rectangle, triangle, circle, and hexagon.
The movable platform according to claim 27, wherein each transmitting antenna transmits signals through time division modulation or phase modulation.
The movable platform of claim 38, wherein the signal transmitted by the transmitting antenna is an orthogonal signal.
The movable platform according to claim 27, wherein the movable platform is an unmanned aerial vehicle, a remotely controlled ground robot, a motor vehicle or a pan/tilt.