Azimuth angle determination method and apparatus, electronic device, and storage medium

Abstract

An azimuth angle determination method, device, electronic equipment and storage medium are disclosed. The azimuth angle determination method comprises: determining a first angle spectrum corresponding to a first group of array elements in an antenna array; determining a second angle spectrum corresponding to a second group of array elements according to the output of adaptive beamforming of the second group of array elements; and determining a target azimuth angle according to the first angle spectrum and the second angle spectrum. Through the above technical solution, different combinations of antenna array elements are used to determine the target azimuth angle according to the angle spectrum of different antenna array elements, angle deblurring is realized, and the problem of angle ambiguity is solved while improving the angle resolution of the sparse array, thereby reducing the requirement for adjusting the grating lobe position through the optimization design of the antenna array element spacing.

Description

Technical Field

[0001] The present invention relates to the field of automotive technology, and in particular to a method, apparatus, electronic device and storage medium for determining azimuth angle. Background Technology

[0002] As the requirements for sensors become increasingly stringent in assisted driving and even autonomous driving, higher angular resolution (even below 1 degree) and two-dimensional angle measurement capabilities have become standard features of vehicle-mounted millimeter-wave radar or traffic radar.

[0003] Currently, the only way to improve angular resolution is to increase the number of antennas to increase the aperture. However, due to limitations in hardware cost, data volume, and size, the number of antennas and the aperture cannot be increased indefinitely. Therefore, adopting a sparse array antenna layout, i.e., increasing the spacing between array elements to increase the antenna aperture, is one direction for improving angular resolution. However, the element spacing of a sparse array structure is inevitably greater than half a wavelength, resulting in many very high sidelobes or even grating lobes. Consequently, angular ambiguity occurs during target detection, making it impossible to distinguish whether the target originates from the main lobe direction or the side lobe direction. Summary of the Invention

[0004] This invention provides an azimuth angle determination method, apparatus, electronic device, and storage medium, which solves the problem of azimuth ambiguity while improving angular resolution.

[0005] In a first aspect, embodiments of the present invention provide a method for determining an azimuth angle, including:

[0006] Determine the first angular spectrum corresponding to the first group of elements in the antenna array;

[0007] The second angle spectrum corresponding to the second group of array elements is determined based on the adaptive beamforming output of the second group of array elements in the antenna array.

[0008] The target azimuth is determined based on the first angle spectrum and the second angle spectrum.

[0009] Secondly, embodiments of the present invention provide an azimuth angle determination device, comprising:

[0010] The first angle spectrum determination module is used to determine the first angle spectrum corresponding to the first group of array elements in the antenna array.

[0011] The second angle spectrum determination module is used to determine the second angle spectrum corresponding to the second group of array elements based on the adaptive beamforming output of the second group of array elements in the antenna array.

[0012] The target azimuth determination module is used to determine the target azimuth based on the first angle spectrum and the second angle spectrum.

[0013] Thirdly, embodiments of the present invention provide an electronic device, the electronic device comprising:

[0014] One or more processors;

[0015] Memory, used to store one or more programs;

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the azimuth angle determination method as described in any embodiment of the present invention.

[0017] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the azimuth angle determination method as described in any embodiment of the present invention.

[0018] This invention provides an azimuth angle determination method, apparatus, electronic device, and storage medium. The azimuth angle determination method includes: determining a first angular spectrum corresponding to a first group of antenna elements; determining a second angular spectrum corresponding to a second group of antenna elements based on the adaptive beamforming output of the second group of antenna elements; and determining a target azimuth angle based on the first and second angular spectra. This technical solution utilizes different combinations of antenna elements to comprehensively determine the target azimuth angle based on the angular spectra of different antenna elements, achieving angular deambiguity. This solves the angular ambiguity problem while improving angular resolution, and reduces the requirement for adjusting grating positions through optimized antenna element spacing design. Attached Figure Description

[0019] Figure 1 This is a flowchart of an azimuth angle determination method provided in Embodiment 1 of the present invention;

[0020] Figure 2 This is an example diagram of an antenna array element arrangement provided in Embodiment 1 of the present invention;

[0021] Figure 3 This is an example diagram of equal-spacing array beamforming generating a main lobe and grating lobes according to Embodiment 1 of the present invention;

[0022] Figure 4 This is an example diagram of the generation of main lobe and grating lobe by equidistant array beamforming and unequal-spacing array element MVDR according to Embodiment 1 of the present invention;

[0023] Figure 5 This is an example diagram of adaptive beamforming provided in Embodiment 1 of the present invention;

[0024] Figure 6 This is a schematic diagram of an azimuth angle determination device provided in Embodiment 2 of the present invention;

[0025] Figure 7 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. Detailed Implementation

[0026] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, the embodiments and features described herein can be combined with each other unless otherwise specified. It should also be noted that, for ease of description, only the parts relevant to the present invention are shown in the drawings, not the entire structure.

[0027] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processes, many of these steps can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the steps can be rearranged. The process can be terminated when its operation is complete, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0028] It should be noted that the concepts of "first" and "second" mentioned in the embodiments of the present invention are only used to distinguish different devices, modules, units or other objects, and are not used to limit the order of functions performed by these devices, modules, units or other objects or their interdependencies.

[0029] Example 1

[0030] Figure 1 This is a flowchart of an azimuth angle determination method provided in Embodiment 1 of the present invention. This embodiment is applicable to the determination of a target azimuth angle. Specifically, the azimuth angle determination method can be executed by an azimuth angle determination device, which can be implemented by software and / or hardware and can be configured in an electronic device.

[0031] like Figure 1 As shown, the method specifically includes the following steps:

[0032] S110. Determine the first angular spectrum corresponding to the first group of array elements in the antenna array.

[0033] The directivity of a single antenna is limited. To suit various applications, two or more individual antennas operating at the same frequency are fed and spatially arranged according to certain requirements to form an antenna array, also called an antenna array. The antenna radiating elements that constitute the antenna array are called array elements. In this embodiment, the array elements can be divided into at least two different array element combinations. The azimuth angle can be comprehensively analyzed using the angular spectra of at least two array elements. For example, one group can be equally spaced array elements, and the other group can be unequally spaced array elements; in addition, both groups of array elements can also be equally spaced, assuming their spacing is D_1 and D_2 respectively, but the conditions D_1≠D_2 must be met, and D_1 / D_2 and D_2 / D_1 must not be integers; or, both groups of array elements can also be unequally spaced, which is not limited in this embodiment. Furthermore, if the number of array elements increases, such as in cascaded radar, two groups of array elements may not be sufficient to achieve the purpose, and three or more groups of array elements can be used. In this embodiment, the first group of array elements can be some of the array elements in the antenna array, and can be array elements with equal spacing or array elements with unequal spacing, etc. This embodiment does not limit this; the angle spectrum can be understood as the energy value at different angles, and the first angle spectrum corresponding to the first group of array elements can be the energy value at different angles corresponding to the first group of array elements.

[0034] Determining the first angular spectrum corresponding to the first group of elements in the antenna array can be achieved by calculating the angular spectrum corresponding to the first group of elements in the antenna array using various methods.

[0035] S120. Determine the second angle spectrum corresponding to the second group of array elements based on the adaptive beamforming output of the second group of array elements in the antenna array.

[0036] The second group of array elements can be some of the array elements in the antenna array. The second group of array elements can be completely different from the first group of array elements, or it can contain the same array elements. The second group of array elements can be equally spaced array elements or unequally spaced array elements, etc., and this embodiment does not impose any restrictions on this. The adaptive beamforming method can suppress the sidelobe amplitude to a certain extent. The second angle spectrum corresponding to the second group of array elements can be the angle spectrum corresponding to the second group of array elements calculated by various methods, and can be the energy value of a different angle corresponding to the second group of array elements.

[0037] Specifically, the second angular spectrum corresponding to the second group of elements in the antenna array can be calculated by using an adaptive beamforming method to suppress the sidelobe amplitude.

[0038] S130. Determine the target azimuth angle based on the first angle spectrum and the second angle spectrum.

[0039] Among them, the target azimuth angle can refer to the target's actual angle.

[0040] In this embodiment, the azimuth angle can be comprehensively analyzed using the angular spectra of at least two sets of array elements. For example, the positions of the main lobe and side lobes can be determined using the first angular spectrum. In the second angular spectrum, the amplitude of the side lobes and grating lobes can be suppressed by the use of adaptive beamforming, so the position of the main lobe is more clear. Based on this, the target azimuth angle can be accurately determined.

[0041] The present invention provides an azimuth angle determination method by determining a first angular spectrum corresponding to a first group of array elements in an antenna array; determining a second angular spectrum corresponding to a second group of array elements based on the adaptive beamforming output of the second group of array elements; and determining the target azimuth angle based on the first angular spectrum and the second angular spectrum. The above technical solution achieves angle de-ambiguity by using different combinations of antenna array elements and employing signal processing, thereby improving angular resolution for sparse arrays while solving the angular ambiguity problem and reducing the requirement to adjust the grating position through optimized design of antenna element spacing.

[0042] Optionally, determining the first angular spectrum corresponding to the first group of elements in the antenna array includes:

[0043] Based on the phase difference of the first set of array elements, multiple solutions are determined that make the azimuth angle less than or equal to 1, and the positions of the main lobe and the grating lobe are determined based on the azimuth angle corresponding to each solution.

[0044] Among them, the difference in phase between two alternating currents with the same frequency is called phase difference; azimuth can be used to measure the angular difference between objects on a plane, such as the horizontal angle between the north direction line from a certain point and the target direction line in a clockwise direction; the main lobe is the maximum radiation beam, the small beams next to the main lobe are called side lobes, and in other directions besides the main lobe, radiation lobes with similar intensity to the main lobe will be formed due to the in-phase superposition of field strength, called grating lobes. Grating lobes occupy the radiation energy, reduce the antenna gain, and can also cause angular ambiguity.

[0045] Specifically, we can assume that there are N transmitting antennas. tx Number of receiving antennas N rx ; where N tx and N rx This can refer to the number of transmit and receive antennas on a single chip, or the total number of transmit antennas and receive antennas in a cascaded radar array. Depending on the application, transmit and receive antennas can be arranged along a single direction, such as horizontal or elevation, or simultaneously in two-dimensional space (horizontal and vertical) to achieve sensing capabilities in both directions. Given a limited number of transmit and receive antennas and the requirement for high resolution, antenna arrays are typically implemented using sparse arrays. Taking a single spatial dimension as an example... Figure 2 As shown, Figure 2This is an example diagram of an antenna array element arrangement, including both equally spaced array elements (triangular) and unequally spaced array elements. Assume that the number of virtual channels in a certain direction using MIMO technology is M, and the spacing between adjacent channels is d. m (m=0,…M-1), and the channel spacing is not necessarily equal, i.e. d0≠d1≠…≠d M-1 To increase the antenna aperture, the channel spacing is typically greater than half a wavelength. Therefore, using all these array elements results in numerous sidelobes, making target detection and angle measurement difficult. In this embodiment, it can be assumed that P equally spaced array elements out of the G array elements form the first group. This group can be output using a traditional beamforming method, which is simple and easy to implement. Figure 2 The triangular symbols in the diagram indicate the array elements. The spacing between them is D. p (p=0,…P-1), and equally spaced, i.e. λ is the wavelength. When the target azimuth angle is θ, the phase difference between array elements can be expressed as follows:

[0046]

[0047] The azimuth angle of the target can also be calculated from the phase difference between array elements using formula (1), i.e.

[0048]

[0049] Since the phase has a period of 2π, formula (2) can also be expressed as

[0050]

[0051] Where k takes integer values, i.e., 0, ±1, ±2…. Clearly, when D > λ, k has a non-unique solution such that formula (3) satisfies… Each k value corresponds to the position of the main lobe and grating lobe, where the angle has a period of 0 to 2π, so k = 0; the next period is 2π to 4π, so k = 1; and so on, k = 0, ±1, ±2… For example… Figure 3 As shown, Figure 3 Example diagram of main lobe and grating lobe generated for equal-spacing array beamforming. Taking N=27 array elements, array element spacing d=1.88λ, and target azimuth at 0 degrees as an example, except for the main lobe position at θ0=0deg (m=0), the positions of the two grating lobes are θ1=-32.1deg (k=-1) and θ2=32.1deg (k=1).

[0052] In this embodiment, the azimuth angle is calculated based on the phase difference between array elements, and multiple solutions that make the azimuth angle less than or equal to 1 are determined. The positions of the main lobe and the grating lobe can be determined based on the azimuth angle corresponding to each solution, thereby determining whether angular ambiguity has occurred.

[0053] Optionally, determining the second angular spectrum corresponding to the second group of array elements based on the adaptive beamforming output of the second group of array elements in the antenna array includes:

[0054] The output of adaptive beamforming is determined based on the steering vector, signal source, Gaussian white noise vector, and weight vector of the second set of array elements.

[0055] The second angular spectrum is obtained by minimizing the output power under the constraint that the gain in the target direction remains unchanged.

[0056] Specifically, in this embodiment, it can be assumed that Q non-equally spaced array elements can be selected from the G array elements as the second group of array elements, such as... Figure 2 The 'x' symbol indicates the array element composition. At least one set of elements can be selected, which has a large aperture to meet angular resolution requirements. The spacing between the elements is... And the spacing is not equal, that is For array elements with unequal spacing, traditional beamforming methods produce high-amplitude sidelobes. Therefore, in this embodiment, adaptive beamforming methods can be considered, such as the Minimum Variance Distortionless Response (MVDR) algorithm, or other super-resolution methods, such as the Multiple Signal Classification (MUSIC) method, which have a certain suppression effect on the amplitude of sidelobes where no target is present. Figure 4 The dashed line (non-uniform array - DBF) indicates this, where DBF stands for Digital Beam Forming. Figure 4 Example diagrams are provided for generating main lobes and grating lobes for equidistant array beamforming and unequal-spacing array element MVDR. In this embodiment, the adaptive beamforming of the second group of array elements is illustrated using the MVDR algorithm as an example.

[0057] if Figure 5 As shown, Figure 5 For an example of adaptive beamforming, assume the received signal x(t) from Q receiving channels at time t is represented as:

[0058] x(t)=A(θ)s(t)+n(t) (4)

[0059] Where A(θ) is the steering vector of the Q antenna elements;

[0060]

[0061] s(t)=[s0(t) s1(t) … sI-1 (t)] T There are I signal sources; n(t) is a Q×1 dimensional Gaussian white noise vector; λ is the wavelength; j indicates that this expression is a complex number; therefore, the beamforming output y(t) is...

[0062] y(t)=w(t) H x(t) (6)

[0063] Where w(t) is the weight vector; H is the conjugate transpose; a classic adaptive beamforming method minimizes the array's output power under the constraint of constant gain in the target direction, mathematically expressed as:

[0064] min w w H Rw, constraint w H a(θ0)=1 (7)

[0065] Where R is the covariance matrix of the received signal x(t), denoted as...

[0066] R = E[x(t)x(t)] H (8)

[0067] This yields energy values ​​at different angles, i.e., the second-angle spectrum.

[0068]

[0069] Since MVDR minimizes the array's output power ||y(t)|| under constraints 2 Therefore, it suppresses the output power of the array in directions where no target appears.

[0070] In this embodiment, the output of adaptive beamforming is determined based on the steering vector, signal source, Gaussian white noise vector, and weight vector of the second set of array elements; the output power is minimized under the constraint that the target direction gain remains unchanged, thereby obtaining the second angle spectrum. By comparing the second angle spectrum, the true angle can be further determined, thereby achieving angle deambiguity.

[0071] Optionally, determining the target azimuth angle based on the first angle spectrum and the second angle spectrum includes:

[0072] If the first group of array elements and the second group of array elements simultaneously satisfy the condition that the angular spectrum amplitude corresponding to a certain azimuth angle is higher than the angular spectrum amplitude of other positions, then the azimuth angle is determined as the target azimuth angle.

[0073] Specifically, such as Figure 4As shown in the straight line (ULA-DBF), where ULA is a uniform linear array, if the target azimuth is at 0 degrees, using equally spaced array elements results in three main lobes and grating lobes of equal amplitude across the entire angular spectrum space, at θ0 = 0 degrees, θ1 = -32.1 degrees, and θ2 = 32.1 degrees respectively. This demonstrates that using equally spaced array elements alone produces angular ambiguity, making it impossible to determine which of these three angles the target originates from. Figure 4 As shown in "-*-" (non-uniform array - adaptive BF), where adaptive BF stands for adaptive beamforming, if non-uniformly spaced array elements are used, by using the adaptive beamforming method MVDR, comparing the angular spectra at these three angles, only the amplitude at the angle where the target appears (θ0 = 0deg) is higher than the amplitude at other angles where no target appears. That is, only at the location where a target appears will both sets of array elements simultaneously exhibit angular spectrum amplitudes higher than those at other locations. Because each angular spectrum will have a main lobe with the highest amplitude, if the incident target is unique, the highest amplitude points of both angular spectra should correspond to the same azimuth angle. Therefore, the angle where at least two angular spectra reach the highest amplitude can be taken as the target azimuth angle. In this embodiment, by using different combinations of antenna array elements and employing signal processing, and based on the use of adaptive beamforming, it is compared and determined whether the first group of array elements and the second group of array elements simultaneously satisfy the condition that the angular spectrum amplitude corresponding to a certain azimuth angle is higher than the angular spectrum amplitude at other positions. If the first group of array elements and the second group of array elements simultaneously satisfy the condition that the angular spectrum amplitude corresponding to a certain azimuth angle is higher than the angular spectrum amplitude at other positions, then the azimuth angle is determined as the target azimuth angle, thereby achieving angle deambiguity.

[0074] In this embodiment of the invention, the azimuth angle is calculated based on the phase difference between the first group of array elements to determine the positions of the main lobe and the grating lobe, and to determine whether angular ambiguity has occurred. By using adaptive beamforming, if the first and second groups of array elements simultaneously satisfy the condition that the angular spectrum amplitude corresponding to an azimuth angle is higher than the angular spectrum amplitude at other positions, then that azimuth angle is determined as the target azimuth angle. Angle deambiguity is achieved by utilizing the different positions of the side lobes in different array element combinations. Furthermore, as more cascaded chip solutions are adopted in the future, containing more antenna array elements, selecting different array element combinations will become easier, and the implementation of this solution will become more widespread and convenient.

[0075] Optionally, the aperture of the first group of array elements and / or the second group of array elements is greater than a set threshold.

[0076] Specifically, the aperture of an array element is directly proportional to the radar's angular resolution; that is, the larger the aperture, the higher the angular resolution. Angular resolution actually refers to the radar's pointing accuracy. In this embodiment, by pre-setting an aperture threshold, the aperture of the first group of array elements and / or the second group of array elements is made larger than the pre-set aperture threshold to meet the angular resolution requirement.

[0077] Optionally, the first group of array elements consists of equally spaced array elements; the second group of array elements consists of non-equally spaced array elements.

[0078] Specifically, when the first group of array elements is equidistant and the second group of array elements is non-equidistant, the fuzzy angles obtained from the equidistant array elements, such as θ0, θ1, θ2, etc., can be referenced. Figure 4 As shown. Further analysis is performed using another set of non-equidistant array elements, namely by using adaptive beamforming (MVDR) to compare the angle spectra at these three angles. Only at the location where the target appears will the amplitude of the angle spectrum of the two different array elements be higher than that of the angle spectrum at other locations, thus obtaining the true angle of the target. Angle de-ambiguity is achieved by utilizing the different positions of the sidelobes of different array element combinations.

[0079] Optionally, the adaptive beamforming method includes a minimum variance distortion-free algorithm or a subspace method.

[0080] Specifically, for array elements with equal spacing, traditional beamforming methods can be used, which are simpler and easier to implement. However, for array elements with unequal spacing, traditional beamforming methods will produce high-amplitude sidelobes. Therefore, adaptive beamforming methods can be selected. Adaptive beamforming methods include minimum variance distortion-free algorithms or subspace methods, which have a certain effect on suppressing sidelobe amplitude.

[0081] In this embodiment of the invention, by pre-setting an aperture threshold, the aperture of the first group of array elements and / or the second group of array elements is made larger than the pre-set aperture threshold to meet the angular resolution, thereby improving angular resolution while solving the problem of angular blurring. By setting the first group of array elements to be equally spaced array elements and the second group of array elements to be non-equally spaced array elements, the different positions of the sidelobes in different array element combinations are used to achieve the purpose of angular deblurring. An adaptive beamforming method is selected, including the Minimum Variance Distortionless Algorithm (MVDR) or the Subspace Method (MUSIC), which achieves the effect of suppressing the sidelobe amplitude.

[0082] Example 2

[0083] Figure 6 This is a schematic diagram of an azimuth angle determination device provided in Embodiment 2 of the present invention. Figure 6 As shown, the azimuth angle determination device provided in this embodiment includes:

[0084] The first angle spectrum determination module 210 is used to determine the first angle spectrum corresponding to the first group of array elements in the antenna array.

[0085] The second angle spectrum determination module 220 is used to determine the second angle spectrum corresponding to the second group of array elements based on the output of the adaptive beamforming of the second group of array elements in the antenna array.

[0086] The target azimuth determination module 230 is used to determine the target azimuth based on the first angle spectrum and the second angle spectrum.

[0087] The fourth embodiment of this invention provides an azimuth angle determination device, which determines a first angular spectrum corresponding to a first group of array elements in an antenna array; determines a second angular spectrum corresponding to a second group of array elements based on the adaptive beamforming output of the second group of array elements; and determines the target azimuth angle based on the first and second angular spectra. This technical solution utilizes different combinations of antenna array elements and employs signal processing to achieve angle de-ambiguity, thus improving angular resolution for sparse arrays while solving the angular ambiguity problem and reducing the requirement to adjust grating positions through optimized antenna element spacing. Furthermore, as more cascaded chip solutions are adopted in the future, containing more antenna array elements, selecting different array element combinations will become easier, making the implementation of this solution more widespread and convenient.

[0088] Optionally, the target azimuth angle is determined based on the first angular spectrum and the second angular spectrum, including:

[0089] If the first group of array elements and the second group of array elements simultaneously satisfy the condition that the angular spectrum amplitude corresponding to a certain azimuth angle is higher than the angular spectrum amplitude of other positions, then the azimuth angle is determined as the target azimuth angle.

[0090] Optionally, determining the first angular spectrum corresponding to the first group of elements in the antenna array includes:

[0091] Based on the phase difference of the first set of array elements, multiple solutions are determined that make the azimuth angle less than or equal to 1. The positions of the main lobe and the grating lobe are determined based on the azimuth angle corresponding to each solution.

[0092] Optionally, the second angular spectrum corresponding to the second group of array elements is determined based on the adaptive beamforming output of the second group of array elements in the antenna array, including:

[0093] The output of adaptive beamforming is determined based on the steering vector, signal source, Gaussian white noise vector, and weighting vector of the second set of array elements.

[0094] By minimizing the output power under the constraint that the gain in the target direction remains unchanged, the second angular spectrum is obtained.

[0095] Optionally, the aperture of the first group of array elements and / or the second group of array elements is greater than a set threshold.

[0096] Optionally, the first group of array elements consists of equally spaced array elements; the second group consists of non-equally spaced array elements.

[0097] Optional adaptive beamforming methods include the Minimum Variance Distortion-Free Algorithm (MVDR) or the Subspace Method (MUSIC).

[0098] The azimuth angle determination device provided in Embodiment 2 of the present invention can be used to execute the azimuth angle determination method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0099] Example 3

[0100] Figure 7 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. Figure 7 As shown, the electronic device includes a memory 320, a processor 310, and a computer program stored in the memory and executable on the processor. When the processor 310 executes the program, it implements the hazardous condition handling method described in any of the above embodiments.

[0101] The electronic device may also include a memory 320; the processor 310 in the electronic device may be one or more. Figure 7 Taking a processor 310 as an example; the memory 320 is used to store one or more programs; the one or more programs are executed by the one or more processors 310, so that the one or more processors 310 implement the azimuth angle determination method as described in any of the above embodiments.

[0102] The electronic device also includes an input device 330 and an output device 340.

[0103] The processor 310, memory 320, input device 330, and output device 340 in this electronic device can be connected via a bus or other means. Figure 7 Taking the example of a connection between China and Israel via a bus.

[0104] Input device 330 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the evaluation device. Output device 340 may include display devices such as a display screen.

[0105] The memory 320, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the azimuth determination method described in the embodiments of this application (e.g., the first angle spectrum determination module 210, the second angle spectrum determination module 220, and the target azimuth determination module 230 in the azimuth determination device). The memory 320 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the evaluation device, etc. Furthermore, the memory 320 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 320 may further include memory remotely located relative to the processor 310, and these remote memories can be connected to the evaluation device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0106] Based on the above embodiments, this embodiment also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the hazardous condition handling method in any of the above embodiments of the present invention.

[0107] The storage medium containing computer-executable instructions provided in this embodiment of the invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable CD-ROM, optical storage device, magnetic storage device, or any suitable combination thereof. The computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0108] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit programs for use by or in connection with an instruction execution system, apparatus, or device.

[0109] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, radio frequency (RF), etc., or any suitable combination thereof.

[0110] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0111] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the survivability assessment method described in the various embodiments of the present invention.

[0112] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for determining azimuth, characterized in that, include: Determine the first angular spectrum corresponding to the first group of elements in the antenna array; The second angular spectrum corresponding to the second group of array elements is determined based on the adaptive beamforming output of the second group of array elements in the antenna array; the first group of array elements are equally spaced array elements. The second group of array elements are non-equally spaced array elements; the number of array elements in the first group and the second group are both one or more; Determine the target azimuth angle based on the first angle spectrum and the second angle spectrum; Determining the target azimuth angle based on the first angle spectrum and the second angle spectrum includes: If the first group of array elements and the second group of array elements simultaneously satisfy the condition that the angular spectrum amplitude corresponding to a certain azimuth angle is higher than the angular spectrum amplitude of other positions, then the azimuth angle is determined as the target azimuth angle.

2. The method according to claim 1, characterized in that, Determine the first angular spectrum corresponding to the first group of elements in the antenna array, including: Based on the phase difference of the first set of array elements, multiple solutions are determined that make the azimuth angle less than or equal to 1, and the positions of the main lobe and the grating lobe are determined based on the azimuth angle corresponding to each solution.

3. The method according to claim 1, characterized in that, Determining the second angular spectrum corresponding to the second group of array elements based on the adaptive beamforming output of the second group of array elements in the antenna array includes: The output of adaptive beamforming is determined based on the steering vector, signal source, Gaussian white noise vector, and weight vector of the second set of array elements. The second angular spectrum is obtained by minimizing the output power under the constraint that the gain in the target direction remains unchanged.

4. The method according to claim 1, characterized in that, The aperture of the first group of array elements and / or the second group of array elements is greater than a set threshold.

5. The method according to claim 1, characterized in that, The adaptive beamforming method includes the Minimum Variance Distortion-Free Algorithm (MVDR) or the Subspace Method (MUSIC).

6. An azimuth angle determining device, characterized in that, include: The first angle spectrum determination module is used to determine the first angle spectrum corresponding to the first group of array elements in the antenna array. The second angle spectrum determination module is used to determine the second angle spectrum corresponding to the second group of array elements based on the output of the adaptive beamforming of the second group of array elements in the antenna array; the first group of array elements are equally spaced array elements. The second group of array elements are non-equally spaced array elements; the number of array elements in the first group and the second group are both one or more; The target azimuth determination module is used to determine the target azimuth based on the first angle spectrum and the second angle spectrum; The target azimuth determination module is specifically used for: If the first group of array elements and the second group of array elements simultaneously satisfy the condition that the angular spectrum amplitude corresponding to a certain azimuth angle is higher than the angular spectrum amplitude of other positions, then the azimuth angle is determined as the target azimuth angle.

7. An electronic device, characterized in that, The electronic device includes: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the azimuth angle determination method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the azimuth angle determination method as described in any one of claims 1-5.

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