Method, device and storage medium for resolving angle ambiguity of antenna array

Abstract

The present invention relates to the field of antenna technology, and the present invention discloses a method, device and storage medium for resolving angle ambiguity of an antenna array. The method for resolving angle ambiguity provided by the present invention is implemented based on two subarrays, namely a first subarray and a second subarray, and there is a preset interval between the two subarrays, the array element spacing of the first subarray is equal to the array element spacing of the second subarray; the distance between the adjacent first array elements and the second array elements is equal to the preset interval, and the two subarrays are arranged in a straight line or parallel, and the corresponding phase set is subsequently determined through the ambiguity angle set received by the two subarrays, the target phase is determined, and then the target angle corresponding to the target phase is determined, thereby improving the accuracy of angle resolution on the basis of improving the efficiency of angle resolution.

Description

Technical Field

[0001] The present invention relates to the field of antenna technology, and in particular to a method, device and storage medium for resolving angle ambiguity of an antenna array. Background Art

[0002] Radar is an electronic device that uses electromagnetic waves to detect targets. Radar emits electromagnetic waves to illuminate the target and receives its echo, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), direction, altitude, etc. It is generally used and involved in military, traffic control and life.

[0003] During the radar monitoring process, it is necessary to process the received wave data to obtain the above-mentioned distance, azimuth and altitude information, etc. Among them, the determination of the angle is also an important parameter of the radar. In the prior art, the antenna formed by the following two methods is often used to determine the angle; one is to determine the angle by adjusting the field of view (FOV), but this method of determining the field of view needs to continuously adjust the FOV scan when covering a large angle range. This will increase the scanning time; in order to overcome this technical problem, some people use grating-free sparse array antennas to determine, but the array will produce side lobes, which will cause false targets. That is, a strong real target is at the position of the side lobe of the transmitting antenna, but it will be mistakenly considered to be a relatively weak target within the main lobe angle range, thus forming a false target; in order to improve the angular resolution, it is necessary to increase the array aperture. For the same number of antennas, the larger the aperture, the higher the side lobe. This affects the accuracy of angle measurement. Summary of the invention

[0004] The present invention aims to solve the technical problem of low angle measurement accuracy of antenna arrays in the prior art.

[0005] In order to solve the above technical problems, the present application discloses, on the one hand, a method for resolving angle ambiguity of an antenna array, which comprises the following steps:

[0006] A radar signal reflected by a target object is acquired by using an antenna array; the antenna array includes a first subarray and a second subarray, the first subarray includes at least two first array elements, the second subarray includes at least two second array elements, and there is a preset interval between the first subarray and the second subarray; the array element spacing of the first subarray is equal to the array element spacing of the second subarray; the distance between adjacent first array elements and second array elements is equal to the preset interval; the straight line where the first subarray is located is parallel to or coincides with the straight line where the second subarray is located;

[0007] Determine a first ambiguity angle set of the first subarray and a second ambiguity angle set of the second subarray according to the radar signal;

[0008] Determine a first target phase set according to the first fuzzy angle set;

[0009] Determine a second target phase set according to the second fuzzy angle set;

[0010] Get the preset threshold value;

[0011] Determine a target phase based on the first target phase set, the second target phase set and the preset threshold;

[0012] A target angle corresponding to the target phase is determined from the first fuzzy angle set.

[0013] Optionally, determining a first target phase set according to the first fuzzy angle set; and determining a second target phase set according to the second fuzzy angle set include:

[0014] Determining a first target angle set from the first fuzzy angle set;

[0015] determining a second target angle set from the second fuzzy angle set;

[0016] Determining a first target phase set according to the first target angle set;

[0017] determining a second target phase set according to the second target angle set;

[0018] The step of determining a target angle corresponding to the target phase from the first fuzzy angle set includes:

[0019] A target angle corresponding to the target phase is determined from the first target angle set.

[0020] Optionally, the first target phase set includes phases of N first target points; N is an integer greater than or equal to 1;

[0021] The second target phase set includes phases of N second target points;

[0022] The determining of the target phase based on the first target phase set, the second target phase set and the preset threshold comprises:

[0023] Subtracting the phase of each first target point among the N first target points from the phase of the corresponding second target point to obtain a deviation value set; the deviation value set includes the deviation value of each first target point;

[0024] Determining a target deviation value set from the deviation value set based on the preset threshold;

[0025] A target phase is determined from the first target phase set according to the target deviation value set.

[0026] Optionally, the preset interval is 0.25λ-4λ, where λ represents a half wavelength corresponding to the radar signal.

[0027] Optionally, the first fuzzy angle set includes a first angle and a gain corresponding to the first angle; the second fuzzy angle set includes a second angle and a gain corresponding to the second angle;

[0028] The method of determining a first target angle set from the first fuzzy angle set and determining a second target angle set from the second fuzzy angle set comprises:

[0029] Obtaining a field of view angle threshold range and a radar cross section threshold range; the radar cross section threshold range is used to characterize the relationship between the angle and the antenna's transmit / receive composite gain;

[0030] Determine a first target angle set from the first fuzzy angle set according to the field of view angle threshold range and the radar cross section threshold range;

[0031] A second target angle set is determined from the second fuzzy angle set according to the field of view angle threshold range and the radar cross section threshold range.

[0032] Optionally, determining a first ambiguity angle set of the first subarray and a second ambiguity angle set of the second subarray according to the radar signal includes:

[0033] The radar signal is sequentially subjected to an analog-to-digital converter, a range Fourier transform, a Doppler Fourier transform and an angle Fourier transform to obtain a first fuzzy angle set of the first subarray and a second fuzzy angle set of the second subarray.

[0034] On the other hand, the present application also discloses an angle ambiguity resolution device for an antenna array, which comprises:

[0035] A radar signal acquisition module, configured to acquire a radar signal reflected by a target object using an antenna array; the antenna array comprises a first subarray and a second subarray, the first subarray comprises at least two first array elements, the second subarray comprises at least two second array elements, a preset interval exists between the first subarray and the second subarray; an array element spacing of the first subarray is equal to an array element spacing of the second subarray; a distance between adjacent first array elements and second array elements is equal to the preset interval; a straight line where the first subarray is located is parallel to or coincides with a straight line where the second subarray is located;

[0036] A fuzzy angle set determination module, used to determine a first fuzzy angle set of the first sub-array and a second fuzzy angle set of the second sub-array according to the radar signal;

[0037] A target phase set determination module, configured to determine a first target phase set according to the first fuzzy angle set; and determine a second target phase set according to the second fuzzy angle set;

[0038] A threshold acquisition module, used to obtain a preset threshold;

[0039] A target phase determination module, configured to determine a target phase based on the first target phase set, the second target phase set and the preset threshold;

[0040] The target angle determination module is used to determine a target angle corresponding to the target phase from the first fuzzy angle set.

[0041] Optionally, a target phase set determination module is used to determine a first target angle set from the first fuzzy angle set; determine a second target angle set from the second fuzzy angle set; determine a first target phase set based on the first target angle set; determine a second target phase set based on the second target angle set;

[0042] The target angle determination module is used to determine a target angle corresponding to the target phase from the first target angle set.

[0043] On the other hand, the present application also discloses a computer device, which includes a processor and a memory, in which at least one instruction, at least one program, a code set or an instruction set is stored. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the above-mentioned angle ambiguity resolution method.

[0044] On the other hand, the present application further discloses a computer storage medium, in which at least one instruction or at least one program is stored. The at least one instruction or at least one program is loaded and executed by a processor to implement the above-mentioned angle ambiguity resolution method.

[0045] By adopting the above technical solution, the angle ambiguity resolution method provided by the present application has the following beneficial effects:

[0046] The angle ambiguity resolution method provided by the present application is implemented based on two subarrays, namely, a first subarray and a second subarray, and there is a preset interval between the two subarrays, the array element spacing of the first subarray is equal to the array element spacing of the second subarray; the distance between the adjacent first array elements and the second array elements is equal to the preset interval, and the two subarrays are arranged in a straight line or parallel, thereby improving the accuracy of angle resolution on the basis of improving the efficiency of angle ambiguity resolution, and subsequently determining the corresponding phase set through the blurred angle set received by the two subarrays, determining the target phase, and then determining the target angle corresponding to the target phase. Compared with the prior art by continuously adjusting the field of view angle and the sparse array without grating lobes, the angle measurement method has the advantage of high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 An application scenario diagram provided for this application;

[0049] Figure 2 A schematic diagram of a process for resolving angle ambiguity provided in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of an optional antenna array arrangement for this application;

[0051] Figure 4 An optional FFT data diagram of the radar echo of the first subarray in this application;

[0052] Figure 5 This is an optional FFT data diagram of the radar echo of the second sub-array of this application.

[0053] Figure 6 This is a schematic diagram of another optional arrangement of sub-arrays in this application;

[0054] Figure 7 This is a data diagram of an optional first blur angle set and a second blur angle set of the present application;

[0055] Figure 8 This is an optional data diagram of the first fuzzy phase set and the second fuzzy phase set of the present application;

[0056] Fig. 9 A data listing diagram of an optional deviation value set for this application;

[0057] Fig.10 This is a schematic diagram of the structure of an optional angle ambiguity resolution device for this application;

[0058] Fig.11 A hardware structure block diagram of a server for an optional angle ambiguity resolution method for the present application. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0060] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0061] like Figure 1 As shown, Figure 1 An application scenario diagram provided for this application. The scene includes a radar system 20 and a target object 10. The radar system 20 includes an antenna array 202 and a processing unit 201 that are communicatively connected. The antenna array 202 includes a first subarray and a second subarray. The first subarray includes at least two first array elements, the second subarray includes at least two second array elements, and there is a preset interval between the first subarray and the second subarray; the array element spacing of the first subarray is equal to the array element spacing of the second subarray; the distance between adjacent first array elements and second array elements is equal to the preset interval; the straight line where the first subarray is located is parallel to or coincides with the straight line where the second subarray is located; the antenna array 202 is used to acquire a radar signal reflected by the target object 10 and send it to the processing unit, and the processing unit 201 is used to determine a first fuzzy angle set of the first subarray and a second fuzzy angle set of the second subarray according to the radar signal, determine a first target phase set according to the first fuzzy angle set, determine a second target phase set according to the second fuzzy angle set, acquire a preset threshold, and determine the target phase based on the first target phase set, the second target phase set and the preset threshold. The target angle corresponding to the target phase is determined from the first ambiguity angle set. In this case, the accuracy of angle measurement can be improved on the basis of improving the efficiency of angle ambiguity resolution.

[0062] Optionally, the processing unit may be a terminal or a server.

[0063] Optionally, the terminal may be a physical device of the type of a desktop computer, a laptop computer, a mobile phone, a tablet computer, a digital assistant, a smart wearable device, etc.; among which, the smart wearable device may include a smart bracelet, a smart watch, smart glasses, a smart helmet, etc.

[0064] The terminal may include a display screen, a storage device and a processor connected via a data bus. The display screen is used for displaying the virtual image of the device to be monitored and the connection relationship between the various sub-devices in the device to be monitored. The display screen may be a touch screen of a mobile phone or a tablet computer. The storage device is used to store the program code and data of the shooting device. The storage device may be a memory of the terminal, or a storage device such as a smart media card, a secure digital card, or a flash card. The processor may be a single-core or multi-core processor.

[0065] The following describes a specific embodiment of a method for resolving angle ambiguity in the present application. Figure 2 A flowchart of a method for resolving angle ambiguity provided in an embodiment of the present application. This specification provides method operation steps such as the embodiment or flowchart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only order of execution. When the actual system or server product is executed, it can be executed in the order shown in the embodiment or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment). Specifically, Figure 2 As shown, the method may include:

[0066] S201: Acquire a radar signal reflected by a target object using an antenna array; the antenna array includes a first subarray and a second subarray, the first subarray includes at least two first array elements, the second subarray includes at least two second array elements, there is a preset interval between the first subarray and the second subarray, the array element spacing of the first subarray is equal to the array element spacing of the second subarray, and the distance between adjacent first array elements and second array elements is equal to the preset interval; the straight line where the first subarray is located is parallel to or coincides with the straight line where the second subarray is located.

[0067] Optionally, in an embodiment of the present application, the target object may be one or more than one. When the target object is one, if it is a polygonal object, the antenna array may collect multiple points.

[0068] Optionally, there is a preset interval between the first sub-array and the second sub-array described in the embodiment of the present application, and the distance between the adjacent first array elements and the second array elements is equal to the preset interval, see Figure 3 , Figure 3 This is a schematic diagram of an optional antenna array arrangement of the present application, wherein the first sub-array and the second sub-array are two sub-arrays with the same array element spacing and the same number of array elements; Figure 3, the array elements of the first subarray are the points of the triangle in the figure, the array elements of the second subarray are the points of the ellipse in the figure, the first subarray includes 4 array elements, the second subarray also includes 4 array elements, and the array element spacing is 1, and the preset spacing is 0.5, so that each array element of the first subarray is provided with an array element of the second subarray on one side; optionally, of course, the number of array elements of the first subarray can also be different from the number of array elements of the second subarray, for example, the array elements in the head or tail area of ​​the first subarray or the second subarray can be removed, as long as it is ensured that the subarray includes at least two array elements and the spacing between the two subarrays is equal.

[0069] It should be noted that, when the number of array elements in a sub-array is greater, the angle measurement accuracy is higher. Therefore, in order to improve the angle measurement accuracy, the target angle can be finally determined from the angle set corresponding to the sub-array with a larger number of array elements. When the number of array elements in the second sub-array is greater than that in the first sub-array, the subsequent step S207 can also be based on determining the target angle corresponding to the target phase from the second fuzzy angle set.

[0070] In a possible embodiment, the preset interval is 0.25λ-4λ, where λ represents a half wavelength corresponding to the radar signal, so that the antenna array based on this arrangement has the advantage of high angle measurement accuracy.

[0071] S202: Determine a first ambiguity angle set of the first sub-array and a second ambiguity angle set of the second sub-array according to the radar signal.

[0072] In order to further improve the application flexibility of the method, in a possible embodiment, step S202 can be described as: the radar signal is sequentially subjected to an analog-to-digital converter, a distance Fourier transform, a Doppler Fourier transform, and an angle Fourier transform to obtain a first fuzzy angle set of the first subarray and a second fuzzy angle set of the second subarray. That is, the processing unit includes a digital-to-analog converter, which is connected to each array element of the antenna array, so that the sampling frequency of the array element can be controlled. When the antenna array receives the radar signal, the radar signal can first pass through a digital-to-analog converter (DAC) to generate a digital signal. The processing module in the processing unit sequentially uses the distance Fourier transform, the Doppler Fourier transform, and the angle Doppler Fourier transform to obtain a point set with three-dimensional data, and the three dimensions are respectively the distance dimension, the speed dimension, and the angle dimension. As described above, the first fuzzy angle set and the second fuzzy angle set can be determined from the point set.

[0073] See also Figure 4-6 , Figure 4 An optional FFT data diagram of the radar echo of the first subarray in this application; Figure 5 This is an optional FFT data diagram of the radar echo of the second sub-array of this application. Figure 6 This is a schematic diagram of another optional sub-array arrangement of the present application. Figure 4 and Figure 5 The horizontal axis is the x-axis, the x-axis represents the angle, and the vertical axis is the y-axis, the y-axis represents the amplitude. Figure 4 and 5 The corresponding first and second sub-matrices are Figure 6 The corresponding example, from Figure 6 It can be seen that the dark ellipse corresponds to the first subarray, and the light ellipse corresponds to the second subarray. The first subarray and the second subarray are equally spaced subarrays and are located on the same straight line. The array element spacing of the first subarray and the array element spacing of the second subarray are both 12. Figure 6 Each dot in the figure represents an array element, and a square represents 1.5 times the wavelength; Figure 6 The horizontal axis represents the spacing, and the unit is 1.5 times the wavelength. The preset spacing between the first subarray and the second subarray is 1.

[0074] It should be noted that Figure 6 For example, the units of the preset interval and the array element spacing are both 1.5 times the wavelength.

[0075] from Figure 4-5 It can be seen that both the first subarray and the second subarray have 36 peaks, and the 36 peak points are 6 target points. This is because the array element spacing of the first subarray is 12, so its fuzzy multiple for an actual target point is 12, so it can also be determined that there are actually 3 actual target points in this embodiment. Figure 7 , Figure 7 This is a data diagram of an optional first blur angle set and a second blur angle set for the present application.

[0076] S203: Determine a first target phase set according to the first fuzzy angle set.

[0077] S204: Determine a second target phase set according to the second fuzzy angle set.

[0078] In order to improve the application flexibility of the method, in a possible embodiment, steps S203-204 can be specifically explained as: determining a first target angle set from the first blurred angle set; determining a first target phase set based on the first target angle set; determining a second target angle set from the second blurred angle set; determining a second target phase set based on the second target angle set.

[0079] In a possible embodiment, the first fuzzy angle set includes a first angle and a gain corresponding to the first angle; the second fuzzy angle set includes a second angle and a gain corresponding to the second angle; the method for determining the first target angle set and the second target angle set in the above steps may be: obtaining a field of view angle threshold range and a radar cross section threshold range, determining the first target angle set from the first fuzzy angle set according to the field of view angle threshold range and the radar cross section threshold range, and determining the second target angle set from the second fuzzy angle set according to the field of view angle threshold range and the radar cross section threshold range, and the radar cross section threshold range is used to characterize the relationship between the angle and the antenna's transmit / receive composite gain.

[0080] Optionally, the field of view angle threshold range is -60° to 60°, and the purpose of setting the radar cross-sectional area threshold (RadarCross Section, RCS) is to subsequently eliminate angles with abnormal RCS. Since the antenna gain in different directions varies greatly, refer to Table 1, which shows the relationship between the angle range and the corresponding antenna transmit and receive composite gain; it can be seen that the gain at 0 degrees is 33dB, and the gain at 50 degrees is 8dB, so the difference is 25dB. In the 0-degree direction and the 50-degree direction, the antenna gain differs by about 25dB, which means that the received energy of the same target in different directions will show a large difference, with strong energy in the 0-degree direction. If a target has weak energy in the 0-degree direction, then the RCS of the target is smaller. If it exceeds the set RCS range, it is considered abnormal. Continuing with the above example, based on the above-set field of view angle threshold range and Table 1, it can be Figure 7 The first fuzzy angle set is screened, thereby eliminating -74.3422, -69.0021, -64.9922, 60.5860, 64.2095, and 68.0844, and the remaining 30 angles form the first target angle set. Similarly, the second fuzzy angle set is screened, thereby eliminating -74.3422, -69.0021, -64.9922, 60.5860, 64.2095, and 68.0844, and the remaining 30 angles form the first target angle set.

[0081] Table 1

[0082]

[0083] It should be noted that the processing module stores an angle-gain table corresponding to each subarray in the first subarray and the second subarray. The two angle-gain tables can be directly obtained later to obtain the gain corresponding to the angle of each target point, thereby forming a first fuzzy angle set and a second fuzzy angle set.

[0084] In order to improve the application flexibility of the method, in another possible embodiment, steps S203-204 can be specifically described as: determining that the first fuzzy angle set corresponds to the first fuzzy phase set; determining the second fuzzy phase set corresponding to the second fuzzy angle set, determining the first target phase set from the first fuzzy phase set, and determining the second target phase set from the second fuzzy phase set, see Figure 8 , Figure 8 This is a data diagram of an optional first fuzzy phase set and a second fuzzy phase set of the present application.

[0085] In another possible embodiment, the method for determining the first target phase set and the second target phase set in the above steps may be: obtaining a field of view angle threshold range and a radar cross section threshold range, determining the first target phase set from the first fuzzy phase set according to the field of view angle threshold range and the radar cross section threshold range, and determining the second target phase set from the second fuzzy phase set according to the field of view angle threshold range and the radar cross section threshold range, the radar cross section threshold range is used to characterize the relationship between the angle and the antenna's transmit and receive composite gain, the first fuzzy phase set and the second fuzzy phase set both include angles and corresponding gains and phases, and the specific process refers to the above example, based on the above-set field of view angle threshold range and Table 1, the first fuzzy phase set and the second fuzzy phase set can be screened, so that the angles -74.3422, -69.0021, -64.9922, 60.5860, 64.2095, 68.0844 and the corresponding phases therein are eliminated, and the remaining 30 angles and phases form the corresponding target phase set.

[0086] S205: Obtain a preset threshold.

[0087] Optionally, in an embodiment of the present application, the preset threshold may be 8, and may be set to other values, such as 15, as required.

[0088] S206: Determine a target phase based on the first target phase set, the second target phase set and the preset threshold.

[0089] In order to improve the data processing efficiency and the application flexibility of the method, in a possible embodiment, the first target phase set includes the phases of N first target points; N is an integer greater than or equal to 1, and the second target phase set includes the phases of N second target points; N is an integer greater than or equal to 1, and step S206 can be specifically described as: subtracting the phase of each first target point in the N first target points from the phase of the corresponding second target point to obtain a deviation value set; the deviation value set includes the deviation value of each first target point, and a target deviation value set is determined from the deviation value set based on the preset threshold, and a target phase is determined from the first target phase set according to the target deviation value set; for example, continuing the first target phase set and the second target phase set in the above example, refer to Fig. 9 , Fig. 9 This is a data diagram of an optional deviation value set for this application. When the preset threshold is set to ±8, Fig. 9 It can be seen that only the deviation values ​​of -5.0475, 0.6766 and 4.7861 are within the range of ±8. Therefore, -5.0475, 0.6766 and 4.7861 are the target deviations, and their corresponding phases 6.2784, -5.6359 and 4.3616 are the target phases.

[0090] In order to further improve the application flexibility of the method, in another optional implementation, when the first subarray and the second subarray are the same, the target phase can also be determined by processing the second fuzzy angle set and its corresponding target phase set in the same manner as above.

[0091] S207: Determine a target angle corresponding to the target phase from the first fuzzy angle set.

[0092] Optionally, step S207 may be specifically described as: determining a target angle corresponding to the target phase from the first target angle set, continuing the above example, see Fig. 9 The target phases 6.2784, -5.6359 and 4.3616 correspond to angles 0.1119, 2.1267 and 15.0562, which are the target angles. In fact, the three target angles are 0, 2, and 15. The target angles determined by the above method are also relatively close, which further reflects the advantage of high angle measurement accuracy of the present application.

[0093] It should be noted that the present application determines the target phase and target angle based on the first fuzzy angle set of the first subarray because the present application sets the array element spacing of the first subarray to be equal to the second subarray, so that the resolution, fuzzy multiple and angle measurement accuracy of the first subarray are greater than those of the second subarray. Therefore, the subsequent determination is based on the target phase set of the first subarray, so that the final angle measurement accuracy is higher. In fact, if the first subarray and the second subarray are the same subarrays, or the array element spacing of the second subarray is greater than that of the first subarray, the target angle can also be determined based on the second fuzzy angle set of the second subarray.

[0094] See also Fig.10 , Fig.10 The present application also discloses an angle ambiguity resolution device for an antenna array, which includes:

[0095] The radar signal acquisition module 1001 is used to acquire the radar signal reflected by the target object by using the antenna array; the antenna array includes a first subarray and a second subarray, the first subarray includes at least two first array elements, the second subarray includes at least two second array elements, and there is a preset interval between the first subarray and the second subarray; the array element spacing of the first subarray is equal to the array element spacing of the second subarray; the distance between adjacent first array elements and second array elements is equal to the preset interval; the straight line where the first subarray is located is parallel to or coincides with the straight line where the second subarray is located;

[0096] The ambiguity angle set determination module 1002 is used to determine a first ambiguity angle set of the first sub-array and a second ambiguity angle set of the second sub-array according to the radar signal;

[0097] A target phase set determination module 1003 is used to determine a first target phase set according to the first fuzzy angle set; and determine a second target phase set according to the second fuzzy angle set;

[0098] The threshold acquisition module 1004 is used to acquire a preset threshold;

[0099] A target phase determination module 1005, configured to determine a target phase based on the first target phase set, the second target phase set and the preset threshold;

[0100] The target angle determination module 1006 is used to determine a target angle corresponding to the target phase from the first fuzzy angle set.

[0101] In a possible embodiment, the target phase set determination module is used to determine a first target angle set from the first fuzzy angle set; determine a second target angle set from the second fuzzy angle set; determine a first target phase set according to the first target angle set; determine a second target phase set according to the second target angle set;

[0102] The target angle determination module is used to determine a target angle corresponding to the target phase from the first target angle set.

[0103] In a possible embodiment, the first target phase set includes phases of N first target points; N is an integer greater than or equal to 1; the second target phase set includes phases of N second target points;

[0104] A target phase determination module is used to subtract the phase of each first target point among the N first target points from the phase of the corresponding second target point to obtain a deviation value set; the deviation value set includes the deviation value of each first target point; based on the preset threshold, a target deviation value set is determined from the deviation value set; and a target phase is determined from the first target phase set according to the target deviation value set.

[0105] In a possible embodiment, the preset interval is 0.25λ-4λ, where λ represents a half wavelength corresponding to the radar signal.

[0106] In a possible embodiment, the first blur angle set includes a first angle and a gain corresponding to the first angle; the second blur angle set includes a second angle and a gain corresponding to the second angle;

[0107] The target angle set determination module is used to obtain a field of view angle threshold range and a radar cross section threshold range; the radar cross section threshold range is used to characterize the relationship between the angle and the antenna's transmit-receive composite gain; a first target angle set is determined from the first fuzzy angle set according to the field of view angle threshold range and the radar cross section threshold range; and a second target angle set is determined from the second fuzzy angle set according to the field of view angle threshold range and the radar cross section threshold range.

[0108] In a possible embodiment, the ambiguity angle determination module is used to sequentially process the radar signal through an analog-to-digital converter, a range Fourier transform, a Doppler Fourier transform, and an angle Fourier transform to obtain a first ambiguity angle set for the first subarray and a second ambiguity angle set for the second subarray.

[0109] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal, a server or a similar computing device. Taking running on a server as an example, Fig.11 The hardware structure block diagram of a server for an optional angle ambiguity resolution method of this application is shown in FIG. Fig.11As shown, the server 1100 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 1110 (the central processing unit 1110 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1130 for storing data, and one or more storage media 1120 (such as one or more mass storage devices) for storing application programs 1123 or data 1122. Among them, the memory 1130 and the storage medium 1120 can be short-term storage or permanent storage. The program stored in the storage medium 1120 may include one or more modules, each of which may include a series of instruction operations on the server. Furthermore, the central processing unit 1110 can be configured to communicate with the storage medium 1120 and execute a series of instruction operations in the storage medium 1120 on the server 1100. The server 1100 may also include one or more power supplies 1160, one or more wired or wireless network interfaces 1150, one or more input and output interfaces 1140, and / or one or more operating systems 1121, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0110] The input / output interface 1140 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the server 1100. In one example, the input / output interface 1140 includes a network adapter (Network Interface Controller, NIC), which may be connected to other network devices via a base station so as to communicate with the Internet. In one example, the input / output interface 1140 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0111] It can be understood by those skilled in the art that Fig.11 The structure shown is only for illustration and does not limit the structure of the above electronic device. Fig.11 More or fewer components as shown, or with Fig.11 Different configurations are shown.

[0112] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the angle ambiguity resolution method as described above.

[0113] An embodiment of the present application also provides a storage medium, which can be set in a server to store at least one instruction, at least one program, a code set or an instruction set related to a method for resolving angle ambiguity in a method embodiment. The at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the above-mentioned method for resolving angle ambiguity.

[0114] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0115] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of this specification are described. Other embodiments are within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0116] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0117] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0118] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for resolving angle ambiguity of an antenna array, characterized in that: The following steps are involved: A radar signal reflected by a target object is acquired by using an antenna array; the antenna array includes a first subarray and a second subarray, the first subarray includes at least two first array elements, the second subarray includes at least two second array elements, and there is a preset interval between the first subarray and the second subarray; the array element spacing of the first subarray is equal to the array element spacing of the second subarray; the distance between adjacent first array elements and second array elements is equal to the preset interval; the straight line where the first subarray is located is parallel to or coincides with the straight line where the second subarray is located; Determine a first ambiguity angle set of the first subarray and a second ambiguity angle set of the second subarray according to the radar signal; Determining a first target phase set according to the first fuzzy angle set; Determining a second target phase set according to the second ambiguity angle set; Get the preset threshold value; Determine a target phase based on the first target phase set, the second target phase set and the preset threshold; A target angle corresponding to the target phase is determined from the first fuzzy angle set.

2. The method for resolving angle ambiguity according to claim 1, characterized in that: determining a first target phase set according to the first fuzzy angle set; Determining a second target phase set according to the second ambiguity angle set includes: Determining a first target angle set from the first fuzzy angle set; Determining a second target angle set from the second fuzzy angle set; determining a first target phase set according to the first target angle set; determining a second target phase set according to the second target angle set; The step of determining a target angle corresponding to the target phase from the first fuzzy angle set includes: A target angle corresponding to the target phase is determined from the first target angle set.

3. The method for resolving angle ambiguity according to claim 2, characterized in that: The first target phase set includes phases of N first target points; N is an integer greater than or equal to 1; The second target phase set includes phases of N second target points; The determining the target phase based on the first target phase set, the second target phase set and the preset threshold comprises: Subtracting the phase of each first target point among the N first target points from the phase of the corresponding second target point to obtain a deviation value set; the deviation value set includes the deviation value of each first target point; Determining a target deviation value set from the deviation value set based on the preset threshold; A target phase is determined from the first target phase set according to the target deviation value set.

4. The method for resolving angle ambiguity according to any one of claims 1 to 3, characterized in that: The preset interval is 0.25λ-4λ, where λ represents a half wavelength corresponding to the radar signal.

5. The method for resolving angle ambiguity according to claim 2, characterized in that: The first blur angle set includes a first angle and a gain corresponding to the first angle; the second blur angle set includes a second angle and a gain corresponding to the second angle; Determining a first target angle set from the first fuzzy angle set; Determining a second target angle set from the second fuzzy angle set includes: Obtaining a field of view angle threshold range and a radar cross section threshold range; the radar cross section threshold range is used to characterize the relationship between the angle and the antenna's transmit-receive composite gain; Determine a first target angle set from the first fuzzy angle set according to the field of view angle threshold range and the radar cross section threshold range; A second target angle set is determined from the second fuzzy angle set according to the field of view angle threshold range and the radar cross section threshold range.

6. The method for resolving angle ambiguity according to claim 1, characterized in that: The step of determining a first ambiguity angle set of the first subarray and a second ambiguity angle set of the second subarray according to the radar signal comprises: The radar signal is sequentially subjected to an analog-to-digital converter, a range Fourier transform, a Doppler Fourier transform, and an angle Fourier transform to obtain a first fuzzy angle set of the first subarray and a second fuzzy angle set of the second subarray.

7. An angular ambiguity resolution device for an antenna array, characterized in that: include: A radar signal acquisition module, configured to acquire a radar signal reflected by a target object using an antenna array; the antenna array includes a first subarray and a second subarray, the first subarray includes at least two first array elements, the second subarray includes at least two second array elements, and there is a preset interval between the first subarray and the second subarray; the array element spacing of the first subarray is equal to the array element spacing of the second subarray; the distance between adjacent first array elements and second array elements is equal to the preset interval; the straight line where the first subarray is located is parallel to or coincides with the straight line where the second subarray is located; an ambiguity angle set determination module, configured to determine a first ambiguity angle set of the first subarray and a second ambiguity angle set of the second subarray according to the radar signal; a target phase set determination module, configured to determine a first target phase set according to the first fuzzy angle set; and determine a second target phase set according to the second fuzzy angle set; A threshold acquisition module, used to obtain a preset threshold; a target phase determination module, configured to determine a target phase based on the first target phase set, the second target phase set and the preset threshold; A target angle determination module is used to determine a target angle corresponding to the target phase from the first fuzzy angle set.

8. The device for resolving angular ambiguity according to claim 7, characterized in that: a target phase set determination module, configured to determine a first target angle set from the first fuzzy angle set; determine a second target angle set from the second fuzzy angle set; and determine a first target phase set according to the first target angle set; determining a second target phase set according to the second target angle set; A target angle determination module is used to determine a target angle corresponding to the target phase from the first target angle set.

9. A computer device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the angle ambiguity resolution method as described in any one of claims 1-6.

10. A computer storage medium, characterized in that: The computer storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the angle ambiguity resolution method as described in any one of claims 1-6.

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