MIMO radar imaging sparse antenna layout method based on planar array, electronic device and storage medium

Abstract

The present application provides a sparse antenna layout method, electronic device and storage medium for MIMO radar imaging based on a planar array. The method includes: determining the spacing between adjacent similar array element centers of a sparse planar array; determining the size of a basic unit and an array element antenna size of the sparse planar array based on a target close distance; determining the number of transceiver array elements in a basic unit according to the size of the basic unit and the spacing between adjacent similar array element centers; determining the number of basic units along the X-axis and Z-axis directions respectively based on the size of the basic unit; determining the center position of the transceiver array element in the basic unit according to the spacing between adjacent similar array element centers, the array element antenna size, the size of the basic unit and the number of transceiver array elements in the basic unit, so as to layout the transceiver array elements in the basic unit; determining the geometric center position of the transceiver array element of the sparse planar array according to the center position of the transceiver array element in the basic unit, the size and number of the basic unit, so as to layout the basic unit.

Description

Technical Field

[0001] The present application relates to the field of radar signal processing technology, and in particular to a planar array-based MIMO radar imaging sparse antenna layout method, electronic equipment, and storage medium. Background Art

[0002] In order to protect the safety of people in crowded places such as airports, railway stations and passenger stations, it is particularly important to conduct security checks on people coming and going in these public places. Among the many security detectors, array radar near-field imaging is the most widely used in human security inspection, wall-penetrating radar, non-destructive testing, etc.

[0003] Among them, sparse array antennas can reduce the number of array elements while maintaining high resolution, which not only saves radar system costs in practical applications, but also reduces the complexity of antenna structure. However, in the current layout method, there is duplication of transmitting and receiving array elements, resulting in antenna redundancy. Summary of the invention

[0004] In view of the above problems existing in the prior art, the present application provides a sparse antenna layout method for MIMO radar imaging based on a planar array, an electronic device and a storage medium. The technical solution adopted in the embodiments of the present application is as follows:

[0005] On the one hand, an embodiment of the present application provides a sparse antenna layout method for MIMO radar imaging based on a planar array, wherein the planar array uses a synthetic array to establish a spatial rectangular coordinate system, with point O as the coordinate origin, the X axis as the azimuth direction, the Y axis as the distance direction, and the Z axis as the elevation direction; the method includes:

[0006] Determine the spacing between adjacent similar array element centers of a sparse planar array;

[0007] Determine the size of the basic unit and the element antenna size of the sparse planar array based on the close distance of the target;

[0008] Determining the number of transceiver array elements in the basic unit according to the size of the basic unit and the spacing between the centers of adjacent similar array elements;

[0009] Determining the number of the basic units along the X-axis and Z-axis directions respectively based on the size of the basic units;

[0010] Determine the center position of the transceiver array element in the basic unit according to the spacing between the centers of adjacent similar array elements, the size of the array element antenna, the size of the basic unit and the number of transceiver array elements in the basic unit, so as to arrange the transceiver array elements in the basic unit;

[0011] The geometric center positions of the transceiver array elements of the sparse planar array are determined according to the center positions of the transceiver array elements in the basic unit, the size and the number of the basic unit, so as to lay out the basic unit.

[0012] In some embodiments, determining the spacing between centers of adjacent similar array elements of the sparse planar array includes:

[0013] Establishing a virtual planar array according to the sparse planar array, and determining the spacing between array elements of the virtual planar array;

[0014] The spacing between centers of adjacent array elements of the same type in the sparse planar array is determined according to the spacing between array elements in the virtual planar array.

[0015] In some embodiments, determining the size of a basic unit and the size of an element antenna of a sparse planar array based on the close distance of the target includes:

[0016] Determine the beam width of the element antenna in the corresponding direction according to the lateral angular resolution and the longitudinal angular resolution of the MIMO imaging system;

[0017] Determine the size of the element antenna of the sparse planar array along the X-axis direction and the Z-axis direction respectively according to the beam width of the element antenna in the corresponding direction;

[0018] The sizes of the basic units along the X-axis direction and the Z-axis direction are determined respectively according to the beam width of the array element antenna in the corresponding direction and the target close distance.

[0019] In some embodiments, determining the number of transceiver array elements in the basic unit according to the size of the basic unit and the distance between the centers of adjacent similar array elements includes:

[0020] Determine the number of array element rows and the number of array element columns in the basic unit according to the size of the basic unit and the spacing between the centers of adjacent similar array elements in the X-axis direction and the Z-axis direction;

[0021] Determining the number of transmitting array elements in the basic unit according to the number of array element rows;

[0022] The number of receiving array elements in the basic unit is determined according to the number of array element columns.

[0023] In some embodiments, determining the center position of the transceiver array element in the basic unit according to the spacing between the centers of adjacent similar array elements, the size of the array element antenna, the size of the basic unit, and the number of transceiver array elements in the basic unit includes:

[0024] A1, determining the horizontal coordinate of the transmitting array element according to the size of the basic unit along the X-axis direction and the array element antenna size of the transmitting array element along the X-axis direction;

[0025] A2, determining the ordinate of the transmitting array element according to the array element antenna size along the Z-axis direction and the spacing between the centers of adjacent similar array elements, so as to determine the center positions of all the transmitting array elements in the basic unit.

[0026] In some embodiments, the determining the center position of the transceiver array element in the basic unit according to the spacing between the centers of adjacent similar array elements, the size of the array element antenna, the size of the basic unit, and the number of transceiver array elements in the basic unit to layout the transceiver array elements in the basic unit further includes:

[0027] C1, determining the horizontal coordinate of the receiving array element according to the array element antenna size of the receiving array element along the X-axis direction and the distance between the centers of adjacent similar array elements;

[0028] C2, determining the longitudinal coordinate of the receiving array element according to the array element antenna size of the receiving array element along the Z-axis direction, so as to determine the center position of all the receiving array elements in the basic unit.

[0029] In some embodiments, determining the geometric center position of the transceiver array element of the sparse planar array according to the center position of the transceiver array element in the basic unit, the size and number of the basic unit, includes:

[0030] B1, set the first counting variable and the second counting variable;

[0031] B2, determining the horizontal coordinate of the geometric center position of the transmitting array element based on the first counting variable according to the size of the basic unit along the X-axis direction and the array element antenna size of the transmitting array element along the X-axis direction;

[0032] B3, determining the ordinate of the geometric center position of the transmitting array element based on the second counting variable according to the size of the basic unit along the Z-axis direction and the center position of the transmitting array element;

[0033] B4, if the value of the second counting variable is not greater than the number of the basic units along the Z-axis direction, then increment the value of the second counting variable and execute step B3; if greater than, then execute step B5;

[0034] B5, if the value of the first counting variable is not greater than the number of basic units along the X-axis direction, then increase the value of the first counting variable and execute step B2; if it is greater, then end, thereby determining the geometric center position of all transmitting array elements.

[0035] In some embodiments, determining the geometric center position of the transceiver array element of the sparse planar array according to the center position of the transceiver array element in the basic unit, the size and number of the basic unit, includes:

[0036] D1, set the third counting variable and the fourth counting variable;

[0037] D2, determining the horizontal coordinate of the geometric center position of the receiving array element based on the third counting variable according to the size of the basic unit along the X-axis direction and the center position of the receiving array element;

[0038] D3, determining the ordinate of the geometric center position of the receiving array element based on the fourth counting variable according to the size of the basic unit along the Z-axis direction and the array element antenna size of the receiving array element along the Z-axis direction;

[0039] D4, if the value of the fourth counting variable is not greater than the number of the basic units along the Z-axis direction, then the value of the fourth counting variable is incremented and step D3 is executed; if it is greater, then step D5 is executed;

[0040] D5, if the value of the third counting variable is not greater than the number of the basic units along the X-axis direction, then increment the third counting variable and execute step D2; if greater, then end, thereby determining the geometric center position of all receiving array elements.

[0041] On the other hand, an embodiment of the present application also provides an electronic device, comprising at least a memory, a processor and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory through the bus, and when the machine-readable instructions are executed by the processor, the steps of the method provided in any of the above embodiments of the present application are implemented.

[0042] An embodiment of the present application further provides a storage medium, which stores one or more programs. When the one or more programs are executed by a processor, the steps of the method provided in any of the above embodiments of the present application are implemented.

[0043] Compared with the sparse antenna array of MIMO radar imaging in the prior art, the sparse antenna layout method of MIMO radar imaging based on planar array in the embodiment of the present application avoids duplication of transceiver array elements while avoiding affecting the imaging quality, further reducing the number of transceiver array elements to reduce the time of acquiring target echo data, and improving the imaging quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0045] Figure 1 A geometric diagram of a planar array-based MIMO radar imaging sparse antenna layout method provided in an embodiment of the present application;

[0046] Figure 2 A flow chart of a planar array-based MIMO radar imaging sparse antenna layout method provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of a sparse planar array and a virtual planar array provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of the basic unit geometry of a sparse planar array provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of the basic unit geometry of a sparse planar array provided in another embodiment of the present application;

[0050] Figure 6 A schematic diagram of a basic unit layout of a sparse planar array provided in an embodiment of the present application;

[0051] Figure 7 A flow chart of the layout steps of the transmit array elements of a sparse planar array provided for the implementation of the present application;

[0052] Figure 8 A flow chart of the layout steps of receiving array elements of a sparse planar array provided for the implementation of this application;

[0053] Fig. 9 A schematic diagram of a basic unit layout of a sparse planar array provided in another embodiment of the present application;

[0054] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the embodiment of the present application clearer, the technical solution of the embodiment of the present application will be clearly and completely described in conjunction with the drawings of the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. Based on the described embodiment of 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.

[0056] Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. "First", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0057] At present, the sparse array antenna layout method usually adopts full array antenna for layout, and there is duplication of transceiver array elements in the layout process, thereby causing redundancy between antennas. Accordingly, this application proposes a sparse antenna layout method for MIMO radar imaging based on a planar array. Compared with the sparse antenna array of MIMO radar imaging in the prior art, while avoiding affecting the imaging quality, the number of transceiver array elements is further reduced to reduce the time of acquiring target echo data, and the imaging quality is good.

[0058] The execution subject of the planar array-based MIMO radar imaging sparse antenna layout method may be a terminal device or a server or other processing device, wherein the terminal device may be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a wireless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. In some possible implementations, the method may be implemented by a processor calling a computer-readable instruction stored in a memory.

[0059] Figure 1The geometrical schematic diagram of the MIMO radar imaging sparse antenna layout method based on a planar array provided by the embodiment of the present application is shown. The present invention provides a MIMO radar imaging sparse antenna layout method based on a planar array. The layout method is based on the sparse array principle and adopts the " " or " The "-shaped synthetic array is used as the basic unit of the planar synthetic array. The transceiver array elements in the basic unit and the transceiver array elements between the basic units are used to perform one-transmit-multiple-receive. Compared with the sparse antenna layout of MIMO radar imaging in the prior art, the layout method of the embodiment of the present application further reduces the number of transceiver array elements, avoids duplication of transceiver array elements, can reduce the time of echo data acquisition, and improve imaging quality.

[0060] like Figure 1 As shown, in the embodiment of the present application, the planar array adopts " " shaped synthetic array, establish a spatial rectangular coordinate system, with point O as the origin, X axis as the azimuth, Y axis as the distance, Z axis as the elevation, and the size of the sparse planar array along the X axis is L x , the size along the Z axis is L z , Y near It is expressed as the shortest distance between a point target and a sparse planar array, that is, the array antenna is close to the target, and the " The "shaped composite array constitutes a basic unit, and the size of the basic unit along the X-axis is l x , the size along the Z axis is l z , multiple basic units are arranged in a certain order to form a sparse planar array.

[0061] Figure 2 FIG. 1 is a flow chart of a sparse antenna layout method for MIMO radar imaging based on a planar array provided in an embodiment of the present application. Figure 2 As shown, the planar array-based MIMO radar imaging sparse antenna layout method provided in the embodiment of the present application includes the following steps S1-S6:

[0062] S1, determine the spacing between the centers of adjacent similar array elements of a sparse planar array.

[0063] In this step, a virtual planar array is first established according to the sparse planar array, and then the spacing between the array elements of the virtual planar array and the spacing between adjacent similar transceiver array elements of the sparse planar array are determined according to the working wavelength of the sparse planar array and the scanning angle of the array element antenna. Specifically, it can be implemented as the following steps S11-S12:

[0064] S11, establishing a virtual plane array according to the sparse plane array, and determining the spacing between array elements of the virtual plane array. Figure 3As shown in the figure, firstly, the sparse planar array and the virtual planar array are obtained by simulation software. The sparse planar array is composed of transmitting array elements and receiving array elements, as shown in Figure 3 The “□” pointing upward in height and the “○” pointing upward in azimuth are shown. Figure 3 The sparse planar array composed of transmitting array elements and receiving array elements can be formed by the equivalent phase center obtained according to the equivalent phase center principle. Figure 3 The virtual plane array shown by “·” in .

[0065] After the virtual planar array is established, the spacing between the array elements of the virtual planar array can be determined by calculating the working wavelength of the sparse planar array and the scanning angle of the array element antenna using the following formula (1).

[0066]

[0067] Where λ is the operating wavelength of the sparse planar array, f c is the operating frequency of the sparse planar array, and its corresponding operating wavelength is λ = c / f c , it is recommended to take the wavelength corresponding to the highest frequency, where c is a constant representing the propagation speed of electromagnetic waves, θ x is the scanning angle of the sparse planar array element antenna along the X-axis, θ z is the scanning angle of the sparse planar array element antenna along the Z axis, the symbol |·| represents the absolute value operation, β is a counting variable with a value range of [0.25, 0.5], d x is the distance between the elements of the virtual plane array along the X-axis, d z is the distance between array elements of the virtual plane array along the Z-axis.

[0068] Step S12: determining the spacing between centers of adjacent similar array elements of the sparse planar array according to the spacing between array elements of the virtual planar array.

[0069] In this step, according to the requirements for imaging quality in practical applications, the spacing range between the array elements of the virtual planar array determined in step S11 can be selected as λ / 2 and λ / 4 according to actual needs, and the spacing between the centers of adjacent similar array elements of the corresponding sparse planar array is calculated respectively according to these two distance conditions.

[0070] Step S121: The spacing between the elements of the virtual plane array is λ / 2, that is, d x =d z =λ / 2, the spacing between the centers of adjacent similar transceiver elements of the corresponding sparse planar array is determined.

[0071] like Figure 4As shown in the basic unit geometry diagram of the sparse planar array, "□" represents the transmitting array element, "●" represents the receiving array element. In the embodiment of the present application, the spacing between adjacent transmitting array elements of the sparse planar array MIMO imaging system is expressed as Δl in the height direction (Z axis). z_basic , the spacing between adjacent receiving array elements is the azimuth (X-axis) spacing, expressed as Δl x_basic Considering the actual application situation, in order to avoid mutual coupling between antennas, there is usually a certain gap between the antenna array element surfaces during the antenna installation process.

[0072] According to the spacing between the array elements of the virtual planar array, the spacing between the centers of adjacent similar transceiver array elements of the sparse planar array is calculated using formula (2).

[0073]

[0074] Among them, d x is the distance between the elements of the virtual plane array along the X-axis, d z is the distance between the elements of the virtual plane array along the Z axis, Δl x_basic The spacing between the elements of the virtual planar array is λ / 2, and the distance between the centers of adjacent receiving elements of the sparse planar array along the X-axis direction is Δl z_basic The distance between the centers of adjacent transmitting array elements in the sparse planar array along the Z-axis direction corresponds to the spacing between the array elements of the virtual planar array being λ / 2.

[0075] Step S122: the spacing d between the elements of the virtual plane array x =d z =λ / 4, that is, d x =d z <λ / 2. Determine the spacing between the centers of adjacent similar transceiver elements of the corresponding sparse planar array.

[0076] like Figure 5 As shown, if the spacing d between the elements of the virtual plane array is x =d z =λ / 4, then the layout of the transmitting and receiving array elements in the basic unit is Figure 4 On the basis of the invention, an improvement is made by increasing the number of transmitting array elements, making the interval between two columns of transmitting array elements the same as the interval between receiving array elements, and reducing the spacing between array elements in the obtained virtual plane array, further improving the imaging quality.

[0077] According to the spacing between the array elements of the virtual planar array, the spacing between the centers of adjacent similar transceiver array elements of the sparse planar array is calculated using formula (3).

[0078]

[0079] Among them, d x is the distance between the elements of the virtual plane array along the X-axis, d z is the distance between the elements of the virtual plane array along the Z axis, Δl x_new The spacing between the elements of the virtual planar array is λ / 4, and the distance between the centers of adjacent receiving elements of the sparse planar array along the X-axis direction is Δl z_new The distance between the centers of adjacent transmitting array elements in the sparse planar array along the Z-axis direction corresponds to the spacing between the array elements of the virtual planar array being λ / 4.

[0080] S2, determining the size of the basic unit and the element antenna size of the sparse planar array based on the close distance of the target.

[0081] This step is intended to initialize the size of the basic unit and the size of the array element antenna of the sparse planar array MIMO imaging system, and calculate the size of the basic unit and the size of the array element antenna of the sparse planar array according to the two-dimensional plane resolution, system operating frequency, and array antenna target close distance of the sparse planar array MIMO imaging system; specifically, it can be implemented as the following steps S21-S23:

[0082] Step S21, determining the beam width of the element antenna in the corresponding direction according to the lateral angular resolution and longitudinal angular resolution of the MIMO imaging system. This step is intended to calculate the beam width of the sparse planar array element antenna. The beam width of the sparse planar array element antenna is calculated using formula (4) according to the lateral angular resolution and longitudinal angular resolution of the sparse planar array MIMO imaging system.

[0083]

[0084] Among them, α X and α Z represents the beam width along the X-axis and Z-axis directions, λ is the working wavelength of the sparse planar array, ρ X and ρ Z They represent the lateral angular resolution and longitudinal angular resolution of the sparse planar array respectively.

[0085] Step S22, determining the size of the sparse planar array element antenna along the X-axis direction and the Z-axis direction respectively according to the beam width of the element antenna in the corresponding direction. This step is to calculate the size of the sparse planar array element antenna, and according to the beam width of the sparse planar array element antenna and the system operating wavelength λ, use formula (5) to calculate the corresponding sparse planar array element antenna size along the X-axis direction and the Z-axis direction.

[0086]

[0087] Among them, l xand l z represent the size of the sparse planar array element along the X-axis and Z-axis directions, λ is the operating wavelength of the sparse planar array, is a counting variable, is the value of the beam width factor under 3dB beam width, α X and α Z They represent the beam width along the X-axis and Z-axis directions respectively.

[0088] Step S23, determining the size of the basic unit along the X-axis direction and the Z-axis direction respectively according to the beam width of the element antenna in the corresponding direction and the target close distance. This step is intended to calculate the size of the basic unit of the sparse planar array, according to the beam width of the element antenna in the sparse planar array and the array antenna target close distance Y. near , use formula (6) to calculate the size of the corresponding basic unit of the sparse planar array along the X-axis and Z-axis directions.

[0089]

[0090] Among them, L unit_X and L unit_Z Respectively represent the size of the basic unit of the sparse planar array along the X-axis and Z-axis directions, α X is the beam width of the sparse planar array element along the X-axis, α Z is the beam width of the sparse planar array element along the Z axis, Y near Indicates that the array antenna target is close.

[0091] S3, determining the number of transceiver array elements in the basic unit according to the size of the basic unit and the spacing between the centers of the adjacent similar array elements. This step is intended to calculate the number of transceiver array elements in the basic unit of the sparse planar array corresponding to the spacing between the array elements of the virtual planar array at different distances.

[0092] This step aims to determine the number of transceiver array elements in the basic unit of the sparse planar array according to the spacing between the array elements of the virtual planar array. The spacing between the array elements of the virtual planar array can be selected as λ / 2 and λ / 4 according to actual needs. In these two distance cases, the number of transceiver array elements in the corresponding basic unit is determined according to the size of the basic unit of the sparse planar array and the spacing between adjacent transceiver array elements of the same type.

[0093] Step S31, in some practical applications, when the spacing between the array elements of the virtual planar array is λ / 2, the number of transceiver array elements in the corresponding basic unit is determined according to the size of the basic unit of the sparse planar array and the spacing between adjacent similar transceiver array elements, which can be implemented as the following steps S311-S313;

[0094] Step S311, according to the size of the basic unit and the spacing between the centers of the adjacent similar array elements in the X-axis direction and the Z-axis direction, the number of array element rows and the number of array element columns in the basic unit of the sparse planar array corresponding to the spacing between the array elements of the virtual planar array being λ / 2, and according to the size of the basic unit of the sparse planar array and the spacing between the adjacent similar transceiver array elements, the number of array element rows and the number of array element columns in the basic unit are calculated using the following formula (7).

[0095]

[0096] Among them, L unit_X and L unit_Z Respectively represent the size of the basic unit of the sparse planar array along the X-axis and Z-axis directions, Δl x_basic The spacing between the elements of the virtual planar array is λ / 2, and the distance between the centers of adjacent receiving elements of the sparse planar array along the X-axis direction is Δl z_basic N is the distance between the centers of adjacent transmitting array elements in the sparse planar array along the Z axis corresponding to the spacing between array elements of the virtual planar array being λ / 2; x_basic and N z_basic Respectively represent the number of array element columns and rows in the basic unit of the sparse planar array, represents the rounding up function, that is, taking the smallest integer not less than “·”, for example

[0097] Step S312, determining the number of transmit array elements in the basic unit according to the number of array element rows. This step is intended to determine the number of transmit array elements in the basic unit of the sparse planar array corresponding to the spacing between array elements of the virtual planar array being λ / 2, and calculating the number of transmit array elements in the basic unit according to the number of array element rows of the basic unit of the sparse planar array using formula (8).

[0098] N unitbasic_T =N z_basic (8)

[0099] Among them, N unitbasic_T Indicates the number of transmitting array elements in the basic unit, N z_basic Indicates the number of array element rows in the basic unit.

[0100] Step S313, determining the number of receiving array elements in the basic unit according to the number of array element columns. This step is intended to determine the number of receiving array elements in the basic unit of the sparse planar array corresponding to the spacing between array elements of the virtual planar array being λ / 2, and the number of receiving array elements in the basic unit is calculated according to the number of array element columns of the basic unit of the sparse planar array using the following formula (9).

[0101] Nunitbasic_R =N x_basic (9)

[0102] Among them, N unitbasic_R Indicates the number of receiving array elements in the basic unit, N x_basic Indicates the number of array element columns in the basic unit.

[0103] Step S32: In some practical applications, when the spacing between the array elements of the virtual planar array is λ / 4, the number of transceiver array elements in the corresponding basic unit is determined according to the size of the basic unit of the sparse planar array and the spacing between adjacent similar transceiver array elements, which can be implemented as the following steps S321-S323:

[0104] Step S321: Determine the number of element rows and the number of element columns in the basic unit according to the size of the basic unit and the spacing between the centers of the adjacent similar elements in the X-axis direction and the Z-axis direction. This step is intended to determine the number of element rows and the number of element columns in the basic unit of the sparse planar array corresponding to the spacing between the elements of the virtual planar array being λ / 4, and calculate the number of element rows and the number of element columns in the basic unit according to the size of the basic unit of the sparse planar array and the spacing between the adjacent similar transceiver array elements using the following formula (10).

[0105]

[0106] Among them, L unit_X and L unit_Z Respectively represent the size of the basic unit of the sparse planar array along the X-axis and Z-axis directions, Δl x_new The spacing between the elements of the virtual planar array is λ / 4, and the distance between the centers of adjacent receiving elements of the sparse planar array along the X-axis direction is Δl z_new N is the distance between the centers of adjacent transmitting array elements in the sparse planar array along the Z axis corresponding to the spacing between the array elements of the virtual planar array being λ / 4. x_new and N z_new They respectively represent the number of array element columns and the number of array element rows in the basic unit of the sparse planar array.

[0107] Step S322: Determine the number of transmit array elements in the basic unit according to the number of array element rows. This step is intended to determine the number of transmit array elements in the basic unit of the sparse planar array corresponding to the spacing between array elements of the virtual planar array being λ / 4, and calculate the number of transmit array elements in the basic unit according to the number of array element rows of the basic unit of the sparse planar array using formula (11).

[0108] N unitnew_T =2·N z_new -1 (11)

[0109] Among them, Nunitnew_T Indicates the number of transmitting array elements in the basic unit, N z_new Indicates the number of array element rows in the basic unit.

[0110] Step S323: Determine the number of receiving array elements in the basic unit according to the number of array element columns. This step is intended to determine the number of receiving array elements in the basic unit of the sparse planar array corresponding to the spacing between array elements of the virtual planar array being λ / 4, and calculate the number of receiving array elements in the basic unit according to the number of array element columns of the basic unit of the sparse planar array using the following formula (12).

[0111] N unitnew_R =N x_new -1 (12)

[0112] Among them, N unitnew_R Indicates the number of receiving array elements in the basic unit, N x_new Indicates the number of array element columns in the basic unit.

[0113] S4, based on the size of the basic unit, determine the number of the basic units along the X-axis and Z-axis directions respectively. This step is intended to calculate and confirm the number of basic units of the sparse planar array, and the number of basic units of the sparse planar array is determined using formula (13) according to the size of the sparse planar array and the size of the basic unit of the sparse planar array.

[0114]

[0115] Among them, L x and L z Respectively represent the size of the plane array along the X-axis and Z-axis directions, L unit_X and L unit_Z Respectively represent the size of the basic unit of the sparse planar array along the X-axis and Z-axis directions, M x and M z Respectively represent the number of basic units of the sparse planar array along the X-axis and Z-axis directions, Represents the ceiling function.

[0116] S5, determining the center position of the transceiver array element in the basic unit according to the spacing between the centers of adjacent similar array elements, the size of the array element antenna, the size of the basic unit and the number of the transceiver array elements in the basic unit, so as to layout the transceiver array elements in the basic unit.

[0117] This step aims to determine the position of the center of the transceiver array element in the corresponding sparse planar array basic unit according to the different spacings between the array elements of the virtual planar array. In some practical applications of this application, a three-dimensional coordinate system is used to determine the center position of the transceiver array element, so as to lay out the transceiver array element. The three-dimensional coordinate system used in this step specifies that the first column, the Mth columnz The lower left vertex of the basic unit at the row is the coordinate origin O(0,0), the coordinate axes X and Z are parallel to the horizontal and vertical sides of the plane array respectively, and the Y axis direction is determined according to the right-hand rule.

[0118] After the three-dimensional coordinate system is established, the horizontal and vertical coordinates of the transceiver array elements in the basic unit of the sparse planar array are determined in the three-dimensional coordinate system according to the size of the basic unit of the sparse planar array, the size of the sparse planar array element antenna, the spacing between adjacent similar transceiver array elements, and the number of transceiver array elements in the basic unit, thereby determining the positions of the centers of all the receiving array elements in the basic unit.

[0119] In some practical applications, the center position of the transmitting array element in the basic unit can be determined according to the spacing between the array elements of the virtual plane array. When the spacing between the array elements of the virtual plane array is λ / 2, determining the center position of the transmitting array element in the basic unit can be implemented as follows: Steps A1-A2:

[0120] A1, determine the coordinates of the mth transmitting array element in the sparse planar array basic unit according to the size of the sparse planar array element, the size of the sparse planar array basic unit along the X-axis direction and the spacing between adjacent transmitting array elements.

[0121] A2, determining the ordinate of the transmitting array element according to the array element antenna size along the Z-axis direction and the spacing between the centers of adjacent similar array elements, so as to determine the center positions of all the transmitting array elements in the basic unit.

[0122] In practical applications, the following formula (14) can be used to calculate the horizontal coordinate and vertical coordinate of the mth transmitting array element in the basic unit of the sparse planar array, thereby determining the center position of all the transmitting array elements in the basic unit.

[0123]

[0124] Among them, L unit_X represents the size of the basic unit of the sparse planar array along the X-axis, l x and l z Respectively represent the sparse planar array element size along the X-axis and Z-axis directions, Δl z_basic The spacing between the elements of the virtual planar array is λ / 2, which corresponds to the distance between the centers of adjacent transmitting elements of the sparse planar array. m is a counting variable whose value range is [1, N unitbasic_T ].

[0125] In some practical applications, the center position of the receiving array element in the basic unit can be determined according to the spacing between the array elements of the virtual plane array. When the spacing between the array elements of the virtual plane array is λ / 2, determining the center position of the receiving array element in the basic unit can be implemented as follows: steps C1-C2:

[0126] C1, determining the horizontal coordinate of the receiving array element according to the array element antenna size of the receiving array element along the X-axis direction and the distance between the centers of adjacent similar array elements;

[0127] C2, determining the longitudinal coordinate of the receiving array element according to the array element antenna size of the receiving array element along the Z-axis direction, so as to determine the center position of all the receiving array elements in the basic unit.

[0128] In practical applications, the following formula (15) can be used to calculate the horizontal coordinate and vertical coordinate of the nth receiving array element in the basic unit of the sparse planar array, thereby determining the center position of all receiving array elements in the basic unit.

[0129]

[0130] Among them, l x and l z Respectively represent the sparse planar array element size along the X-axis and Z-axis directions, Δl x_basic The spacing between the elements of the virtual planar array is λ / 2, which corresponds to the distance between the centers of adjacent receiving elements in the sparse planar array. n is a counting variable whose value range is [1, N unitbasic_R ].

[0131] In some practical applications, when the spacing between array elements of the virtual plane array is λ / 4, determining the center position of the transmitting array element in the basic unit can be implemented as the following steps A1'-A2':

[0132] Step A1': Calculate the horizontal coordinate of the transmitting array element of the basic unit of the sparse planar array corresponding to the spacing between the array elements of the virtual planar array being λ / 4, and determine the horizontal coordinate of the kth transmitting array element in the basic unit of the sparse planar array according to the array element size of the sparse planar array along the X-axis direction, the size of the basic unit and the spacing between adjacent transmitting array elements.

[0133] When k = 1, 3, 5, ..., the horizontal coordinate of the transmitting array element in the corresponding basic unit is,

[0134]

[0135] When k = 2, 4, 6, ..., the horizontal coordinate of the transmitting array element in the corresponding basic unit is,

[0136]

[0137] Among them, L unit_X represents the size of the basic unit of the sparse planar array along the X-axis, l x represents the size of the sparse planar array element along the X-axis, Δl x_new is the distance between the centers of adjacent receiving elements in the sparse planar array corresponding to the spacing between the elements of the virtual planar array being λ / 4, and k is a counting variable whose value range is [1,N unitnew_R ].

[0138] Step A2': Calculate the ordinate of the ath transmitting array element in the sparse planar array basic unit corresponding to the spacing between array elements of the virtual planar array being λ / 4.

[0139] When a=2m-1, the ordinate of the transmitting element in the corresponding basic unit is,

[0140]

[0141] When a=2m, the ordinate of the transmitting array element in the corresponding basic unit is,

[0142]

[0143] Among them, l z represents the size of the sparse planar array element along the Z axis, Δl z_new is the distance between the centers of adjacent transmitting array elements in the sparse planar array along the Z axis corresponding to the spacing between the array elements of the virtual planar array being λ / 4, and a is a counting variable whose value range is [1,N unitnew_T ].

[0144] In some practical applications, when the spacing between the array elements of the virtual planar array is λ / 4, the implementation steps of the center position of the receiving array element in the basic unit can refer to the above steps C1-C2. In practical applications, the following formula (20) can be used to calculate the horizontal coordinate and the vertical coordinate of the bth receiving array element in the basic unit of the sparse planar array, thereby determining the center position of all the receiving array elements in the basic unit.

[0145]

[0146] Among them, l x and l z Respectively represent the sparse planar array element size along the X-axis and Z-axis directions, Δl x_new is the distance between the centers of adjacent receiving elements in the sparse planar array corresponding to the spacing between the elements of the virtual planar array being λ / 4, and b is a counting variable whose value range is [1,N unitnew_R ].

[0147] S6, determining the geometric center position of the transceiver array element of the sparse planar array according to the center position of the transceiver array element in the basic unit, the size and number of the basic unit, so as to layout the basic unit. This step aims to determine the geometric center position of the corresponding sparse planar array transceiver array element antenna according to the different spacings between the array elements of the virtual planar array. In the three-dimensional coordinate system established in this application, reference Figure 6 As shown, the plane array is located in the first quadrant of the coordinate system, and the basic units are M from left to right along the X-axis direction. x There are M rows from top to bottom along the Z axis. z Based on the three-dimensional coordinate system established in the present application, the geometric center position of the transceiver array element antenna of the sparse planar array MIMO imaging system corresponding to the spacing between the array elements of different virtual planar arrays is determined according to the basic unit size of the sparse planar array MIMO imaging system, the coordinates of the center position of the transceiver array element in the basic unit and the size of the sparse planar array element.

[0148] like Figure 7 As shown, when the spacing between the array elements of the virtual planar array is λ / 2, determining the geometric center position of the transmitting array element antenna of the corresponding sparse planar array MIMO imaging system can be implemented as follows: Steps B1-B5:

[0149] Step B1: Set the first counting variable i and the second counting variable j, whose value ranges are [1,M x ] and [1,M z ], set i=1, j=1.

[0150] Step B2: Determine the horizontal coordinate of the geometric center position of the transmitting array element based on the first counting variable according to the size of the basic unit along the X-axis direction and the array element antenna size of the transmitting array element along the X-axis direction. In some specific applications, the horizontal coordinate of the geometric center position of the transmitting array element can be calculated using the following formula (21).

[0151]

[0152] Step B3: Determine the ordinate of the geometric center position of the transmitting array element based on the size of the basic unit along the Z-axis direction and the center position of the transmitting array element based on the second counting variable. In some specific applications, the ordinate of the geometric center position of the transmitting array element can be calculated using the following formula (22).

[0153] z T_array =L unit_Z ·(j-1)+z T(m) (twenty two)

[0154] Among them, L unit_XIndicates the size of the basic unit of the sparse planar array along the X-axis, L unit_Z Indicates the size of the basic unit of the sparse planar array along the Z axis, l x Indicates the size of the sparse planar array element along the X-axis.

[0155] Step B4: If the value of the second counting variable is not greater than the number of the basic units along the Z-axis, then increase the value of the second counting variable and execute step B3; if greater than, then execute step B5. In this step, the size of the second counting variable j is determined. If j≤M z , then j counts up by 1 and executes step B3; if j>M z , then continue to step B5.

[0156] Step B5: If the value of the first counting variable is not greater than the number of basic units along the X-axis, then increment the value of the first counting variable and execute step B2; if greater than, then end, thereby determining the geometric center position of all transmitting array elements. In this step, the size of the first counting variable i is determined. If i≤M x , then the count of i is increased by 1, and step B2 is executed; if i>M x , then the calculation of the geometric center position coordinates of all transmitting array elements is completed.

[0157] In some specific embodiments, Figure 8 As shown, when the spacing between array elements of the virtual planar array is λ / 2, determining the geometric center position of the corresponding receiving array element antenna of the sparse planar array MIMO imaging system can be implemented as the following steps D1-D5.

[0158] Step D1: Set the third counting variable p and the fourth counting variable q, whose value ranges are [1, M x ] and [1,M z ], set p=1, q=1.

[0159] Step D2: Determine the horizontal coordinate of the geometric center position of the receiving array element based on the size of the basic unit along the X-axis direction and the center position of the receiving array element based on the third counting variable. The horizontal coordinate of the geometric center position of the receiving array element can be calculated using the following formula (23).

[0160] x R_array =L unit_X ·(p-1)+x R(n) (twenty three)

[0161] Step D3: Determine the ordinate of the geometric center position of the receiving array element based on the size of the basic unit along the Z-axis direction and the array element antenna size of the receiving array element along the Z-axis direction based on the fourth counting variable. The ordinate of the geometric center position of the receiving array element can be calculated using the following formula (24).

[0162]

[0163] Step D4: If the value of the fourth counting variable is not greater than the number of the basic units along the Z-axis direction, then the value of the fourth counting variable is incremented and step D3 is executed; if it is greater, then step D5 is executed. In this step, the size of the fourth counting variable q is determined. If q≤M z , then the q count is increased by 1, and step D3 is executed; if q>M z , then continue to step D5.

[0164] Step D5: If the value of the third counting variable is not greater than the number of the basic units along the X-axis, then increment the third counting variable and execute step D2; if greater than, then end, thereby determining the geometric center position of all receiving array elements. Determine the size of the third counting variable p, if p≤M x , then p counts up by 1 and executes step D2; if p>M x , then the calculation of the geometric center position coordinates of all receiving array elements is completed.

[0165] like Fig. 9 As shown, when the spacing between the array elements of the virtual planar array is λ / 4, the corresponding sparse planar array transceiver array element layout changes, the layout process of the basic unit can refer to the implementation process of the aforementioned embodiment, the layout method of the transmitting array element can refer to steps B1-B5; the layout method of the receiving array element can refer to steps D1-D5, and in a specific calculation application, the corresponding coordinates of the transceiver array elements in the sparse planar array basic unit corresponding to the spacing between the array elements of the virtual planar array being λ / 4 can be substituted.

[0166] The embodiment of the present application further provides an electronic device, which at least includes a memory 901, a processor 902 and a bus (not shown), wherein the structural diagram of the electronic device can be as follows: Fig.10 As shown, the memory 901 stores machine-readable instructions executable by the processor 902. When the electronic device is running, the processor 902 communicates with the memory 901 through a bus. When the machine-readable instructions are executed by the processor, the steps of the planar array-based MIMO radar imaging sparse antenna layout method provided in any embodiment of the present application are performed.

[0167] Since the electronic device introduced in the embodiment of the present application is an electronic device provided with a memory for implementing the sparse antenna layout method for MIMO radar imaging based on a planar array disclosed in the embodiment of the present application, based on the sparse antenna layout method for MIMO radar imaging based on a planar array introduced in the embodiment of the present application, technical personnel in the field can understand the structure and deformation of the electronic device introduced in the embodiment of the present application, so it is not repeated here.

[0168] An embodiment of the present application also provides a storage medium, which stores one or more programs. When the above one or more programs are executed by a processor, the steps of the planar array-based MIMO radar imaging sparse antenna layout method provided in any embodiment of the present application are implemented.

[0169] The storage medium in this embodiment may be included in the electronic device / system; or it may exist independently without being assembled into the electronic device / system. The above storage medium carries one or more programs, and when the above one or more programs are executed, the steps of the planar array-based MIMO radar imaging sparse antenna layout method provided in the embodiment of the present application are implemented.

[0170] According to an embodiment of the present application, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. Optionally, the specific examples in this embodiment can refer to the examples described in any embodiment of the present application, and this embodiment is not repeated here. Obviously, it should be understood by those skilled in the art that the above-mentioned modules or steps of the present application can be implemented with a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented with a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from here, or they can be made into individual integrated circuit modules respectively, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the present application is not limited to any specific combination of hardware and software.

[0171] In addition, although exemplary embodiments have been described herein, the scope includes any and all embodiments based on the present application with equivalent elements, modifications, omissions, combinations (e.g., various embodiments intersecting schemes), adaptations or changes. The elements in the claims will be interpreted broadly based on the language adopted in the claims, and are not limited to the examples described in this specification or during the implementation of the application, and the examples will be interpreted as non-exclusive. Therefore, this specification and examples are intended to be considered as examples only, and the true scope and spirit are indicated by the following claims and the full scope of their equivalents.

[0172] The above description is intended to be illustrative rather than restrictive. For example, the above examples (or one or more of them) can be used in combination with each other. For example, those of ordinary skill in the art can use other embodiments when reading the above description. In addition, in the above-mentioned specific embodiments, various features can be grouped together to simplify the application. This should not be interpreted as an intention that a disclosed feature that does not require protection is necessary for any claim. On the contrary, the subject matter of the present application may be less than all the features of a specific disclosed embodiment. Thus, the following claims are incorporated into the specific embodiments as examples or embodiments, wherein each claim is independently used as a separate embodiment, and it is considered that these embodiments can be combined with each other in various combinations or arrangements. The scope of the present application should be determined with reference to the attached claims and the full scope of equivalent forms granted by these claims.

[0173] Multiple embodiments of the present application are described in detail above, but the present application is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications to the embodiments based on the concept of the present application, and these variations and modifications should all fall within the scope of protection required by the present application.

Claims

1. A sparse antenna layout method for MIMO radar imaging based on a planar array, wherein the planar array uses a synthetic array to establish a spatial rectangular coordinate system, with point O as the origin of the coordinate, the X axis as the azimuth, the Y axis as the distance, and the Z axis as the elevation; wherein, The method comprises: Establishing a virtual planar array and determining the spacing between the centers of adjacent similar array elements of the sparse planar array; Determine the size of the basic unit and the element antenna size of the sparse planar array based on the close range of the target; Determining the number of transceiver array elements in the basic unit according to the size of the basic unit and the spacing between the centers of adjacent similar array elements; Determining the number of the basic units along the X-axis and Z-axis directions respectively based on the size of the basic units; Determine the center position of the transceiver array element in the basic unit according to the spacing between the centers of adjacent similar array elements, the size of the array element antenna, the size of the basic unit and the number of transceiver array elements in the basic unit, so as to arrange the transceiver array elements in the basic unit; Determining the geometric center position of the transceiver array element of the sparse planar array according to the center position of the transceiver array element in the basic unit, the size and number of the basic unit, so as to layout the basic unit; in: When the spacing between the array elements of the virtual planar array is λ / 2, the center position of all the transmitting array elements in the basic unit is determined by obtaining the abscissa and ordinate of the mth transmitting array element in the basic unit of the sparse planar array. Among them, L unit_X represents the size of the basic unit of the sparse planar array along the X-axis, l x and l z Respectively represent the sparse planar array element size along the X-axis and Z-axis directions, Δl z_basic The spacing between the elements of the virtual planar array is λ / 2, which corresponds to the distance between the centers of adjacent transmitting elements of the sparse planar array. m is a counting variable whose value range is [1, N unitbasic_T ]; N unitbasic_T Indicates the number of transmitting array elements in the basic unit; When the spacing between the array elements of the virtual planar array is λ / 2, the center position of all the receiving array elements in the basic unit is determined by obtaining the horizontal coordinate and vertical coordinate of the nth receiving array element in the basic unit of the sparse planar array. Among them, l x and l z Respectively represent the sparse planar array element size along the X-axis and Z-axis directions, Δl x_basic The spacing between the elements of the virtual planar array is λ / 2, which corresponds to the distance between the centers of adjacent receiving elements in the sparse planar array. n is a counting variable whose value range is [1, N unitbasic_R ]; N unitbasic_R Indicates the number of receiving array elements in the basic unit; When the spacing between the array elements of the virtual planar array is λ / 4, the horizontal coordinate of the transmitting array element of the sparse planar array basic unit corresponding to the spacing between the array elements of the virtual planar array being λ / 4 is calculated, and the horizontal coordinate of the kth transmitting array element in the sparse planar array basic unit is determined according to the sparse planar array element size along the X-axis direction, the size of the basic unit and the spacing between adjacent transmitting array elements; the vertical coordinate of the ath transmitting array element in the sparse planar array basic unit corresponding to the spacing between the array elements of the virtual planar array being λ / 4 is calculated, When k = 1, 3, 5, ..., the horizontal coordinate of the transmitting array element in the corresponding basic unit is, When k = 2, 4, 6, ..., the horizontal coordinate of the transmitting array element in the corresponding basic unit is, Among them, L unit_X represents the size of the basic unit of the sparse planar array along the X-axis, l x represents the size of the sparse planar array element along the X-axis, Δl x_new is the distance between the centers of adjacent receiving elements in the sparse planar array corresponding to the spacing between the elements of the virtual planar array being λ / 4, and k is a counting variable whose value range is [1,N unitnew_R ],N unitnew_R Indicates the number of receiving array elements in the basic unit; When a=2m-1, the ordinate of the transmitting element in the corresponding basic unit is, When a=2m, the ordinate of the transmitting array element in the corresponding basic unit is, Among them, l z represents the size of the sparse planar array element along the Z axis, Δl z_new is the distance between the centers of adjacent transmitting array elements in the sparse planar array along the Z axis corresponding to the spacing between the array elements of the virtual planar array being λ / 4, and a is a counting variable whose value range is [1,N unitnew_T ]; N unitnew_T Indicates the number of transmitting array elements in the basic unit; When the spacing between the array elements of the virtual planar array is λ / 4, the center position of all the receiving array elements in the basic unit is determined by obtaining the abscissa and ordinate of the bth receiving array element in the basic unit of the sparse planar array. Among them, l x and l z Respectively represent the sparse planar array element size along the X-axis and Z-axis directions, Δl x_new is the distance between the centers of adjacent receiving elements in the sparse planar array corresponding to the spacing between the elements of the virtual planar array being λ / 4, and b is a counting variable whose value range is [1,N unitnew_R ].

2. The method according to claim 1, wherein: The step of determining the spacing between centers of adjacent similar array elements of the sparse planar array comprises: Establishing a virtual planar array according to the sparse planar array, and determining the spacing between array elements of the virtual planar array; The spacing between centers of adjacent array elements of the same type in the sparse planar array is determined according to the spacing between array elements in the virtual planar array.

3. The method according to claim 1, wherein: The method of determining the size of the basic unit of the sparse planar array and the size of the array element antenna based on the close distance of the target includes: Determine the beam width of the element antenna in the corresponding direction according to the lateral angular resolution and the longitudinal angular resolution of the MIMO imaging system; Determine the size of the element antenna of the sparse planar array along the X-axis direction and the Z-axis direction respectively according to the beam width of the element antenna in the corresponding direction; The sizes of the basic units along the X-axis direction and the Z-axis direction are determined respectively according to the beam width of the array element antenna in the corresponding direction and the target close distance.

4. The method according to claim 3, wherein: Determining the geometric center position of the transceiver array element of the sparse planar array according to the center position of the transceiver array element in the basic unit, the size and number of the basic unit, includes: B1, set the first counting variable and the second counting variable; B2, determining the horizontal coordinate of the geometric center position of the transmitting array element based on the first counting variable according to the size of the basic unit along the X-axis direction and the array element antenna size of the transmitting array element along the X-axis direction; B3, determining the ordinate of the geometric center position of the transmitting array element based on the second counting variable according to the size of the basic unit along the Z-axis direction and the center position of the transmitting array element; B4, if the value of the second counting variable is not greater than the number of the basic units along the Z-axis direction, then increment the value of the second counting variable and execute step B3; if greater than, then execute step B5; B5, if the value of the first counting variable is not greater than the number of basic units along the X-axis direction, then increase the value of the first counting variable and execute step B2; if it is greater, then end, thereby determining the geometric center position of all transmitting array elements.

5. The method according to claim 3, wherein: Determining the geometric center position of the transceiver array element of the sparse planar array according to the center position of the transceiver array element in the basic unit, the size and number of the basic unit, includes: D1, set the third counting variable and the fourth counting variable; D2, determining the horizontal coordinate of the geometric center position of the receiving array element based on the third counting variable according to the size of the basic unit along the X-axis direction and the center position of the receiving array element; D3, determining the ordinate of the geometric center position of the receiving array element based on the fourth counting variable according to the size of the basic unit along the Z-axis direction and the array element antenna size of the receiving array element along the Z-axis direction; D4, if the value of the fourth counting variable is not greater than the number of the basic units along the Z-axis direction, then the value of the fourth counting variable is incremented and step D3 is executed; if it is greater, then step D5 is executed; D5, if the value of the third counting variable is not greater than the number of the basic units along the X-axis direction, then increment the third counting variable and execute step D2; if greater, then end, thereby determining the geometric center position of all receiving array elements.

6. An electronic device comprising at least a memory, a processor and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, the steps of the method as described in any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium, wherein the storage medium stores one or more programs, and when the one or more programs are executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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