Millimeter-wave radar and unmanned aerial vehicles

Abstract

The present invention discloses a millimeter wave radar and an unmanned aerial vehicle, wherein the millimeter wave radar comprises a radar chip, a transmitting antenna array and a receiving antenna array. The radar chip has a transmitting end and a receiving end; the transmitting antenna array is connected to the transmitting end of the radar chip, and the transmitting antenna array comprises two first comb antennas and two first series-fed antennas; the receiving antenna array is connected to the receiving end of the radar chip, and the receiving antenna array comprises two second comb antennas and two second series-fed antennas; wherein the two first comb antennas, the two second comb antennas and a second series-fed antenna form a first virtual sparse array in the pitch plane, and the first comb antenna, the two first series-fed antennas and the two second series-fed antennas form a second virtual sparse array in the horizontal plane, and the virtual aperture of the second virtual sparse array is smaller than the virtual aperture of the first virtual sparse array. By the above method, the problem of low recognition accuracy of the existing millimeter wave radar can be improved.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a millimeter wave radar and an unmanned aerial vehicle. Background Art

[0002] MIMO (Multiple-Input Multiple-Output) technology refers to the technology of using multiple transmitting and receiving antennas for spatial diversity. Its basic principle is: using multiple transmitting antennas to simultaneously transmit mutually orthogonal waveforms (FMCW, OFDM, etc.), the multiple waveform signals remain independent in space, irradiate the target, and after scattering by the target, use multiple receiving antennas to receive the target echo signal and perform comprehensive processing on it to extract information such as the target's spatial position and motion state. The millimeter-wave radar using MIMO technology uses a multi-transmit and multi-receive antenna array to form a virtual large-aperture array, so the antenna gain of the millimeter-wave radar can be improved without changing the actual number and caliber of antennas. However, when this type of millimeter-wave radar is measuring the height of the pitch plane, because its side lobes are also high, the side lobe echo is higher than the main lobe echo, and false targets will appear, which in turn affects the recognition accuracy of the millimeter-wave radar. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a millimeter wave radar and an unmanned aerial vehicle, aiming to improve the problem of low recognition accuracy of existing millimeter wave radars.

[0004] According to the first aspect of an embodiment of the present invention, a millimeter wave radar is provided, comprising a radar chip, a transmitting antenna array and a receiving antenna array. The radar chip has a transmitting end and a receiving end; the transmitting antenna array is connected to the transmitting end of the radar chip, and the transmitting antenna array comprises two first comb antennas and two first serial feed antennas; the receiving antenna array is connected to the receiving end of the radar chip, and the receiving antenna array comprises two second comb antennas and two second serial feed antennas; wherein the two first comb antennas, the two second comb antennas and the one second serial feed antenna form a first virtual sparse array in the pitch plane, the one first comb antenna, the two first serial feed antennas and the two second serial feed antennas form a second virtual sparse array in the horizontal plane, and the virtual aperture of the second virtual sparse array is smaller than the virtual aperture of the first virtual sparse array.

[0005] In some optional embodiments, the virtual aperture of the second virtual sparse array is 0.5-2λ smaller than the virtual aperture of the first virtual sparse array, where λ is the antenna wavelength.

[0006] In some optional embodiments, the first virtual sparse array is a first virtual sparse array with 17 elements, and the distribution of transmitting antennas of the first virtual sparse array with 17 elements is: Tx=[1 0 0 0 0 0 0 0 0 1], and the distribution of receiving antennas is: Rx=[1 0 0 0 1 0 0 1], wherein 1 indicates that there is an antenna at the location, 0 indicates that there is no antenna at the location, and the spacing between any two adjacent locations is λ / 2.

[0007] In some optional embodiments, the second virtual sparse array is a second virtual sparse array with 15 elements, and the transmitting antenna distribution of the second virtual sparse array with 15 elements is: Tx=[1 0 0 0 0 0 1], and the receiving antenna distribution is: Rx=[1 0 0 0 0 1 0 0 1].

[0008] In some optional embodiments, the millimeter wave radar further includes a dielectric substrate, and the radar chip, the transmitting antenna array and the receiving antenna array are arranged on the dielectric substrate.

[0009] In some optional embodiments, a grounded metal frame is provided on the dielectric substrate, and the grounded metal frame is arranged around the transmitting antenna array and the receiving antenna array.

[0010] In some optional embodiments, the first comb antenna and the first series-fed antenna are orthogonally arranged, the second comb antenna is arranged parallel to the first comb antenna, and the second series-fed antenna is arranged parallel to the first series-fed antenna; along the first direction, two of the first comb antennas are at one end of the dielectric substrate, and two of the second comb antennas and one of the second series-fed antennas are at the other end of the dielectric substrate; along the second direction, two of the second series-fed antennas are at one end of the dielectric substrate, and one of the first comb antennas and two of the first series-fed antennas are at the other end of the dielectric substrate, wherein the second direction is perpendicular to the first direction, and the first direction is perpendicular to the thickness direction of the dielectric substrate.

[0011] In some optional embodiments, the first comb antenna includes two comb microstrip antenna units, and the feeding points of the two comb microstrip antenna units at least partially overlap; the first series-fed antenna includes two series-fed microstrip antenna units, and the feeding points of the two series-fed microstrip antenna units at least partially overlap.

[0012] In some optional embodiments, the width of each patch unit in the first comb antenna, the first series-fed antenna, the second comb antenna, and the second series-fed antenna is determined according to Taylor current distribution.

[0013] According to a first aspect of an embodiment of the present invention, there is provided an unmanned aerial vehicle, comprising the millimeter wave radar as described above.

[0014] The beneficial effects of the embodiments of the present invention are as follows: the embodiments of the present invention adopt a series-fed antenna and a comb-shaped antenna layout design to form virtual sparse arrays in the horizontal plane and the elevation plane, respectively, so that the radar has a high antenna gain in both the horizontal plane and the elevation plane, and also has a high angular resolution. Compared with the existing millimeter-wave radar, the main lobe of the radar is improved while the side lobe is reduced, so the side lobe effect of the existing millimeter-wave radar can be improved, thereby improving the recognition accuracy of the radar. In addition, the structure of the series-fed antenna and the comb-shaped antenna reduces the use area of ​​the dielectric substrate compared to the traditional rectangular patch microstrip antenna, which can effectively meet the requirements of the unmanned aerial vehicle for the radar volume, weight and detection performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the specific embodiments or the prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0016] Figure 1 A schematic diagram of the structure of a millimeter wave radar provided in an embodiment of the present invention;

[0017] Figure 2 for Figure 1 Schematic diagram of the transmitting and receiving ends of the radar chip;

[0018] Figure 3 for Figure 1 A schematic diagram showing the distribution of the transmitting antenna array and the receiving antenna array in the radar shown;

[0019] Figure 4 for Figure 3 The equivalent array diagram obtained by virtual aperture and array sparse processing;

[0020] Figure 5 for Figure 1 Incoherent combining pattern of the transmit and receive loops of the mid-millimeter wave radar;

[0021] Figure 6 The normalized pattern of virtual array factors of the E-plane of the first virtual sparse array synthesized using MATLAB;

[0022] Figure 7 This is the normalized pattern of the virtual array factors of the E-plane of the second virtual sparse array synthesized using MATLAB. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without carrying out creative work are within the scope of protection of the present invention.

[0024] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0025] In the description of the present invention, it should be noted that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0026] In the description of the present invention, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0027] See also Figure 1 The example shown, Figure 1A schematic diagram of the structure of a millimeter wave radar provided in an embodiment of the present invention. The millimeter wave radar includes a dielectric substrate 40, a radar chip 10, a transmitting antenna array 20, and a receiving antenna array 30. The dielectric substrate 40 is a mounting support structure for each component. The radar chip 10, the transmitting antenna array 20, and the receiving antenna array 30 are all arranged on the dielectric substrate 40. The radar chip 10 has a transmitting end 101 and a receiving end 102. The transmitting antenna array 20 is connected to the transmitting end 101 of the radar chip 10, and the receiving antenna array 30 is connected to the receiving end 102 of the radar chip 10. The broadband linear frequency modulation signal generated by the radar chip 10 can be transmitted through the transmitting antenna array 20. At the same time, the radar chip 10 processes the target echo signal received by the receiving antenna array 30, and generates an intermediate frequency echo signal by mixing the target echo signal and the broadband linear frequency modulation signal. After that, the radar chip 10 processes the multiple intermediate frequency echo signals to obtain the amplitude and phase information (amplitude information and phase information) and angle information of the target. Finally, the radar chip 10 performs threshold data screening on the amplitude and phase information and angle information of the target, and generates target information based on the screened data.

[0028] In order to clearly describe each direction in the following, we use Figure 1 The coordinate system in defines the directions. Figure 1 As shown, the coordinate axis X represents the first direction in which the two first series-fed antennas 22 in the transmitting antenna array 20 are arranged relative to each other, which is parallel to the plane where the dielectric substrate 40 is located, and can also be the direction in which the two second series-fed antennas 32 in the receiving antenna array 30 are arranged relative to each other. The coordinate axis Y represents the second direction in which the two first comb antennas 21 in the transmitting antenna array 20 are arranged relative to each other, which is parallel to the plane where the dielectric substrate 40 is located, and can also be the direction in which the two second comb antennas 31 in the receiving antenna array 30 are arranged relative to each other. The coordinate axis Z represents the thickness direction of the dielectric substrate 40, wherein any two of the coordinate axis Z, the coordinate axis Y and the coordinate axis X are perpendicular to each other, then the horizontal plane is the XOZ plane, and the pitch plane is the YOZ plane.

[0029] Based on the above orientation definition, the following describes the illustrated embodiment with reference to the accompanying drawings, and describes the corresponding positions, shapes, sizes and structures of the radar chip 10, the transmitting antenna array 20 and the receiving antenna array 30 on the dielectric substrate 40. The nouns such as "upper", "lower", "top" and "bottom" used below to indicate orientation or positional relationship are all relative to the third direction Z.

[0030] For the above-mentioned dielectric substrate 40, a high-frequency microwave plate material with stable electromagnetic properties can be used. Exemplarily, the dielectric substrate 40 can be prepared by Rogers RO3003 (tm) plate material. The dielectric constant of the plate material in the 78GHz frequency band is 3.16, the thickness of the plate material can be 0.127mm, and the thickness of the surface copper plating layer is set to 20μm. In this way, it is beneficial to improve the stability of the radar receiving and sending signals in the 77GHz-81GHz frequency band. Furthermore, a grounded metal frame 41 is provided on the dielectric substrate 40, and the grounded metal frame 41 is arranged around the transmitting antenna array 20 and the receiving antenna array 30. By introducing a grounding point by the grounded metal frame 41, the coupling effect of other radar structures that are close to the antenna can be reduced, thereby improving the stability of the antenna radiation characteristics.

[0031] For the above radar chip 10, please combine Figure 2 See also Figure 1 Examples shown. Figure 2 for Figure 1 Schematic diagram of the transmitting end and receiving end of the radar chip in FIG. The transmitting end 101 of the radar chip 10 is at the lower end of the dielectric substrate 40, and the number of the transmitting end 101 is four, namely, Tx1, Tx2, Tx3 and Tx4 ports. The receiving end 102 of the radar chip 10 is at the right end of the dielectric substrate 40, and the number of the receiving end 102 is also four, namely, Rx1, Rx2, Rx3 and Rx4 ports. It can be understood that the structure of the radar chip 10 is not specifically limited in the embodiment of the present invention, and can be adaptively adjusted according to different design requirements. As for how to select radar chips 10 with different structures in actual design, for example: two transmitting ends, four receiving ends; three transmitting ends, four receiving ends; four transmitting ends, six receiving ends; four transmitting ports, eight receiving ends. It depends on the specific requirements for radar resolution, detection distance and detection field of view.

[0032] For the above transmitting antenna array 20, if Figure 1 The transmitting antenna array 20 includes a first comb antenna 21 and a second series-fed antenna 32 arranged orthogonally to the first comb antenna 21 .

[0033] Specifically, there are two first comb antennas 21, both of which face the right end of the dielectric substrate 40, and are arranged opposite to each other along the second direction Y. One first comb antenna 21 is located at the upper end of the dielectric substrate 40 and is connected to the Tx1 port of the radar chip 10. Another first comb antenna 21 is located at the lower end of the dielectric substrate 40 and is connected to the Tx2 port of the radar chip 10. Further, each first comb antenna 21 includes two comb microstrip antenna units 211, and the feeding points of the two comb microstrip antenna units 211 at least partially overlap. In other words, the two comb microstrip antenna units 211 can be connected to the same transmitting end 101 of the radar chip 10.

[0034] There are two first serial feed antennas 22, both of which face the lower end of the dielectric substrate 40, and are arranged opposite to each other along the first direction X. One first serial feed antenna 22 is arranged adjacent to another first comb antenna 21 and connected to the Tx3 port of the radar chip 10, and another first serial feed antenna 22 is located on the side of one first serial feed antenna 22 away from another first comb antenna 21 and connected to the Tx4 port of the radar chip 10. Further, any first serial feed antenna 22 includes two serial feed microstrip antenna units 221, and the feeding points of the two serial feed microstrip antenna units 221 at least partially overlap. In other words, the two serial feed microstrip antenna units 221 can be connected to the same transmitting end 101 of the radar chip 10.

[0035] For the above receiving antenna array 30, if Figure 1 The receiving antenna includes a second comb antenna 31 and a second series feed antenna 32. The second comb antenna 31 is arranged in parallel with the first comb antenna 21, and the second series feed antenna 32 is arranged in parallel with the first series feed antenna 22.

[0036] Specifically, there are two second comb antennas 31, and both of the two second series-fed antennas 32 face the right end of the dielectric substrate 40, and the two second comb antennas 31 are arranged opposite to each other along the second direction Y. Among them, one second comb antenna 31 is arranged adjacent to another first series-fed antenna 22 and connected to the Rx4 port of the radar, and another second comb antenna 31 is arranged adjacent to the second series-fed antenna 32 and connected to the Rx3 port of the radar.

[0037] There are two second series-fed antennas 32, both of which face the upper end of the dielectric substrate 40, and are arranged opposite to each other along the first direction X. One second series-fed antenna 32 is disposed adjacent to another second comb antenna 31 and connected to the Rx2 port of the radar, and another second series-fed antenna 32 is disposed adjacent to a first comb antenna 21 and connected to the Rx1 port of the radar.

[0038] In the embodiment of the present invention, since there are four antennas in each of the transmitting antenna array 20 and the receiving antenna array 30, the corresponding millimeter wave radar antenna array can be designed as a two-dimensional multi-input multi-output radar antenna array system according to actual design requirements. For example, two first comb antennas 21, two second comb antennas 31 and a second series-fed antenna 32 together form a first virtual sparse array 1a with two outputs and three inputs in the pitch plane YOZ, thereby improving the resolution of the angle of the detected target in the elevation direction. A first comb antenna 21, two first series-fed antennas 22 and two second series-fed antennas 32 together form a second virtual sparse array 1b with three outputs and two inputs in the horizontal plane XOZ, thereby improving the resolution of the angle of the detected target in the azimuth direction. It should be noted that the first virtual sparse array 1a and the second virtual sparse array 1b both refer to phased array antennas processed by array sparse technology. Array sparse means removing some array elements from a regularly arranged uniform phased array according to a certain proportion, or connecting these array elements to a matching load, which can reduce the cost and weight of the array antenna and obtain a narrow beam equivalent to a full array arrangement. When the array elements are uniformly excited, the sparse array antenna can obtain a lower sidelobe level than a full array arrangement.

[0039] Among them, each patch unit in the first comb antenna 21, the first series-fed antenna 22, the second comb antenna 31 and the second series-fed antenna 32 includes a plurality of patch units connected in sequence through feeding microstrip lines. The polarization mode of the patch unit can be horizontal polarization, vertical polarization or circular polarization, and Taylor distribution is used in distribution to reduce the sidelobe level of the beam in the direction of the antenna array. It can be understood that the shape of the patch unit is not specifically limited, and it can be rectangular, circular, triangular, pentagonal and traveling wave.

[0040] Please also read Figure 3 and Figure 4 The example shown, Figure 3 for Figure 1 The schematic diagram of the distribution of the transmitting antenna array 20 and the receiving antenna array 30 in the radar is shown. Figure 4 for Figure 3 The equivalent array diagram after MIMO and array sparseness.

[0041] The first virtual sparse array 1a shown in the embodiment of the present invention includes five unidirectional antennas. Among them, the transmitting antenna Tx group includes two first comb antennas 21. The receiving antenna Rx group includes two second comb antennas 31 and a second series-fed antenna 32. The positions of the transmitting antenna and the receiving antenna are represented by vectors, and the vector elements are 1 or 0. 1 indicates that there is an antenna at the position, and 0 indicates that there is no antenna at the position. The spacing between any two adjacent positions is λ / 2. Among them, λ is the antenna wavelength. In the first virtual sparse array 1a with 17 elements formed on the pitch plane: Tx=[1 1 0 0 0 0 0 0 1 1], Rx=[1 0 0 0 1 00 1], after MIMO (multiple-input multiple-output technology), the equivalent array of the first virtual sparse array 1a with 17 elements is [1 0 0 0 10 0 1 0 1 0 0 0 1 0 0 1].

[0042] The second virtual sparse array 1b shown in the embodiment of the present invention includes five unidirectional antennas. Among them, the transmitting antenna Tx group includes a first comb antenna 21 and two first series-fed antennas 22. The receiving antenna Rx group includes two second series-fed antennas 32. In the second virtual sparse array 1b with 15 array elements formed in the horizontal plane: Tx = [1 0 0 0 0 1 0 0 1], Rx = [1 0 0 0 0 0 1], after MIMO (multiple input multiple output technology), the equivalent array of the second virtual sparse array 1b with 15 array elements is [1 0 0 0 0 1 1 0 1 0 0 1 0 0 1].

[0043] The following is a description of various data of the antenna in the radar provided by the embodiment of the present invention through simulation experiments. Figure 5 It is the incoherent combined radiation pattern of the transmit and receive loops (horizontal: Tx3&Rx1 loop, elevation: Tx1&Rx3 loop). Figure 6 and Figure 7 They are respectively the normalized directional pattern of the virtual array factor of the E-plane of the first virtual sparse array and the normalized directional pattern of the virtual array factor of the E-plane of the second virtual sparse array synthesized by MATLAB.

[0044] Depend on Figure 5 It can be seen that the radar's horizontal and elevation loop patterns are basically the same, with a maximum gain of 27dB. After the gain drops by 12dB, the angles are: horizontal field of view is 70°, and elevation field of view is 64°. Figure 6 and Figure 7It can be seen that the horizontal grating lobe position appears near 80°, while the horizontal FOV of the radar is 70°. The grating lobe is outside the horizontal field of view of the radar, so it will not be affected by the grating lobe and introduce false targets. The elevation grating lobe position appears near 60°, while the elevation field of view of the radar is 64°. There is a risk of introducing false targets with the grating lobe. The algorithm can perform an angular ambiguity resolution process to identify the false targets caused by the grating lobe.

[0045] In summary, the millimeter-wave radar provided in the embodiment of the present invention adopts a series-fed antenna and a comb antenna layout design to form virtual sparse arrays in the horizontal plane and the elevation plane, respectively, so that the radar has a high antenna gain in both the horizontal plane and the elevation plane, and also has a high angular resolution. Compared with the existing millimeter-wave radar, the main lobe of the radar is increased while the side lobe is reduced, so the side lobe influence of the existing millimeter-wave radar can be improved, thereby improving the recognition accuracy of the radar.

[0046] In addition, the structure of the series-fed antenna and the comb antenna reduces the usage area of ​​the dielectric substrate compared to the traditional rectangular patch microstrip antenna, which can effectively meet the requirements of unmanned aerial vehicles for radar volume, weight and detection performance.

[0047] Based on the same technical concept, an embodiment of the present invention also provides an unmanned aerial vehicle, which includes an aerial vehicle body and the millimeter wave radar described in the above embodiment, and the millimeter wave radar is connected to the aerial vehicle body. Compared with the existing unmanned aerial vehicles that use cameras combined with visual algorithms for positioning, radar detection and positioning are more accurate and less affected by the environment and external factors, thereby effectively improving the intelligence of the flight and control of the unmanned aerial vehicle.

[0048] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A millimeter wave radar, characterized in that: include: A radar chip having a transmitting end and a receiving end; A transmitting antenna array, connected to the transmitting end of the radar chip, the transmitting antenna array comprising two first comb antennas and two first series-fed antennas; as well as A receiving antenna array connected to the receiving end of the radar chip, the receiving antenna array comprising two second comb antennas and two second series-fed antennas; Wherein, two of the first comb antennas, two of the second comb antennas and one of the second series-fed antennas form a first virtual sparse array in the elevation plane, and one of the first comb antennas, two of the first series-fed antennas and two of the second series-fed antennas form a second virtual sparse array in the horizontal plane, and a virtual aperture of the second virtual sparse array is smaller than a virtual aperture of the first virtual sparse array; The virtual aperture of the second virtual sparse array is 0.5-2λ smaller than the virtual aperture of the first virtual sparse array, where λ is the antenna wavelength; The first virtual sparse array is a first virtual sparse array with 17 array elements, the distribution of transmitting antennas of the first virtual sparse array with 17 array elements is: Tx=[1 0 0 0 0 0 0 0 01], and the distribution of receiving antennas is: Rx=[1 0 0 01 0 0 1], wherein 1 indicates that there is an antenna at the location, 0 indicates that there is no antenna at the location, and the spacing between any two adjacent locations is λ / 2; The second virtual sparse array is a second virtual sparse array with 15 array elements, and the transmit antenna distribution of the second virtual sparse array with 15 array elements is: Tx=[1 0 0 0 0 0 1], and the receive antenna distribution is: Rx=[1 0 0 0 0 1 00 1]; The millimeter wave radar further includes a dielectric substrate, and the radar chip, the transmitting antenna array and the receiving antenna array are arranged on the dielectric substrate; The first comb antenna and the first series-fed antenna are arranged orthogonally, the second comb antenna and the first comb antenna are arranged in parallel, and the second series-fed antenna and the first series-fed antenna are arranged in parallel; Along a first direction, two of the first comb antennas are located at one end of the dielectric substrate, and two of the second comb antennas and one of the second series-fed antennas are located at the other end of the dielectric substrate; Along the second direction, the two second series-fed antennas are located at one end of the dielectric substrate, and the one first comb antenna and the two first series-fed antennas are located at the other end of the dielectric substrate, wherein the second direction is perpendicular to the first direction, and the first direction is perpendicular to the thickness direction of the dielectric substrate.

2. The millimeter wave radar according to claim 1, characterized in that: A grounded metal frame is provided on the dielectric substrate, and the grounded metal frame is arranged around the transmitting antenna array and the receiving antenna array.

3. The millimeter wave radar according to claim 1, characterized in that: The first comb antenna comprises two comb-shaped microstrip antenna units, and the feeding points of the two comb-shaped microstrip antenna units at least partially overlap; The first serial-fed antenna includes two serial-fed microstrip antenna units, and the feeding points of the two serial-fed microstrip antenna units at least partially overlap.

4. The millimeter wave radar according to claim 1, characterized in that: The width of each patch unit in the first comb antenna, the first series-fed antenna, the second comb antenna and the second series-fed antenna is determined according to Taylor current distribution.

5. An unmanned aerial vehicle, characterized in that: Comprising the millimeter wave radar as described in any one of claims 1-4.

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