Orthogonal hybrid beamforming method, device and array antenna

Abstract

The present invention provides an orthogonal hybrid beamforming method, device and array antenna, which relate to the field of radar transmission technology. By using two one-dimensional orthogonal beamforming networks to achieve spatial two-dimensional beam scanning, the analog beamforming network is simplified through dimensionality reduction, the digital beamforming method is simplified, and the amount of data to be processed is reduced, thereby achieving low-cost application of the system and improving practicality. The method includes: obtaining a first target point based on a first radiating unit; obtaining a second target point based on a second radiating unit, wherein the first radiating unit is orthogonal to the second radiating unit; obtaining a three-dimensional simplified target point based on the first target point and the second target point; obtaining a real target point based on the three-dimensional simplified target point; and returning to the coordinate system according to the tilt angle of the array antenna. The orthogonal hybrid beamforming device is applied to the orthogonal hybrid beamforming method. The array antenna includes any of the above-mentioned orthogonal hybrid beamforming devices.

Description

Technical Field

[0001] The present invention relates to the field of radar transmission technology, and more particularly to an orthogonal hybrid beamforming method, device and array antenna. Background Art

[0002] In a digital multi-beam array antenna system, the signal streams in each transmit and receive channel of each antenna element require algorithmic processing. The signals from each transmit and receive channel undergo analog-to-digital / digital-to-analog conversion, communicating with the signal processing module in real time. The data volume is enormous, and the high-precision, high-bandwidth analog-to-digital / analog-to-digital conversion chips used extensively in the system are also very expensive. Therefore, the difficulty and high cost of system implementation have become a major research focus for researchers.

[0003] Existing array antenna systems still have many shortcomings. For example, most of them have large computational complexity, high chip requirements, and high system costs, which make system implementation difficult and have a small application field. Most of them cannot adjust the radiation range and scanning accuracy, resulting in poor scanning effects. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides an orthogonal hybrid beamforming method, device and array antenna, which use two one-dimensional orthogonal beamforming networks to achieve spatial two-dimensional beam scanning. By reducing the dimension, the analog beamforming network is simplified, the digital beamforming method is simplified, and the amount of data to be processed is reduced, thereby achieving low-cost application of the system and improving practicality.

[0005] The present invention provides an orthogonal hybrid beamforming method, the method comprising:

[0006] Step 1: A first radiating element and a second radiating element are provided on the array antenna, a first target point is obtained based on the first radiating element, and a second target point is obtained based on the second radiating element, wherein the first radiating element is orthogonal to the second radiating element;

[0007] Step 2: Obtain a three-dimensional simplified target point based on the first target point and the second target point;

[0008] Step 3: obtaining a real target point based on the three-dimensional simplified target point;

[0009] Step 4: Return the coordinate system to the correct position according to the tilt angle of the array antenna.

[0010] Preferably, the step 1 comprises:

[0011] First echo data is obtained based on the first radiation unit, and a first target point a1(X1,θ1) is obtained based on the first echo data, wherein X1 represents the distance of the first target point in polar coordinates, and θ1 represents the angle of the first target point in polar coordinates; second echo data is obtained based on the second radiation unit, and a second target point a2(X2,θ2) is obtained based on the second echo data, wherein X2 represents the distance of the second target point in polar coordinates, and θ2 represents the angle of the second target point in polar coordinates.

[0012] Preferably, the step 2 comprises:

[0013] A three-dimensional simplified target point a(X, Y, Z) is obtained based on the first target point and the second target point, satisfying: X=X2cosθ2, Y=X1 sinθ1, Z=X1 cosθ1=X2 sinθ2, where X, Y, and Z respectively represent the three-dimensional coordinates of the three-dimensional simplified target point.

[0014] Preferably, the step 3 includes:

[0015] Perform delay correction on the three-dimensional simplified target point to obtain the real target point a k (X k ,Y k ,Z k ),satisfy: Where 2 < k, X k ,Y k ,Z k They represent the three-dimensional coordinates of the three-dimensional simplified target point obtained by the k-th reception; X k-2 ,Y k-2 ,Z k-2 They represent the three-dimensional coordinates of the three-dimensional simplified target point obtained by the k-2th reception; X k-1 ,Y k-1 ,Z k-1 They respectively represent the three-dimensional coordinates of the three-dimensional simplified target point obtained by the k-1th reception.

[0016] Preferably, obtain the real target point a k Finally, it also includes:

[0017] Based on the real target point a k Get echo data model

[0018]

[0019] Where, the compensation vector β(ΔX, ΔY, ΔZ), V is the sum of the moving speeds of the radar and the test target, and t is time;

[0020] A final echo data model is obtained based on the approximate calculation of the echo data model

[0021]

[0022] in, μ is the angle of the test target in three-dimensional coordinates.

[0023] Compared with existing technologies, the orthogonal hybrid beamforming method provided by the present invention has the following beneficial effects: obtaining a first target point based on a first radiating element; obtaining a second target point based on a second radiating element, wherein the first radiating element and the second radiating element are orthogonal; obtaining a three-dimensional simplified target point based on the first and second target points; obtaining a true target point based on the three-dimensional simplified target point; and returning to a normal coordinate system based on the array antenna tilt angle. By using two one-dimensional orthogonal beamforming networks to achieve spatial two-dimensional beam scanning, the analog beamforming network is simplified through dimensionality reduction, which also simplifies the digital beamforming method and reduces the amount of data required for processing, thereby achieving low-cost application of the system and high practicality.

[0024] The present invention also provides an orthogonal hybrid beamforming device, comprising:

[0025] a target point acquisition module, configured to obtain a first target point based on a first radiation unit; and obtain a second target point based on a second radiation unit, wherein the first radiation unit is orthogonal to the second radiation unit;

[0026] A three-dimensional target point acquisition module: configured to obtain a three-dimensional simplified target point based on the first target point and the second target point;

[0027] A real target point acquisition module, configured to obtain a real target point based on the three-dimensional simplified target point;

[0028] The coordinate system correction module is used to correct the coordinate system according to the tilt angle of the array antenna.

[0029] Compared with the prior art, the beneficial effects of the orthogonal hybrid beamforming device provided by the present invention are the same as the beneficial effects of the orthogonal hybrid beamforming method described in the above technical solution, and will not be elaborated here.

[0030] The present invention also provides an orthogonal hybrid beamforming array antenna, comprising:

[0031] A first radiation unit, a second radiation unit, a base, a rotating base, a refraction plate and a preset scanning unit, wherein the base is provided with a rotating base and a preset scanning unit, the rotating base is provided with a refraction plate, the inner side of the refraction plate is provided with relative first and second radiation units, and the preset scanning unit is a one-dimensional beam scanning unit.

[0032] Preferably, the refraction plate includes two first curved plates and two second curved plates, the two first curved plates are smoothly connected to the two second curved plates and surround them into a ring; the two second curved plates are arranged between the two first curved plates, and the inclination angle of the two second curved plates is greater than the inclination angle of the two first curved plates.

[0033] Preferably, the refraction plate further comprises a support shell, a stroke cylinder, a mirror plate array, a torsion spring connecting pin and a refraction mirror plate, wherein the support shell is provided on the rotating seat, a plurality of stroke cylinders are provided inside the support shell, and the plurality of stroke cylinders are arranged in a ring array;

[0034] Multiple mirror plate arrays are provided at the output ends of the multiple stroke cylinders, and the multiple mirror plate arrays are connected by torsion spring connecting pins; multiple refracting mirror plates are embedded inside the multiple mirror plate arrays, and the refracting mirror plates correspond one-to-one to the mirror plate arrays.

[0035] Preferably, a rubber connecting layer is provided between the plurality of mirror plate arrays, the rubber connecting layer is provided at the inner edge of the mirror plate array, and the rubber connecting layer is compressed by folding.

[0036] Compared with the existing technology, the orthogonal hybrid beamforming array antenna provided by the present invention has the following beneficial effects: the scanning range is increased in disguise by rotating the direction of the array antenna in the radar by a rotating seat. Since the precise scanning range of the orthogonal antenna is biased towards an ellipse, the target is first detected by a preset scanning unit, and then the direction of the array antenna in the radar is adjusted for formal scanning, so that the long side of the scanning range is aligned with the target, which increases the time the target stays in the scanning range and improves the scanning effect.

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 A flow chart of an orthogonal hybrid beamforming method provided by an embodiment of the present invention is shown;

[0040] Figure 2 A schematic structural diagram of an orthogonal hybrid beamforming device provided by an embodiment of the present invention is shown;

[0041] Figure 3 The figure shows the overall structure of an orthogonal hybrid beamforming array antenna provided by an embodiment of the present invention;

[0042] Figure 4 A schematic structural diagram of a refraction plate in an array antenna provided by an embodiment of the present invention is shown;

[0043] Figure 5 A schematic cross-sectional view of a refraction plate in an array antenna provided by an embodiment of the present invention is shown.

[0044] In the figure: 1 is the first radiation unit, 2 is the second radiation unit, 3 is the base, 4 is the rotating seat, 5 is the refraction plate, 51 is the first arc plate, 52 is the second arc plate, 53 is the supporting shell, 54 is the stroke cylinder, 55 is the mirror plate array, 56 is the torsion spring connecting pin, 57 is the refraction mirror plate, and 6 is the pre-scanning unit. DETAILED DESCRIPTION

[0045] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0046] The term "plurality" in this embodiment refers to two or more. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, and B exists alone. Words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations, and are intended to present related concepts in a concrete manner. They should not be construed as preferred or advantageous over other embodiments or designs.

[0047] The embodiment of the present invention provides an orthogonal hybrid beamforming method, Figure 1 FIG. 1 shows a flow chart of an orthogonal hybrid beamforming method provided by an embodiment of the present invention. Figure 1 As shown, the method includes:

[0048] Step 1: A first radiation unit and a second radiation unit are provided on the array antenna, and a first target point is obtained based on the first radiation unit; and a second target point is obtained based on the second radiation unit, wherein the first radiation unit is orthogonal to the second radiation unit.

[0049] It should be noted that the array antenna in the radar is provided with a first radiating unit and a second radiating unit, wherein the first radiating unit transmits and receives microwave signals to obtain first echo data, and obtains the first target point a1(X1,θ1) based on the first echo data, wherein X1 represents the distance to the first target point in polar coordinates, and θ1 represents the angle of the first target point in polar coordinates; the second radiating unit transmits and receives microwave signals to obtain second echo data, and obtains the second target point a2(X2,θ2) based on the second echo data, wherein X2 represents the distance to the second target point in polar coordinates, and θ2 represents the angle of the second target point in polar coordinates.

[0050] Step 2: Obtain a three-dimensional simplified target point based on the first target point and the second target point.

[0051] It should be noted that the first radiation unit is orthogonal to the second radiation unit, with the radiation direction of the first radiation unit as the X-axis and the radiation direction of the second radiation unit as the Y-axis. Based on the first target point a1 (X1, θ1) and the second target point a2 (X2, θ2), simplification is performed to obtain a three-dimensional simplified target point a (X, Y, Z), which satisfies: X = X2 cosθ2, Y = X1 sinθ1, Z = X1 cosθ1 = X2 sinθ2, where X, Y, and Z respectively represent the three-dimensional coordinates of the three-dimensional simplified target point.

[0052] Step 3: Obtain the true target point based on the 3D simplified target point.

[0053] It should be noted that the three-dimensional simplified target point is delayed and corrected to obtain the real target point a k (X k ,Y k ,Z k ),satisfy:

[0054] Where 2 < k, X k ,Y k ,Z k They represent the three-dimensional coordinates of the three-dimensional simplified target point obtained by the k-th reception; X k-2 ,Y k-2 ,Z k-2 They represent the three-dimensional coordinates of the three-dimensional simplified target point obtained by the k-2th reception; X k-1 ,Y k-1 ,Z k-1 They respectively represent the three-dimensional coordinates of the three-dimensional simplified target point obtained by the k-1th reception.

[0055] Step 4: Return the coordinate system to the horizontal plane based on the tilt angle of the radar array antenna, with the X and Y axes as the horizontal plane.

[0056] After obtaining the real target point a kFinally, it also includes:

[0057] Based on the real target point a k Get echo data model

[0058]

[0059] Where, the compensation vector β(ΔX, ΔY, ΔZ), V is the sum of the moving speeds of the radar and the test target, and t is time;

[0060] Obtain the final echo data model based on the approximate calculation of the echo data model

[0061]

[0062] in, μ is the angle of the test target in three-dimensional coordinates.

[0063] Compared with the existing technology, the orthogonal hybrid beamforming method provided by the present invention has the following beneficial effects: by using two one-dimensional orthogonal beamforming networks to achieve spatial two-dimensional beam scanning, through dimensionality reduction, the analog beamforming network is simplified, and the digital beamforming method is also simplified, reducing the amount of data that needs to be processed, thereby realizing low-cost application of the system and high practicality.

[0064] The embodiment of the present invention provides an orthogonal hybrid beamforming device, Figure 2 FIG. 1 shows a schematic structural diagram of an orthogonal hybrid beamforming device provided by an embodiment of the present invention. Figure 2 As shown, the device includes:

[0065] A target point acquisition module 1 is configured to acquire a first target point based on a first radiation unit; and acquire a second target point based on a second radiation unit, wherein the first radiation unit is orthogonal to the second radiation unit;

[0066] 3D target point acquisition module 2: configured to obtain a 3D simplified target point based on the first target point and the second target point;

[0067] A real target point acquisition module 3 is used to obtain a real target point based on the three-dimensional simplified target point;

[0068] Coordinate system correction module 4 is used to correct the coordinate system based on the radar's array antenna tilt angle. For ease of calculation, the polar coordinates of the first and second target points do not incorporate the array antenna's own tilt angle. The obtained true target point uses the array antenna as the reference system. Coordinate system correction module 4 incorporates the array antenna's tilt angle, and uses the ground as the reference system. Specifically, the obtained true target point uses the array antenna center as the origin and one of the array antenna's scanning edges as the X-axis. That is, the reference system moves with the radar. Coordinate system correction module 4 incorporates the array antenna's tilt angle, resetting the coordinate system to the ground as the X-axis.

[0069] Compared with the prior art, the beneficial effects of an orthogonal hybrid beamforming device provided by an embodiment of the present invention are the same as the beneficial effects of an orthogonal hybrid beamforming method described in the above technical solution, and are not described in detail here.

[0070] An embodiment of the present invention provides an orthogonal hybrid beamforming array antenna. Figure 3 FIG. 1 shows a schematic diagram of the overall structure of an orthogonal hybrid beamforming array antenna provided by an embodiment of the present invention. Figure 3 As shown, the array antenna includes:

[0071] A first radiation unit 1, a second radiation unit 2, a base 3, a rotating base 4, a refraction plate 5 and a preset scanning unit 6, wherein the base 3 is provided with a rotating base 4 and a preset scanning unit 6, the rotating base 4 is provided with a refraction plate 5, and the inner side of the refraction plate 5 is provided with relative first radiation units 1 and second radiation units 2, and the preset scanning unit 6 is a one-dimensional beam scanning unit.

[0072] The array antenna configuration described in the embodiments of the present invention indirectly increases the scanning range by rotating the array antenna's direction. Because the precise scanning range of orthogonal antennas tends to be elliptical, the preset scanning unit 6 first detects the target, then adjusts the array antenna's direction for the actual scan, aligning the long side of the scanning range with the target. This increases the target's residence time within the scanning range and improves scanning effectiveness. The preset scanning unit 6 utilizes a simple one-dimensional beam, reducing data processing requirements.

[0073] Figure 4 FIG. 1 shows a schematic structural diagram of a refraction plate in an array antenna provided by an embodiment of the present invention. Figure 4 As shown, the refraction plate 5 includes two first curved plates 51 and two second curved plates 52. The two first curved plates 51 and the two second curved plates 52 are smoothly connected and surround each other to form a ring. The two second curved plates 52 are arranged between the two first curved plates 51, and the inclination angles of the two second curved plates 52 are greater than the inclination angles of the two first curved plates 51. Specifically, the first curved plates 51 are arranged outside the first radiation element 1, and the second curved plates 52 are arranged outside the second radiation element 2.

[0074] The arrangement of the refraction plate 5 in the embodiment of the present invention utilizes the principle that the incident angle is equal to the exit angle to provide different refraction angles, thereby expanding the scanning range, making the scanning range close to a circle, and improving the scanning effect.

[0075] Figure 5 FIG. 4 shows a cross-sectional schematic diagram of a refraction plate in an array antenna provided by an embodiment of the present invention, as shown in FIG. Figure 5 As shown, the refraction plate 5 further includes a support shell 53, a stroke cylinder 54, a mirror plate array 55, a torsion spring connecting pin 56 and a refraction mirror plate 57. The support shell 53 is provided on the rotating seat 4, and a plurality of stroke cylinders 54 are provided inside the support shell 53. The plurality of stroke cylinders 54 are arranged in a ring array. Figure 5 As shown, multiple mirror plate arrays 55 are provided at the output ends of the multiple stroke cylinders 54, and the multiple mirror plate arrays 55 are connected by torsion spring connecting pins 56; multiple refracting mirror plates 57 are embedded inside the multiple mirror plate arrays 55, and the refracting mirror plates 57 correspond one-to-one to the mirror plate arrays 55.

[0076] The arrangement of the refraction plate 55 in the embodiment of the present invention can achieve large-scale scanning and precise scanning by adjusting the refraction angle to scale the scanning range.

[0077] like Figure 5 As shown, a rubber connecting layer is provided between the plurality of mirror plate arrays 55 , the rubber connecting layer is provided at the inner edge of the mirror plate array 55 , and the rubber connecting layer is compressed by folding.

[0078] An embodiment of the present invention provides an orthogonal hybrid beamforming array antenna, which indirectly increases the scanning range by rotating the direction of the array antenna. Since the precise scanning range of the orthogonal antenna is biased towards an ellipse, a preset scanning unit is used to first detect the target, and then the direction of the array antenna is adjusted for formal scanning, so that the long side of the scanning range is aligned with the target, thereby increasing the time the target stays in the scanning range and improving the scanning effect.

[0079] In addition, an embodiment of the present invention further provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and runnable on the processor. The transceiver, the memory, and the processor are respectively connected via a bus. When the computer program is executed by the processor, each process of the above-mentioned orthogonal hybrid beamforming method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0080] In addition, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned orthogonal hybrid beamforming method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0081] Computer-readable storage media include: permanent and non-permanent, removable and non-removable media, which are tangible devices that can retain and store instructions for use by instruction execution devices. Computer-readable storage media include: electronic storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, and any suitable combination of the above. Computer-readable storage media include: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette storage, magnetic disk storage or other magnetic storage devices, memory sticks, mechanical encoding devices (such as punched cards or raised structures with grooves in which instructions are recorded), or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined in the embodiments of the present invention, computer-readable storage media does not include temporary signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (such as light pulses passing through fiber optic cables), or electrical signals transmitted through wires.

[0082] In the several embodiments provided in this application, it should be understood that the disclosed devices, electronic devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or can be an electrical, mechanical or other form of connection.

[0083] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, and may be located in a single location or distributed across multiple network units. Some or all of these units may be selected based on actual needs to address the issues addressed by the embodiments of the present invention.

[0084] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0085] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (including: a personal computer, a server, a data center or other network device) to perform all or part of the steps of the method described in each embodiment of the present invention. The above-mentioned storage medium includes the various media that can store program codes as listed above.

[0086] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technical solution that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An orthogonal hybrid beamforming device, characterized in that: include: An orthogonal hybrid beamforming array antenna, comprising: A first radiation unit, a second radiation unit, a base, a rotating base, a refraction plate, and a preset scanning unit, wherein the base is provided with a rotating base and a preset scanning unit, the rotating base is provided with a refraction plate, the inner side of the refraction plate is provided with a first radiation unit and a second radiation unit opposite to each other, and the preset scanning unit is a one-dimensional beam scanning unit; the refraction plate includes two first curved plates and two second curved plates, the two first curved plates are smoothly connected to the two second curved plates and surround them to form a ring; the two second curved plates are provided between the two first curved plates, and the inclination angles of the two second curved plates are greater than the inclination angles of the two first curved plates; a target point acquisition module, configured to obtain a first target point based on a first radiation unit; and obtain a second target point based on a second radiation unit, wherein the first radiation unit is orthogonal to the second radiation unit; The target point acquisition module includes: Obtaining first echo data based on the first radiation unit, and obtaining a first target point a1(X1, θ1) based on the first echo data, where X1 represents the distance to the first target point in polar coordinates, and θ1 represents the angle of the first target point in polar coordinates; obtaining second echo data based on the second radiation unit, and obtaining a second target point a2(X2, θ2) based on the second echo data, where X2 represents the distance to the second target point in polar coordinates, and θ2 represents the angle of the second target point in polar coordinates; A three-dimensional target point acquisition module: configured to obtain a three-dimensional simplified target point based on the first target point and the second target point; The three-dimensional target point acquisition module includes: Obtain a three-dimensional simplified target point a(X, Y, Z) based on the first target point and the second target point, Satisfies: X = X2 cosθ2, Y = X1 sinθ1, Z = X1 cosθ1 = X2 sinθ2, where X, Y, and Z represent the three-dimensional coordinates of the three-dimensional simplified target point respectively; A real target point acquisition module, configured to obtain a real target point based on the three-dimensional simplified target point; The real target point acquisition module includes: Perform delay correction on the three-dimensional simplified target point to obtain the real target point a k (X k ,Y k ,Z k ),satisfy: Where 2 < k, X k ,Y k ,Z k They represent the three-dimensional coordinates of the three-dimensional simplified target point obtained by the k-th reception; X k-2 ,Y k-2 ,Z k-2 They represent the three-dimensional coordinates of the three-dimensional simplified target point obtained by the k-2th reception; X k-1 ,Y k-1 ,Z k-1 They represent the three-dimensional coordinates of the three-dimensional simplified target point obtained by the k-1th reception; The coordinate system correction module is used to correct the coordinate system according to the tilt angle of the array antenna.

2. The orthogonal hybrid beamforming device according to claim 1, characterized in that: The refraction plate further comprises a support shell, a stroke cylinder, a mirror plate array, a torsion spring connecting pin and a refraction mirror plate, wherein the support shell is provided on the rotating seat, a plurality of stroke cylinders are provided inside the support shell, and the plurality of stroke cylinders are arranged in a ring array; Multiple mirror plate arrays are provided at the output ends of the multiple stroke cylinders, and the multiple mirror plate arrays are connected by torsion spring connecting pins; multiple refracting mirror plates are embedded inside the multiple mirror plate arrays, and the refracting mirror plates correspond one-to-one to the mirror plate arrays.

3. The orthogonal hybrid beamforming device according to claim 2, wherein: A rubber connecting layer is provided between the plurality of mirror plate arrays. The rubber connecting layer is provided at the inner edge of the mirror plate array, and the rubber connecting layer is compressed by folding.

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