A signal transmitting method, system and related device

Abstract

Embodiments of the present application disclose a signal transmitting method, system and related device, which can be applied to automatic driving or assisted driving. The method is applied to a terminal device, which can be a vehicle, and the terminal device comprises N synthetic aperture radars (SARs). The transmitting periods of the N SARs are the same. The method comprises: a first SAR in the N SARs transmitting a first radio frequency signal in a first distance section of a target distance section; a second SAR in the N SARs transmitting a second radio frequency signal in a second distance section of the target distance section; the second SAR and the first SAR are located at different positions at the same height of the terminal device, and all or part of the second distance section does not coincide with the first distance section. The embodiments of the present application can increase the sampling rate of the synthetic aperture radar as a whole, thereby improving the imaging quality of the synthetic aperture radar.

Description

Technical Field

[0001] This application relates to the field of synthetic aperture radar technology, and in particular to a signal transmission method, system and related equipment. Background Technology

[0002] Vehicle-mounted synthetic aperture radar (SAR) can perform high-precision imaging of targets to the side of the vehicle's travel direction by transmitting radio frequency signals and receiving the echo signals reflected from the targets. Typically, to ensure the imaging quality of SAR, its sampling in the azimuth or slow time dimension needs to be continuous and uniform, and the sampling rate is often required to be greater than the echo Doppler bandwidth.

[0003] However, in practice, to ensure vehicle driving safety, high requirements are placed on radar heat dissipation and power consumption. Therefore, onboard synthetic aperture radar (SAR) often cannot continuously sample, and is typically divided into phases based on frames. For example, a SAR might transmit radio frequency (RF) signals for a period, then turn off the RF function, wait a period, turn the RF function back on, and then transmit RF signals for a period, repeating this cycle. Understandably, when the SAR is off, it emits no RF signals; one on / off state transition can be called a transmission cycle. Clearly, within a transmission cycle, there is only a period for RF signal transmission. While this reduces the workload of the SAR and ensures heat dissipation and driving safety, it results in significant blank periods where the SAR does not transmit RF signals. Consequently, its sampling is no longer continuous or uniform, the sampling rate is greatly reduced, and the final image quality is severely affected.

[0004] Therefore, how to improve the imaging quality of synthetic aperture radar (SAR) while ensuring its heat dissipation is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a signal transmission method, system, and related equipment that can improve the imaging quality of synthetic aperture radar.

[0006] The signal transmission method provided in this application embodiment can be executed by an electronic device. An electronic device refers to a device that can be abstracted as a computer system; an electronic device supporting signal transmission functionality can also be called a signal transmission device. The signal transmission device can be the entire electronic device, such as a synthetic aperture radar, vehicle infotainment system, vehicle-mounted computer, or server; it can also be an in-vehicle system / device composed of multiple components, such as a radar system; or it can be a component within the electronic device, such as a chip related to signal transmission functionality, such as a system-on-a-chip (SoC) or signal transmission chip. Specifically, the signal transmission device can be a terminal device such as a synthetic aperture radar, vehicle infotainment system, or vehicle-mounted computer in a smart vehicle, or it can be a SoC or signal transmission chip that can be installed in a computer system or surround-view system of a smart terminal.

[0007] Furthermore, the signal transmission method provided in this application embodiment can be applied to various scenarios such as autonomous driving, high-precision map drawing, and environmental surveying.

[0008] In a first aspect, embodiments of this application provide a signal transmission method applied to a terminal device, characterized in that the terminal device is equipped with N synthetic aperture radars (SARs); the moving speed of the terminal device is V; the transmission periods of the N SARs are the same, and N is an integer greater than 1; the method includes:

[0009] The first SAR among the N SARs transmits a first radio frequency signal within a first range segment of the target range; the target range segment is the distance the first SAR moves within a first transmission cycle; the first transmission cycle is one transmission cycle of the first SAR;

[0010] The second SAR of the N SARs transmits a second radio frequency signal within the second range of the target range; the second SAR and the first SAR are located at different positions at the same altitude of the terminal device, and all or part of the second range does not overlap with the first range.

[0011] To ensure adequate heat dissipation and limit power consumption, synthetic aperture radar (SAR) only transmits radio frequency (RF) signals for a limited time within each transmission cycle (i.e., the transmission period). This effectively avoids equipment failures and traffic accidents caused by prolonged high-load operation. However, due to SAR's intermittent RF signal transmission mode, large areas inevitably remain unsampled during continuous vehicle movement, resulting in extremely low sampling rates that significantly reduce the final imaging quality and fail to meet user needs. This application's embodiment utilizes multiple existing SARs. By coordinating their transmission times, areas unsampled by one SAR during its transmission cycle's blank period (i.e., the time without RF signal transmission) can be sampled by other SARs during their transmission periods. Thus, treating these multiple SARs as a whole effectively increases the transmission time within each transmission cycle, thereby expanding the effective area of ​​the RF signal and significantly improving the sampling rate, effectively guaranteeing the final imaging quality.

[0012] In one possible implementation, the method further includes:

[0013] The transmission delay of the second radio frequency signal and the first radio frequency signal is determined based on the moving speed of the terminal device and the installation distance between the second SAR and the first SAR.

[0014] In this embodiment, the transmission delay between the multiple synthetic aperture radars can be calculated based on the moving speed (e.g., the vehicle's speed) of the terminal device equipped with the multiple synthetic aperture radars and the installation distance between them. A suitable transmission delay ensures that the sampling areas of each of the multiple synthetic aperture radars can be effectively stitched together as the vehicle moves forward, avoiding complete overlap of the sampling areas of each radar. Therefore, treating the multiple synthetic aperture radars as a whole can effectively improve the sampling rate and guarantee imaging quality.

[0015] In one possible implementation, the first SAR transmits a first radio frequency signal within a first range segment of the target range segment, including:

[0016] The first SAR begins transmitting the first radio frequency signal at the first moment of the first transmission cycle; the transmission time of the first SAR within the first transmission cycle is the first time interval; the distance the first SAR moves within the first time interval is the first distance segment.

[0017] In one possible implementation, the second SAR transmits a second radio frequency signal within a second range segment of the target range segment, including:

[0018] The second SAR transmits the second radio frequency signal at a second time; the second time is the time after the first time has passed and the transmission delay of the second radio frequency signal and the first radio frequency signal; the transmission time of the second SAR within a transmission cycle starting at the second time is the second time interval; the distance the second SAR moves within the second time interval is the second distance segment.

[0019] In this embodiment of the application, one of the multiple synthetic aperture radars (e.g., the first SAR) can start transmitting radio frequency signals at a first moment. Correspondingly, the other synthetic aperture radars (e.g., the second SAR) can start transmitting radio frequency signals after a transmission delay determined between them at the first moment. This ensures that the sampling areas of the multiple synthetic aperture radars can be effectively stitched together as the vehicle moves forward, avoiding the situation where the sampling areas of each synthetic aperture radar completely overlap.

[0020] In one possible implementation, the transmission delays of the second radio frequency signal and the first radio frequency signal satisfy the following equation:

[0021] T d =L / V+T B

[0022] Among them, T d L is the transmission delay of the second radio frequency signal and the first radio frequency signal; V is the installation distance between the second SAR and the first SAR; T is the moving speed of the terminal device; B The preset time difference between the second radio frequency signal and the first radio frequency signal.

[0023] In this embodiment, the transmission delay between the multiple synthetic aperture radars can be accurately calculated using the moving speed of the terminal device, the installation distance between the multiple synthetic aperture radars, and a preset time difference. This ensures that the sampling areas of each of the multiple synthetic aperture radars can be effectively stitched together as the vehicle moves forward, avoiding complete overlap of the sampling areas of each synthetic aperture radar. Therefore, treating the multiple synthetic aperture radars as a whole can effectively improve the sampling rate and guarantee imaging quality.

[0024] In one possible implementation, if the entire second distance segment does not overlap with the first distance segment, then the T B Greater than or equal to the first time interval; wherein, when T BWhen the time interval is equal to the first time interval, the position of the second SAR when it starts transmitting the second radio frequency signal at the second moment is the position of the first SAR when it ends transmitting the first radio frequency signal within the first transmission cycle.

[0025] In this embodiment, the aforementioned preset time difference can be set according to the actual sampling requirements. For example, if it is necessary for the sampling areas of two synthetic aperture radars to be completely non-overlapping within their respective transmission times, the preset time difference between the transmission of radio frequency signals by the later synthetic aperture radar and the earlier synthetic aperture radar can be set to be greater than or equal to the transmission time of the earlier synthetic aperture radar. Furthermore, when the preset time difference is equal to the transmission time of the earlier synthetic aperture radar, the position of the later synthetic aperture radar when it begins to transmit radio frequency signals is exactly the position of the earlier synthetic aperture radar when it ends to transmit radio frequency signals. This allows for a more continuous and non-overlapping stitching of the sampling areas of the two synthetic aperture radars, maximizing the utilization of the transmission time of each synthetic aperture radar and maximizing the sampling rate.

[0026] In one possible implementation, if a portion of the second distance segment does not overlap with the first distance segment, then the T B It is greater than the difference between the first time interval and the second time interval, and less than the first time interval.

[0027] In this embodiment, for example, if it is necessary for the sampled areas of two synthetic aperture radars to partially overlap during their respective transmission times, the preset time difference can be set to be greater than the difference between the transmission time of the first synthetic aperture radar and the transmission time of the second synthetic aperture radar, and less than the transmission time of the first synthetic aperture radar. It is understood that, in practice, due to device limitations, although the sampling areas of two synthetic aperture radars may often not be able to achieve the aforementioned ideal stitching of continuous and completely non-overlapping areas, the overlap rate of the sampling areas can be minimized and the sampling rate improved by setting the preset time difference more reasonably, thus ensuring imaging quality.

[0028] In one possible implementation, the method further includes:

[0029] The first SAR receives the first echo signal corresponding to the first radio frequency signal;

[0030] The second SAR receives the second echo signal corresponding to the second radio frequency signal;

[0031] Based on the first echo signal and the second echo signal, the corresponding SAR image is obtained through imaging processing.

[0032] In this embodiment, multiple synthetic aperture radars can be used to receive the echo signals corresponding to the radio frequency signals they transmit. Imaging processing can then be performed based on the echo signals received by these multiple synthetic aperture radars to obtain the corresponding synthetic aperture radar image. As described above, using multiple synthetic aperture radars can increase the overall transmission time of the radio frequency signal, thus increasing the effective area of ​​the radio frequency signal. Correspondingly, this also increases the reception of echo signals, greatly improving the sampling rate and effectively improving resolution, ensuring the final imaging quality.

[0033] Secondly, embodiments of this application provide a signal transmission system, characterized in that it is applied to a terminal device, the signal transmission system comprising N synthetic aperture radars (SARs); the moving speed of the terminal device is V; the transmission periods of the N SARs are the same, and N is an integer greater than 1;

[0034] The first SAR among the N SARs is used to transmit a first radio frequency signal within a first range segment of the target range; the target range segment is the distance the first SAR moves within a first transmission cycle; the first transmission cycle is one transmission cycle of the first SAR;

[0035] The second SAR among the N SARs is used to transmit a second radio frequency signal within a second range segment of the target range segment; the second SAR and the first SAR are located at different positions at the same altitude of the terminal device, and all or part of the second range segment does not overlap with the first range segment.

[0036] In one possible implementation, the signal transmitting system is further used for:

[0037] The transmission delay of the second radio frequency signal and the first radio frequency signal is determined based on the moving speed of the terminal device and the installation distance between the second SAR and the first SAR.

[0038] In one possible implementation, the first SAR is specifically used for:

[0039] The first radio frequency signal is transmitted at the first moment of the first transmission cycle; the transmission time of the first SAR within the first transmission cycle is the first time interval; the distance the first SAR moves within the first time interval is the first distance segment.

[0040] In one possible implementation, the second SAR is specifically used for:

[0041] The second radio frequency signal is transmitted at the second moment; the second moment is the moment after the first moment has elapsed and the transmission delay of the second radio frequency signal and the first radio frequency signal; the transmission time of the second SAR within one transmission cycle starting at the second moment is the second time interval; the distance the second SAR moves within the second time interval is the second distance segment.

[0042] In one possible implementation, the transmission delays of the second radio frequency signal and the first radio frequency signal satisfy the following equation:

[0043] T d =L / V+T B

[0044] Among them, T d L is the transmission delay of the second radio frequency signal and the first radio frequency signal; V is the installation distance between the second SAR and the first SAR; T is the moving speed of the terminal device; B The preset time difference between the second radio frequency signal and the first radio frequency signal.

[0045] In one possible implementation, if the entire second distance segment does not overlap with the first distance segment, then the T B Greater than or equal to the first time interval; wherein, when T B When the time interval is equal to the first time interval, the position of the second SAR when it starts transmitting the second radio frequency signal at the second moment is the position of the first SAR when it ends transmitting the first radio frequency signal within the first transmission cycle.

[0046] In one possible implementation, if a portion of the second distance segment does not overlap with the first distance segment, then the T B It is greater than the difference between the first time interval and the second time interval, and less than the first time interval.

[0047] In one possible implementation,

[0048] The first SAR is also used to receive the first echo signal corresponding to the first radio frequency signal;

[0049] The second SAR is also used to receive the second echo signal corresponding to the second radio frequency signal;

[0050] The terminal device is also used to obtain a corresponding SAR image based on the first echo signal and the second echo signal through imaging processing.

[0051] Thirdly, embodiments of this application provide a terminal device, which includes a processor and N synthetic aperture radars (SARs) as described in the first aspect. These N SARs can be used to implement the corresponding functions in the signal transmission method provided in the first aspect. The terminal device may also include a memory coupled to the processor, which stores necessary program instructions and data for the terminal device. The terminal device may also include a communication interface for communicating with other devices or communication networks. In some possible embodiments, the processor and memory can be the processor and memory of any single SAR, or they can be independent processors and memories within the terminal device, etc., and embodiments of this application do not specifically limit this.

[0052] The terminal device can be a vehicle (such as a car, motorcycle, van, bus, etc.), a ship, an airplane, a drone, a smart home appliance, or a robot, etc.

[0053] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, enables N synthetic aperture radars (SARs) to implement the signal transmission method flow described in any one of the first aspects above. The processor may be one or more processors.

[0054] Fifthly, embodiments of this application provide a computer program including instructions that, when executed, cause N synthetic aperture radars (SARs) to perform the signal transmission method flow described in any one of the first aspects above.

[0055] In a sixth aspect, embodiments of this application provide a chip including a processor and a communication interface. The processor is used to call and execute instructions from the communication interface. When the processor executes the instructions, it causes N synthetic aperture radars (SARs) to perform the signal transmission method flow as described in any one of the first aspects.

[0056] In a seventh aspect, embodiments of this application provide a chip system that may include the signal transmission system described in any one of the second aspects or the chip described in the seventh aspect, for implementing the signal transmission method flow described in any one of the first aspects. In one possible design, the chip system further includes a memory for storing program instructions and data necessary for the signal transmission method. This chip system may be composed of chips or may include chips and other discrete devices. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0058] Figure 1 This is a schematic diagram of the transmission time distribution of a synthetic aperture radar.

[0059] Figure 2 This is a schematic diagram of the transmission time distribution of another type of synthetic aperture radar.

[0060] Figure 3 This is a schematic diagram of the imaging effect of a synthetic aperture radar.

[0061] Figure 4 This is a schematic diagram of the imaging effect of another synthetic aperture radar.

[0062] Figure 5a This is a schematic diagram of the deployment of a synthetic aperture radar provided in an embodiment of this application.

[0063] Figure 5b This is a schematic diagram of the deployment of another synthetic aperture radar provided in an embodiment of this application.

[0064] Figure 6 This is a schematic diagram illustrating an application scenario of a signal transmission method provided in an embodiment of this application.

[0065] Figure 7 This is a schematic flowchart of a signal transmission method provided in an embodiment of this application.

[0066] Figure 8 This is a schematic flowchart of another signal transmission method provided in an embodiment of this application.

[0067] Figure 9a This is a schematic diagram of a signal transmission method provided in an embodiment of this application.

[0068] Figure 9b This is a schematic diagram of another signal transmission method provided in the embodiments of this application.

[0069] Figure 9c This is a schematic diagram of another signal transmission method provided in the embodiments of this application.

[0070] Figure 9d This is a schematic diagram of another signal transmission method provided in the embodiments of this application.

[0071] Figure 9e This is a schematic diagram of another signal transmission method provided in the embodiments of this application.

[0072] Figure 9f This is a schematic diagram of another signal transmission method provided in the embodiments of this application.

[0073] Figure 10 This is a schematic diagram illustrating the effect of a signal transmission method provided in an embodiment of this application.

[0074] Figure 11 This is a schematic diagram of the structure of a signal transmission system provided in an embodiment of this application.

[0075] Figure 12 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0076] The embodiments of this application will now be described with reference to the accompanying drawings.

[0077] First, some of the terms used in this application will be explained to facilitate understanding by those skilled in the art.

[0078] (1) Synthetic Aperture Radar (SAR) is a high-resolution imaging radar that can obtain high-resolution radar images similar to optical photography under extremely low visibility weather conditions. Utilizing the relative motion between the radar and the target, it transmits radio frequency signals and receives the echo signals (or echo data) reflected back from the target. This process combines the smaller actual antenna apertures into a larger equivalent antenna aperture, hence the name synthetic aperture radar. SAR is characterized by high resolution, all-weather operation, and the ability to effectively identify camouflage and penetrate concealment. The resulting high azimuth resolution is equivalent to that provided by a large aperture antenna; it should be understood that the longer the synthetic aperture, the higher the resolution. SAR image resolution includes range resolution and azimuth resolution. The resolution perpendicular to the direction of travel, i.e., the resolution in the side-view direction, is the range resolution, and the resolution along the direction of travel is the azimuth resolution; these will not be described in detail here.

[0079] Please see Figure 1 , Figure 1 This is a schematic diagram of the emission time distribution of a synthetic aperture radar. For example... Figure 1 As shown, ideally, synthetic aperture radar (SAR) can always operate in a mode of continuously and uniformly transmitting radio frequency signals (or detection waveforms, which are essentially high-frequency electromagnetic waves), thereby continuously and uniformly sampling the environment to the side of the vehicle. However, this operating mode often leads to a high workload, high power consumption, and difficulty in heat dissipation for SAR, posing safety hazards to driving and even causing serious traffic accidents.

[0080] Therefore, to meet the higher requirements of synthetic aperture radar in terms of power consumption and heat dissipation, intermittent transmission of radio frequency signals is mostly adopted in practical applications. For example, please refer to... Figure 2 , Figure 2 This is a schematic diagram of the emission time distribution of another type of synthetic aperture radar. For example... Figure 2 As shown, a synthetic aperture radar (SAR) transmission cycle consists of three parts: effective transmission time, switching time, and shutdown time. SAR only transmits radio frequency (RF) signals to sample the surrounding environment during the effective transmission time of a single transmission cycle. For example, if a transmission cycle is 40ms, the effective transmission time can be only 10ms. During the remaining 30ms of the transmission cycle, the SAR does not transmit RF signals, i.e., it is in a "resting" state. This significantly reduces the workload of the SAR, lowers power consumption, and ensures heat dissipation. Figure 2 As shown, this working mode of periodically transmitting radio frequency signals in a slow time dimension can be called burst mode.

[0081] Please refer to this as well. Figure 1 and Figure 2 Obviously, compared to Figure 1 The ideal continuous work model, in Figure 2 In the burst mode shown, the radio frequency (RF) signal transmitted by the synthetic aperture radar (SAR) is not continuous and uniformly distributed, but is only transmitted within the transmission time of a single transmission cycle. Therefore, while the burst mode can reduce the power consumption of the SAR to some extent and ensure its heat dissipation and driving safety, there are a large number of blank periods within the transmission cycle (including the aforementioned switching and shutdown times) during which no RF signal is transmitted, meaning there are a large number of blank periods during which no sampling occurs. This significantly reduces the sampling rate and results in the loss of data from a large number of areas traversed by the vehicle during continuous movement, thus severely affecting the final image quality.

[0082] Furthermore, as mentioned above, the burst mode causes a uniform and continuous radio frequency signal within a synthetic aperture to be fragmented into several sub-modules. This fragmented and discontinuous radio frequency signal can significantly impact imaging, typically resulting in a "spike effect" in SAR images. See also... Figure 3 , Figure 3 This is a schematic diagram of the imaging effect of a synthetic aperture radar. Figure 3 (a) represents a complete aperture data set in the time / data domain under continuous azimuth sampling (or full sampling). Figure 3In (b) of the diagram, the solid line represents the imaging result of a single point target in the frequency domain / image domain after imaging processing of a complete aperture data under continuous azimuth sampling. Optionally, imaging processing may include Fast Fourier Transform (FFT), etc., which will not be described in detail here. Please refer to [link to relevant documentation]. Figure 4 , Figure 4 This is a schematic diagram illustrating the imaging effect of another type of synthetic aperture radar. For example... Figure 4 As shown, in burst mode, an aperture length (e.g., 150ms) is divided into 5 transmission cycles (e.g., each transmission cycle is 30ms). Within each transmission cycle, there is only a short period (e.g., 10ms, i.e., a duty cycle of 1:3) for continuous sampling (i.e., transmitting radio frequency signals). Figure 4 (a) in the figure represents aperture data from a discontinuous sample in the time / data domain. Clearly, compared to... Figure 3 ,because Figure 4 There is a blank period during each transmission cycle in which no radio frequency signal is transmitted, therefore Figure 4 The pore size data is incomplete. Accordingly, Figure 4 In (b) of the diagram, the solid line represents the imaging result of a single point target in the frequency domain / image domain obtained after imaging processing of discontinuously sampled aperture data in burst mode. For example, Figure 3 (b) and Figure 4 As shown in (b), the dashed line represents the imaging result of a single effective firing cycle on a single point target in burst mode, which can be used for calibration. Clearly, as... Figure 4 As shown in (b) above, the imaging results exhibit the aforementioned "spear-like phenomenon," and the envelope of the "spear-like phenomenon" is... Figure 4 The dashed line in (b) of the text.

[0083] Please refer to this as well. Figure 3 and Figure 4 The "spear-like phenomenon" significantly reduces image quality and greatly interferes with further image understanding. This can be manifested in the following ways:

[0084] (1) Resolution degradation: such as Figure 4 As shown in (b), the grating lobe and the main lobe are close in distance and have a large amplitude, making them indistinguishable in actual imaging. They can only be processed as a whole, and the overall resolution corresponds to the aperture length of a single continuous sampling after segmentation (e.g., reduced from 150ms to 10ms), resulting in resolution degradation.

[0085] (2) Resolution decreases with increasing distance: for example Figure 3As shown in the ideal state, the SAR aperture length increases with distance. However, as mentioned in (1) above, the resolution in burst mode is determined by the aperture length of a single continuous sample after segmentation, and therefore does not increase with distance. Thus, compared to the ideal state, the resolution in burst mode decreases with distance, resulting in a worse imaging effect.

[0086] (3) The "spike effect" in the imaging effect is not as visually appealing as a smooth and complete distribution, which makes image understanding more difficult. Further analysis shows that in burst mode, the duty cycle of the data domain determines the number of logarithms of spikes within a single aperture in the image domain (e.g., ...). Figure 4 As shown in (b), a duty cycle of 1:3 means there are two pairs of grating lobes on either side of the main lobe, i.e., four grating lobes. The smaller the duty cycle, the more pairs of grating lobes there are, and the worse the imaging effect. In addition, the length of a single continuous sampling determines the width of the envelope. The longer the length of a single continuous sampling (i.e., the larger the duty cycle), the finer the envelope and the higher the resolution.

[0087] In summary, to facilitate understanding of the embodiments of this application, the specific technical problems to be solved by this application are further analyzed and proposed. In the prior art, there are various technical solutions for improving the imaging quality of synthetic aperture radar in burst mode. Two commonly used solutions are exemplified below.

[0088] Option 1: In the field of remote sensing, the problem of "spear-like artifacts" degrading image quality can be solved by low-pass filtering the data acquired in a slow time dimension (i.e., the echo signals received from the target) before imaging processing. When there is sufficient margin in the azimuth resolution of some remote sensing scenarios, the envelope of the "spear-like artifacts" can be used as the imaging result without affecting target recognition.

[0089] Disadvantages of Scheme 1: As mentioned above, although Scheme 1 can solve the problem of image quality degradation caused by the "spike effect" to a certain extent (i.e., the above-mentioned problem (3)), it cannot solve the resolution problems (1) and (2) mentioned above. Moreover, in the field of remote sensing, the depth of the imaging scene in the distance direction is very small compared with the operating distance (for example, the operating distance of the synthetic aperture radar on the satellite to the ground target is much greater than the depth of the ground scene), so the problem of resolution decreasing with the increase of operating distance is not prominent. However, in the vehicle-mounted scene, the depth of the scene is not negligible compared with the operating distance, and the problem caused by the spike effect is more intolerable, and the effect of low-pass filtering is negligible.

[0090] Option 2: In burst mode, the data collected during the transmission time of each transmission cycle is used to extrapolate the data that was not collected during the switching time and shutdown time. An adaptive filtering method can be used to fill in the data during the switching time and shutdown time according to the trend of phase and amplitude changes.

[0091] The disadvantage of Scheme 2 is that the longer the interval between the data to be compensated and the effective transmission time, the greater the error between the extrapolated data and the actual data, resulting in a worse extrapolation effect and ultimately a worse imaging effect. For example, still using the above example of a 30ms transmission cycle and a 10ms transmission time, if the interval between the data to be compensated after 25ms and the transmission time is relatively long (greater than 15ms), the error between the extrapolated data and the actual data will be larger, essentially meaningless, and severely affecting the imaging quality. Similarly, the larger the duty cycle, the smaller the error of the extrapolation algorithm. Under normal circumstances, the extrapolation algorithm has certain basic requirements for the duty cycle; the duty cycle must be at least greater than 50% (for example, the transmission time must be at least greater than 15ms) to obtain relatively accurate data through extrapolation. However, in reality, the duty cycle is often less than 50%, making extrapolation unfeasible.

[0092] In summary, none of the existing solutions can effectively solve the problems of reduced resolution and poor imaging quality caused by burst mode using existing common vehicle hardware architecture and synthetic aperture radar.

[0093] Therefore, to address the issue that the imaging performance of current synthetic aperture radar (SAR) in burst mode does not meet actual operational requirements, this application provides a series of solutions. Based on multiple existing SARs, by coordinating the transmission times of these SARs within their respective transmission cycles, data not collected by one SAR during its blank transmission time (i.e., unsampled areas) can be collected by other SARs during their effective transmission time, thereby improving the overall duty cycle. As discussed in the foregoing analysis of burst mode, a smaller duty cycle results in a more severe "spike effect," while increasing the duty cycle effectively suppresses grating lobes and envelope width, thereby improving resolution and ensuring imaging quality.

[0094] Please see Figure 5a , Figure 5a This is a schematic diagram illustrating the deployment of a synthetic aperture radar according to an embodiment of this application. The signal transmission method provided in this embodiment can be applied to, for example... Figure 5aIn one embodiment of the intelligent vehicle 200 shown, the intelligent vehicle 200 can be configured for fully or partially autonomous driving mode. When the intelligent vehicle 200 is in autonomous driving mode, it can be set to operate without human interaction.

[0095] like Figure 5a As shown, multiple synthetic aperture radars (SARs) can be installed and deployed on the intelligent vehicle 200, specifically including SAR-201, SAR-202, and SAR-203. These SARs are all mounted on the left side of the intelligent vehicle 200. Thus, as the intelligent vehicle 200 moves forward, SAR-201, SAR-202, and SAR-203 can be used to detect targets on the left side of the vehicle, collect data, and perform high-precision imaging.

[0096] The multiple synthetic aperture radars can operate in burst mode, where they can only transmit radio frequency signals for a limited time during each transmission cycle to collect data about the surrounding environment. Optionally, in some possible embodiments of this application, during the operation of the intelligent vehicle 200, the transmission times of the multiple synthetic aperture radars can be coordinated to compensate for data that cannot be collected during the blank periods of each other's transmission cycles. For example, data that SAR-201 cannot collect during the blank periods can be collected by transmitting SAR-202 and SAR-203. Alternatively, the blank periods of SAR-201 can be compensated by transmitting SAR-202 sequentially, and the blank periods of SAR-203 can be compensated by transmitting SAR-203, thus achieving comprehensive data collection. This ensures the sensing of objects in the surrounding environment in autonomous driving mode, ensuring driving safety, and also improves the imaging quality and resolution of subsequent synthetic aperture radar images, etc., which will not be described in detail here. Furthermore, in order to ensure that the field of view of multiple SARs is consistent, the data collected by each SAR can be stitched together. SAR-201, SAR-202, and SAR-203 can be installed on a straight line at the same height, with an interval of 30cm, 50cm, or 1m between them, etc.

[0097] Please see Figure 5b , Figure 5b This is a deployment diagram of another synthetic aperture radar provided in an embodiment of this application. For example... Figure 5bAs shown, more synthetic aperture radars can be installed and deployed on the intelligent vehicle 200, specifically including SAR-201, SAR-202, SAR-203, and SAR-204. These SAR-201, SAR-202, SAR-203, and SAR-204 can all be mounted on the top of the intelligent vehicle 200. While the intelligent vehicle 200 is moving forward, SAR-201, SAR-202, SAR-203, and SAR-204 can be used to detect targets on the left and right sides of the vehicle, respectively. For example, SAR-201 and SAR-203 can be used to detect targets on the left side of the vehicle, SAR-202 and SAR-204 can be used to detect targets on the right side of the vehicle, and so on. See the above for details. Figure 5a The description of the corresponding embodiments will not be repeated here.

[0098] Optionally, the intelligent vehicle 200 may also include more than the above-mentioned Figure 5a , Figure 5b The diagram shows more or fewer synthetic aperture radars. In addition, the intelligent vehicle 200 may include various other subsystems (not shown), such as a mobility system, sensing system, control system, one or more peripheral devices, power supply, computer system, and user interface, etc. Optionally, the intelligent vehicle 200 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the intelligent vehicle 200 can be interconnected via wired or wireless means, etc., which will not be elaborated here. Optionally, one or more of these components may be installed separately from or associated with the intelligent vehicle 200.

[0099] In summary, the intelligent vehicle 200 can be a car, truck, motorcycle, bus, ship, drone, airplane, helicopter, lawnmower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, and handcart, etc., and the embodiments of this application do not specifically limit it.

[0100] Understandable Figure 5a , Figure 5b The synthetic aperture radar deployment method shown is only an exemplary implementation method in the embodiments of this application. The synthetic aperture radar in the embodiments of this application includes, but is not limited to, the above deployment method. For example, synthetic aperture radar can also be deployed on the left and right sides of the intelligent vehicle 200 and at the front and rear of the vehicle, etc. The embodiments of this application do not make specific limitations in this regard.

[0101] Furthermore, the technical solutions of this application embodiment can be specifically implemented in a system architecture including electronic devices and intelligent vehicles, or a similar system architecture. The electronic devices and intelligent vehicles can establish connections with each other via wired or wireless networks (such as Wireless-Fidelity (WiFi), Bluetooth, and mobile networks). The intelligent vehicle can be equipped with multiple synthetic aperture radars, all of which can operate in burst mode. Thus, the intelligent vehicle can use the signal transmission method provided in this application embodiment to determine the transmission delay between each synthetic aperture radar based on the vehicle's moving speed and the installation distance between the multiple synthetic aperture radars. This allows the multiple synthetic aperture radars to collect data about the surrounding environment during their respective transmission times, and ensures that data not collected by one synthetic aperture radar during its transmission cycle can be collected by other synthetic aperture radars during their transmission times, improving the overall sampling rate and guaranteeing subsequent imaging quality. Optionally, the intelligent vehicle can transmit the data collected by the synthetic aperture radars to the electronic devices via wired or wireless means. The electronic device can perform imaging processing based on this data, and finally display the corresponding synthetic aperture radar image, which can provide effective support for subsequent high-precision map drawing or environmental surveying. Optionally, the electronic device can also obtain the moving speed of the intelligent vehicle and the installation distance between multiple synthetic aperture radars, and then calculate the transmission delay between each synthetic aperture radar according to the requirements, and send the calculated transmission delay to the intelligent vehicle respectively. Subsequently, the intelligent vehicle can control the multiple synthetic aperture radars in the vehicle to transmit radio frequency signals according to the transmission delay calculated by the electronic device, etc., and this application embodiment does not specifically limit this.

[0102] Optionally, the above system architecture may also include a server. Accordingly, data collected by the intelligent vehicle during its operation using multiple synthetic aperture radars can be uploaded to the server via the network. Subsequently, electronic devices can retrieve the relevant data from the server via the network, perform imaging processing based on this data, and ultimately display the corresponding synthetic aperture radar image, etc., which will not be elaborated further here. This facilitates data sharing, allowing different personnel to obtain the data collected by the intelligent vehicle from the server via the network according to their actual needs, improving data utilization and imaging efficiency. The server receives the data uploaded by the intelligent vehicle. This data can be the raw data collected by the synthetic aperture radar, or data that has undergone synthetic aperture radar preprocessing (e.g., filtering, fusion), etc. Optionally, the server can also obtain the corresponding synthetic aperture radar image based on this data through a series of imaging processes. Subsequently, the server sends the obtained synthetic aperture radar image to the electronic device via a message, allowing the electronic device to display the synthetic aperture radar image on a screen. Optionally, the electronic device can also be a display screen inside the intelligent vehicle, etc.

[0103] In summary, the electronic devices can be smartphones, smart wearable devices, tablets, laptops, desktop computers, and in-vehicle systems, etc., all possessing the aforementioned functions. This application does not specifically limit the types of devices described. The intelligent vehicles can be cars, trucks, motorcycles, buses, ships, drones, airplanes, helicopters, lawnmowers, recreational vehicles, amusement park vehicles, construction equipment, trams, golf carts, trains, and handcarts, etc., all possessing the aforementioned functions. The server can be computers and servers, etc., possessing the aforementioned functions. The server can be a single server, a server cluster consisting of multiple servers, or a cloud computing service center. The server can provide backend services for electronic devices and intelligent vehicles, such as a vehicle networking service platform, etc. This application does not specifically limit the types of devices described.

[0104] To facilitate understanding of the embodiments of this application, the following exemplifies application scenarios to which one signal transmission method of this application is applicable. Please refer to... Figure 6 , Figure 6 This is a schematic diagram illustrating an application scenario of a signal transmission method provided in an embodiment of this application. For example... Figure 6 As shown, this application scenario can include intelligent vehicles 200 traveling on roads. Figure 6 Taking a sedan as an example), and vehicle 1 ( Figure 6 Taking buses as an example), vehicle 2 ( Figure 6 Taking cars as an example) and vehicle 3 ( Figure 6(Taking a passenger car as an example). This intelligent vehicle 200 has a built-in radar system, which may include N synthetic aperture radars, where N is an integer greater than 1. To ensure driving safety and meet the heat dissipation requirements of the synthetic aperture radars, these N synthetic aperture radars typically need to operate in burst mode (see above for details). Figure 2 (As described in the corresponding embodiments, they will not be repeated here). The intelligent vehicle 200 can use a signal transmission method provided in this application to collect data about the surrounding environment by transmitting radio frequency signals through multiple synthetic aperture radars during their respective transmission times. This allows for the sensing of objects in the environment (e.g., distance, direction, etc. between vehicle 2 and intelligent vehicle 200). Furthermore, by controlling the transmission delay between each synthetic aperture radar, data not collected by one synthetic aperture radar during its blank time can be collected by other synthetic aperture radars during their transmission time, improving the overall sampling rate and ensuring the intelligent vehicle 200's sensing of objects in the environment, as well as the subsequent imaging quality. For example, as... Figure 6 As shown, an intelligent vehicle 200 moves forward on a road. Two synthetic aperture radars (SARs) are installed at the front and rear of the vehicle. The front SAR first transmits radio frequency signals during its transmission time to collect data. After a period of time, when the front SAR's transmission time ends and data collection pauses, the rear SAR can collect data that the front SAR missed during the vehicle's forward movement during its transmission time. As described above, this embodiment not only avoids the equipment failure and traffic accidents caused by prolonged high-load operation of SARs leading to heat dissipation difficulties, but also compensates for data missed during the gaps in data collection (i.e., unsampled areas) through the cooperation of multiple SARs, thereby improving the overall sampling rate, resolution, and image quality, etc.

[0105] It is understood that the above application scenarios are only a few exemplary implementation methods in the embodiments of this application. The application scenarios in the embodiments of this application include, but are not limited to, the above application scenarios. Other scenarios and examples will not be listed or described in detail.

[0106] It should be noted that different methods or steps can be executed by different entities. Below, we will use a terminal device as an example to describe a signal transmission method provided in this application. Please refer to... Figure 7 , Figure 7 This is a schematic flowchart illustrating a signal transmission method provided in an embodiment of this application. This method can be applied to the above-mentioned... Figure 6 In the aforementioned application scenario, the terminal device can be one of the above-mentioned... Figure 5a or Figure 5bThe aforementioned intelligent vehicle 200 can be used to support and execute Figure 7 The method flow is shown below. The following will be combined with the appendix... Figure 7 Described from the terminal device side, the method may include the following steps S701-S702.

[0107] Step S701: The first SAR transmits a first radio frequency signal within a first range segment of the target range segment; the target range segment is the distance the first SAR moves within the first transmission cycle based on the movement of the terminal device.

[0108] Specifically, the terminal device can be equipped with N synthetic aperture radars (SARs). These N SARs can have the same transmission period (e.g., all 1s, 30ms, or 20ms, etc.), where N is an integer greater than 1. Each SAR has a transmission time within its transmission period to transmit radio frequency signals and correspondingly receive the reflected echo signals to sample the surrounding environment (i.e., each SAR can operate in burst mode; for details on burst mode, please refer to the above). Figure 2 (The description in the corresponding embodiment will not be repeated here). Meanwhile, due to differences in equipment, the transmission time of each SAR within a transmission cycle can be different. For example, a SAR using materials with poor heat dissipation has stricter limitations on transmission time, and so on. As described above, the first SAR among the N SARs can transmit a first radio frequency signal within a first range of the target range. This target range can be the distance the first SAR moves within the first transmission cycle based on the movement of the terminal device, that is, the distance the terminal device moves with the first SAR as a reference point within the first transmission cycle. The first transmission cycle can be one transmission cycle of the first SAR. Correspondingly, the transmission time of the first SAR can be a first time interval, and the first range is the distance the first SAR moves within the first time interval, or in other words, the first range is the distance the terminal device moves with the first SAR as a reference point within the first time interval.

[0109] It should be understood that the target range segment and the first range segment are only used to indicate that the terminal equipment and the N SARs installed on the terminal equipment are in a moving state relative to the ground, and do not specifically limit their starting position, ending position, direction, route, etc.

[0110] In step S702, the second SAR transmits a second radio frequency signal within the second range segment of the target range segment; the second SAR and the first SAR are located at different positions at the same height of the terminal device, and all or part of the second range segment does not overlap with the first range segment.

[0111] Specifically, the second SAR among the N SARs can transmit a second radio frequency signal within a second range segment of the target range. Optionally, the second SAR and the first SAR can be installed at different positions at the same height as the terminal device, and can be located on a straight line with the same direction of movement as the terminal device. Simultaneously, the orientation of the second SAR and the first SAR can be consistent, thereby ensuring a consistent radar field of view. This ensures that during subsequent continuous movement, the second SAR can pass through positions previously traversed by the first SAR, and thus can sample areas that could not be sampled during the blank time of the first SAR's transmission cycle. Correspondingly, the transmission time of the second SAR can be a second time interval, and the second range segment can be the distance the second SAR moves within the second time interval based on the movement of the terminal device, or, in other words, the second range segment is the distance the terminal device moves within the second time interval with the second SAR as a reference point.

[0112] Optionally, all or part of the second range segment does not overlap with the first range segment. As explained above regarding synthetic aperture radar, the area sampled by the first SAR during the first transmission cycle can be the region to the side of the first range segment, and the area sampled by the second SAR during the first transmission cycle can be the region to the side of the second range segment. Since all or part of the second range segment does not overlap with the first range segment, this embodiment can effectively increase the sampling area and improve the overall sampling rate by coordinating the transmission times of multiple SARs, thereby reducing the impact of the spike effect on imaging quality in burst mode.

[0113] It should be understood that since the transmission period of each SAR can be the same, the first transmission period described in the embodiments of this application can be any transmission period with reference to the start of the first radio frequency signal transmission of the first SAR, etc., and the embodiments of this application do not specifically limit this. In addition, the terms "first" and "second" in the first SAR and second SAR described in the embodiments of this application are only used to distinguish different SARs and do not constitute a limitation on their priority order or specification parameters. Optionally, the N SARs may also include multiple second SARs. Correspondingly, the multiple second SARs are only used to indicate other SARs relative to the first SAR, and do not mean that the multiple second SARs are the same SAR. Thus, similarly, the multiple second SARs can each transmit second radio frequency signals in multiple second range segments of the target range. In this way, more SARs can be used to increase the effective area of ​​the radio frequency signal to a greater extent, improve the sampling rate, and better ensure the final imaging effect.

[0114] Please see Figure 8 , Figure 8This is a schematic flowchart of another signal transmission method provided in an embodiment of this application. This method can be applied to the above... Figure 6 In the aforementioned application scenario, the terminal device can be one of the above-mentioned... Figure 5a or Figure 5b The aforementioned intelligent vehicle 200 can be used to support and execute Figure 8 The method flow is shown below. The following will be combined with the appendix... Figure 8 The signal transmission method provided in this application embodiment will be further described in detail from the perspective of the terminal device. The method may include the following steps S801-S804.

[0115] Step S801: The first SAR transmits a first radio frequency signal at the first moment of the first transmission cycle.

[0116] Specifically, from a time perspective, the first SAR can begin transmitting a first radio frequency signal at the first moment of the first transmission cycle and end transmission after the first time interval, until the next transmission cycle begins, thus repeating this cycle. Optionally, within the first time interval of the first SAR transmitting the radio frequency signal, the distance the first SAR moves with the terminal device can be a first distance segment, as detailed above. Figure 7 Step S701 in the corresponding embodiment will not be described again here.

[0117] Step S802: The second SAR transmits a second radio frequency signal at the second moment of the first transmission cycle; the second moment is the moment after the transmission delay of the second radio frequency signal and the first radio frequency signal at the first moment.

[0118] Specifically, from a time perspective, the second SAR can begin transmitting the second radio frequency signal at the second moment of the first transmission cycle and end transmission after the second time interval, until the next transmission cycle arrives, thus repeating this cycle. Optionally, within the second time interval of the second SAR transmitting the radio frequency signal, the distance that the second SAR moves with the terminal device can be a second distance segment, as detailed above. Figure 7 Step S702 in the corresponding embodiment will not be described again here.

[0119] The second SAR can be installed behind the first SAR. The second time can be the time after the transmission delay of the first time and the second radio frequency signal. That is, the second SAR can start transmitting the second radio frequency signal after a period of time after the first SAR starts transmitting the first radio frequency signal.

[0120] Optionally, as can be seen from step S802 above, to achieve the effect of increasing the sampling rate using multiple SARs according to actual needs, the sampling area of ​​the second SAR cannot completely overlap with the sampling area of ​​the first SAR (i.e., the second range segment cannot completely overlap with the first range segment). Therefore, determining the start time of the second SAR transmitting the second radio frequency signal (i.e., determining the transmission delay) is particularly important. Optionally, the transmission delay of the second radio frequency signal and the first radio frequency signal can be determined based on the moving speed of the terminal device and the installation distance between the second SAR and the first SAR.

[0121] Optionally, the transmission delays of the second radio frequency signal and the first radio frequency signal satisfy the following equation:

[0122] T d =L / V+T B (1)

[0123] Wherein, T in equation (1) d The transmission delay of the second radio frequency signal and the first radio frequency signal; L is the installation distance between the second SAR and the first SAR, which can be the distance between the center points of the first SAR and the second SAR, or the distance between the corresponding points of the first SAR and the second SAR, and this application does not impose any limitation; V is the moving speed of the terminal device, and V is greater than 0; L / V is the time required for the second SAR to reach the position of the first SAR at the first moment as the terminal device moves; T B This is a preset time difference between the second radio frequency signal and the first radio frequency signal. This preset time difference can be set based on actual sampling requirements. For example, to ensure that the entire second distance segment does not overlap with the first distance segment, T can be set... B Greater than or equal to the first time interval; where, when T B When the time interval is equal to the first time interval, the position of the second SAR when it starts transmitting the second radio frequency signal at the second moment is the same as the position of the first SAR when it ends transmitting the first radio frequency signal in the first transmission cycle. This means the second range segment seamlessly connects to the first range segment, maximizing the utilization of each SAR's transmission time. To ensure that a portion of the second range segment does not overlap with the first range segment, T can be set... B It is greater than the difference between the first time interval and the second time interval, and less than the first time interval. Where L is a value greater than 0, and T... B For values ​​greater than or equal to 0, T d Values ​​greater than 0.

[0124] It should be noted that, in practice, the transmission period of SAR is generally 30ms, 20ms or even shorter. Therefore, the speed and direction of the terminal device (e.g., vehicle) can generally be considered stable within several transmission periods. By acquiring the speed and direction of the terminal device in real time, the transmission delay can be recalculated after one or several transmission periods. This application does not specifically limit this aspect.

[0125] For example, please see Figure 9a , Figure 9a This is a schematic diagram of a signal transmission method provided in an embodiment of this application. As shown in Figure 9a, the terminal device can be a vehicle, and the relevant data parameters can be as follows: the vehicle's speed is 1 m / s, two SARs spaced 1 m apart are installed on the left side of the vehicle, the second SAR is located behind the first SAR in the direction of travel, the transmission period of both the first and second SARs is 3 s, and the transmission time (first time interval and second time interval) is 1 s, thus the duty cycle of each SAR is 1:3. Optionally, the first and second SARs can transmit radio frequency signals at a certain frequency (e.g., 50 kHz, i.e., a frequency of once every 20 microseconds) according to the Nyquist sampling theorem during the transmission time, etc., and this embodiment of the application does not specifically limit this.

[0126] like Figure 9a As shown, taking the seamless connection between the second distance segment and the first distance segment as an example, T is set. B = First time interval = 1s, then according to equation (1), the transmission delay T of the second SAR compared to the first SAR is calculated. d =2s. Therefore, as Figure 9a As shown, taking the position of the first SAR as the vehicle reference point, at 0s, the vehicle is at position 0m, and the first SAR starts transmitting the first radio frequency signal; after a 1s transmission time, at 1s, the vehicle moves to position 1m, and the first SAR stops transmitting the first radio frequency signal. After that, the first SAR is in the blank time of the transmission cycle and does not transmit radio frequency signals, while the vehicle continues to move forward; after a 2s transmission delay, at 2s, the vehicle moves to position 2m, and the second SAR starts transmitting the second radio frequency signal; after another 1s transmission time, at 3s, the vehicle moves to position 3m, the second SAR stops transmitting the second radio frequency signal, and at the same time, the first SAR's next transmission cycle begins, and the first SAR starts transmitting the first radio frequency signal. This cycle repeats, and no further examples are given here.

[0127] For example, please see Figure 9b , Figure 9b This is a schematic diagram of another signal transmission method provided in an embodiment of this application. For example... Figure 9bAs shown, the interval between the first and second SAR is 2m, and the remaining data parameters can be compared with those of the second SAR. Figure 9a The same applies, so I will not elaborate further here.

[0128] like Figure 9b As shown, taking the seamless connection between the second and first distance segments as an example, T is set... B = First time interval = 1s, then according to equation (1), the transmission delay T of the second SAR compared to the first SAR is calculated. d =3s. Therefore, as Figure 9b As shown, taking the position of the first SAR as the vehicle reference point, at 0s, the vehicle is at position 0m, and the first SAR starts transmitting the first radio frequency signal. After a 1s transmission time, at 1s, the vehicle moves to position 1m, and the first SAR stops transmitting the first radio frequency signal. After that, the first SAR is in the blank time of the transmission cycle and does not transmit radio frequency signals, while the vehicle continues to move forward. After a 3s transmission delay, at 3s, the vehicle moves to position 3m, and the second SAR starts transmitting the second radio frequency signal. At the same time, the first SAR's next transmission cycle begins, and the first SAR also starts transmitting the first radio frequency signal. After another 1s transmission time, at 4s, the vehicle moves to position 4m, the first SAR stops transmitting the first radio frequency signal, and the second SAR stops transmitting the second radio frequency signal. This cycle repeats. Further examples are not provided here.

[0129] In summary, please refer to the following: Figure 9a and Figure 9b The first SAR transmits a first radio frequency (RF) signal within the 0m-1m distance range, sampling the area to the side of the vehicle within this range. The second SAR transmits a second RF signal within the 1m-2m distance range, sampling the same area. No RF signal is transmitted within the 2m-3m distance range. The first SAR then transmits a first RF signal within the 3m-4m distance range, sampling the same area. The second SAR then transmits a second RF signal within the 4m-5m distance range, sampling the same area. No RF signal is transmitted within the 5m-6m distance range, and so on. By setting an appropriate transmission delay, the transmission time of the second SAR can be used to sample areas that the first SAR could not sample during the blank time, thus compensating for missing data. This is significantly better than the previous situation where the duty cycle of a single SAR was only 1:3. Figure 9a and Figure 9bThe embodiment shown can utilize multiple SARs to increase the duty cycle to 2:3, effectively increasing the sampling area, improving the overall sampling rate, and reducing the impact of the spike effect on imaging quality in burst mode. This can be mainly reflected in the increase of envelope resolution, the reduction of the number of spikes, and the improvement of signal-to-noise ratio, etc., which will not be described in detail here.

[0130] For example, please see Figure 9c , Figure 9c This is a schematic diagram illustrating another signal transmission method provided in an embodiment of this application. For example... Figure 9c As shown, its vehicle speed and the installation distance between SARs, and other data parameters, can be compared with... Figure 9a The same applies, so I will not elaborate further here.

[0131] like Figure 9c As shown, taking the partial overlap between the second distance segment and the first distance segment as an example, T can be set... B =0.5s, which is less than the first time interval (1s) and greater than the difference between the first time interval and the second time interval (0s). Therefore, the transmission delay T of the second SAR compared to the first SAR can be calculated according to equation (1). d =1.5s. Therefore, as... Figure 9c As shown, taking the position of the first SAR as the vehicle reference point, at 0s, the vehicle is at position 0m, and the first SAR begins to transmit the first radio frequency signal. After a 1s transmission time, at 1s, the vehicle travels to position 1m, and the first SAR stops transmitting the first radio frequency signal. After that, the first SAR is in the blank time of the transmission cycle and does not transmit radio frequency signals, while the vehicle continues to move forward. After a 1.5s transmission delay, at 1.5s, the vehicle travels to position 1.5m, and the second SAR begins to transmit the second radio frequency signal. After another 1s transmission time, at 2.5s, the vehicle travels to position 2.5m, and the second SAR stops transmitting the second radio frequency signal. At 3s, the vehicle travels to position 3m, the next transmission cycle of the first SAR begins, and the first SAR begins to transmit the first radio frequency signal. This cycle repeats continuously, and further examples are not provided here.

[0132] In summary, as Figure 9cAs shown, the first SAR transmits a first radio frequency signal within the 0m-1m distance range, sampling the area to the side of the vehicle within this range. The second SAR transmits a second radio frequency signal within the 0.5m-1.5m distance range, also sampling the area to the side of the vehicle within this range. No radio frequency signal is transmitted within the 1.5m-3m distance range, and so on. Thus, although there is some overlap between the sampling areas of the second SAR and the first SAR within the 0.5m distance range, compared to the previous situation where the duty cycle of a single SAR was only 1:3, [the difference is significant]. Figure 9c The illustrated embodiment can utilize multiple SARs as a whole to increase the duty cycle to 1:2, while still effectively increasing the sampling area, improving the overall sampling rate, and reducing the impact of the spike effect on imaging quality in burst mode.

[0133] For example, please see Figure 9d , Figure 9d This is a schematic diagram illustrating another signal transmission method provided in an embodiment of this application. For example... Figure 9d As shown, the transmission time of both the first and second SAR is 2 seconds, and the remaining data parameters can be compared with those of the second SAR. Figure 9a The same applies, so I will not elaborate further here.

[0134] like Figure 9d As shown, taking the partial overlap between the second distance segment and the first distance segment as an example, T can be set... B =1s, which is less than the first time interval (2s) and greater than the difference between the first time interval and the second time interval (0s). Then, according to equation (1), the transmission delay T of the second SAR compared to the first SAR is calculated. d =2s. Therefore, as Figure 9d As shown, taking the position of the first SAR as the vehicle reference point, at 0s, the vehicle is at position 0m, and the first SAR starts transmitting the first radio frequency signal; after a transmission time of 2s, at 2s, the vehicle moves to position 2m, and the first SAR stops transmitting the first radio frequency signal. At the same time, the second SAR starts transmitting the second radio frequency signal; after a transmission time of 1s of the second SAR, at 3s, the vehicle moves to position 3m, and the second SAR is still transmitting the second radio frequency signal. At the same time, the first SAR's next transmission cycle begins, and the first SAR starts transmitting the first radio frequency signal; after another transmission time of 1s of the second SAR, at 4s, the vehicle moves to position 4m, and the second SAR stops transmitting the second radio frequency signal. At the same time, the first SAR is still transmitting the first radio frequency signal, and so on, repeating in a cycle. Further examples are not provided here.

[0135] In summary, as Figure 9dAs shown, the first SAR transmits a first radio frequency signal within the 0m-2m range, sampling the area to the side of the vehicle within this range. The second SAR transmits a second radio frequency signal within the 1m-3m range, sampling the same area to the side of the vehicle, and so on. Thus, although there is some overlap between the sampling areas of the second SAR and the first SAR within a 1m range, this is significantly better than the previous case where the duty cycle of a single SAR was only 2:3. Figure 9d The illustrated embodiment can utilize multiple SARs as a whole to increase the duty cycle to 1:1, which achieves the effect of full sampling and maximizes the overall sampling rate.

[0136] Alternatively, please refer to Figure 7 According to the description of step S702 in the corresponding embodiment, the N SARs may include multiple second SARs, which can be sequentially installed behind the first SAR, that is, the first SAR can serve as the foremost reference radar. In this case, the transmission delay of each second SAR relative to the first SAR can satisfy the following equation:

[0137] T d (k)=L(k) / V+T B (k) (2)

[0138] Wherein, T in equation (2) d L(k) represents the transmission delay of the k-th second SAR relative to the first SAR, where k is an integer greater than or equal to 1, and the k-th second SAR is located in front of the (k+1)-th second SAR; L(k) is the installation distance between the k-th second SAR and the first SAR; V is the moving speed of the terminal device, and L(k) / V is the time required for the k-th second SAR to reach the position of the first SAR at the first moment as the terminal device moves; T B (k) represents the preset time difference between the k-th second SAR and the first SAR. Similarly, this preset time difference can also be set based on actual sampling requirements, as described in the corresponding equation (1) above, and will not be repeated here. Optionally, to achieve the ideal state of seamless connection between the areas sampled by the first SAR and multiple second SARs, T B (k) can satisfy the following equation:

[0139]

[0140] In equation (3), t represents the transmission time of the first SAR, i.e., the first time interval; t j Let j be the launch time of the j-th second SAR, where j takes values ​​from 1 to k-1. Obviously, It is the sum of the launch times of the k-1 second SARs preceding the k-th second SAR.

[0141] Please see Figure 9e , Figure 9e This is a schematic diagram illustrating another signal transmission method provided in an embodiment of this application. For example... Figure 9e As shown, the terminal device can be a vehicle, and the relevant data parameters can be as follows: the vehicle travels at a speed of 1 m / s, and three SARs spaced 1 m apart are installed on the left side of the vehicle. The second SAR (1) and the second SAR (2) are located behind the first SAR in the direction of travel. The transmission period of the first SAR, the second SAR (1) and the second SAR (2) is 3 s, and the transmission time is 1 s. Thus, the duty cycle of each SAR is 1:3.

[0142] like Figure 9e As shown, taking the seamless connection of the first range segment and two second range segments as an example, the preset time difference T between the second SAR (1) and the first SAR is calculated according to equation (3). B (1) = t = 1s, then according to equation (2), the transmission delay T of the second SAR (1) compared to the first SAR is calculated. d (1) = 2s; The preset time difference T between the second SAR (2) and the first SAR is calculated according to equation (3). B (2) = t + t1 = 2s, then the transmission delay T of the second SAR (2) compared to the first SAR can be calculated according to equation (2). d (2) = 4s. Therefore, as... Figure 9e As shown, taking the position of the first SAR as the vehicle reference point, at 0s, the vehicle is at position 0m, and the first SAR starts transmitting the first radio frequency signal; after a transmission time of 1s, at 1s, the vehicle travels to position 1m, and the first SAR stops transmitting the first radio frequency signal. After that, the first SAR is in the blank time of the transmission cycle and does not transmit radio frequency signals, while the vehicle continues to move forward; after a transmission delay of 2s, at 2s, the vehicle travels to position 2m, and the second SAR (1) starts transmitting the second radio frequency signal; after another transmission time of 1s, at 3s, the vehicle travels to position 3m, and the second SAR stops transmitting the second radio frequency signal. At the same time, the next transmission cycle of the first SAR arrives, and the first SAR starts transmitting the first radio frequency signal; after another transmission time of 1s, at 4s, the vehicle travels to position 4m, and the first SAR stops transmitting the first radio frequency signal. At this time, compared with 0s, a transmission delay of 4s has passed, and the second SAR (2) starts transmitting the second radio frequency signal. This cycle repeats. No further examples will be given here.

[0143] In summary, as Figure 9eAs shown, the first SAR transmits a first radio frequency signal within the 0m-1m distance range, and its sampling area is the region to the side of the vehicle within the 0m-1m distance range. The second SAR (1) transmits a second radio frequency signal within the 1m-2m distance range, and its sampling area is the region to the side of the vehicle within the 1m-2m distance range. The second SAR (2) transmits a second radio frequency signal within the 2m-3m distance range, and its sampling area is the region to the side of the vehicle within the 2m-3m distance range. The first SAR transmits a first radio frequency signal within the 3m-4m distance range, and its sampling area is the region to the side of the vehicle within the 3m-4m distance range, and so on. In this way, by setting an appropriate transmission delay, the transmission time of multiple second SARs can be used to sample the region that the first SAR cannot sample during the blank time, making up for the missing data. Compared with the previous case where the duty cycle of a single SAR was only 1:3, Figure 9e The illustrated embodiment can utilize multiple SARs as a whole to increase the duty cycle to 1:1, which achieves the effect of full sampling, maximizes the overall sampling rate, and avoids the impact of the spike effect on imaging quality in burst mode.

[0144] It should be noted that the above Figures 9a-9e This is merely an illustrative example, and the signal transmission method provided in this application is not limited to the above situations. Figures 9a-9e The direction indicated by the longitudinal coordinate can be the driving direction of the vehicle, that is, the orientation direction. The different positions of different vehicles in the lateral direction are only used to distinguish different times of the same vehicle and are not used to represent the displacement of the vehicle in the lateral direction. In fact, the vehicle may not have any displacement in the lateral direction during the forward movement of the vehicle, etc. The embodiments of this application do not make specific limitations in this regard.

[0145] Further, please refer to Figure 9f , Figure 9f This is a schematic diagram illustrating another signal transmission method provided in an embodiment of this application. For example... Figure 9f As shown, the terminal equipment can be a vehicle, with multiple SARs (such as those arranged in a cross shape) mounted on the roof of the vehicle. Figure 9f The SAR(a), SAR(b), SAR(c), and SAR(d) in the diagram can be spaced 1.5m apart, etc., which will not be described in detail here.

[0146] like Figure 9fAs shown, in scenarios such as parallel parking, the vehicle may move in the direction of the lateral coordinate. Optionally, in the process of detecting lateral movement of the vehicle, this embodiment of the application can also control multiple SARs (such as SAR(a) and SAR(b)) on the top of the vehicle to transmit radio frequency signals using a signal transmission method of this application, so as to collect as much data as possible in the area corresponding to the distance segment traversed by the lateral movement using the transmission time of multiple SARs, thereby improving the sampling rate. For example, as Figure 9f As shown, SAR(a) transmits a first radio frequency signal within a lateral distance segment of 0m-1m, and its sampling area is the region to the side of the vehicle within this 0m-1m distance segment. SAR(b) transmits a second radio frequency signal within a distance segment of 1m-2m, and its sampling area is the region to the side of the vehicle within this 1m-2m distance segment, and so on. Specific implementation details can be found above. Figures 9a-9e The description of the corresponding embodiments will not be repeated here. Accordingly, Figure 9f The different longitudinal positions of vehicles are only used to distinguish different times of the same vehicle, not to indicate the longitudinal displacement of the vehicle, etc.

[0147] In step S803, the first SAR receives the first echo signal corresponding to the first radio frequency signal; the second SAR receives the second echo signal corresponding to the second radio frequency signal.

[0148] Specifically, during its transmission time, the first SAR can receive the first echo signal corresponding to each first radio frequency signal while transmitting the first radio frequency signal; similarly, during its transmission time, the second SAR can receive the second echo signal corresponding to each second radio frequency signal while transmitting the second radio frequency signal. Synthetic aperture radar detects objects in the surrounding environment based on these reflected echo signals.

[0149] For example, still using Figure 9a For example, the first SAR transmits a first radio frequency signal within a distance range of 0m to 1m, and the echo signal it receives is also the signal reflected back from objects within the corresponding area of ​​the 0m-1m distance range. The second SAR transmits a first radio frequency signal within a distance range of 1m to 2m, and the echo signal it receives is also the signal reflected back from objects within the corresponding area of ​​the 1m-2m distance range, and so on. This will not be elaborated further here. Clearly, this embodiment utilizes multiple SARs, increasing the effective area of ​​the radio frequency signal, thereby increasing the area for receiving echo signals, which in turn increases the sampling area. In short, it collects more data that can be used for imaging, thus improving the final imaging effect.

[0150] Step S804: Based on the first echo signal and the second echo signal, obtain the corresponding SAR image through imaging processing.

[0151] Specifically, based on the first echo signal received by the first SAR and the second echo signal received by the second SAR, a corresponding SAR image is obtained through imaging processing. Optionally, this imaging processing may include azimuth compression, etc., which is not specifically limited in this embodiment. Optionally, before imaging processing, more uncollected data can be obtained based on the first and second echo signals through operations such as extrapolation or zero-padding, thereby further improving the imaging quality. It is understood that because this embodiment increases the duty cycle and improves the sampling rate, the error caused by operations such as extrapolation or zero-padding is greatly reduced, more effective data can be obtained, and the imaging quality can be further improved. For example, with Figure 9a For example, extrapolation or zero-padding can be performed on the data (i.e., the first echo signal) collected by the first SAR in the 0m-1m distance segment and the data (i.e., the second echo signal) collected by the second SAR in the 1m-2m distance segment to obtain the data in the 2m-3m distance segment. Then, imaging processing can be performed on the originally collected data and the data obtained by extrapolation or zero-padding, etc. The embodiments of this application do not specifically limit this.

[0152] Optionally, typically, the echo signal received by the first SAR is stored within the first SAR, and correspondingly, the echo signal received by the second SAR is stored within the second SAR. Therefore, when multiple SARs are interconnected via wired or wireless means, the echo signals received by other SARs can be acquired through any one SAR and processed for imaging, etc. For example, using... Figure 9e Taking the described scenario as an example, the echo signals received by the second SAR (1) and the second SAR (2) can be acquired by the first SAR, and then image processing can be performed through the first SAR, etc. Alternatively, when the multiple SARs are connected to the vehicle-mounted unit in the terminal device or other devices such as external computers or servers, the echo signals received by the first SAR and the second SAR can also be acquired through other devices and image processing can be performed, etc. The embodiments of this application do not specifically limit this.

[0153] On the one hand, with Figure 9a , Figure 9b as well as Figure 9e Taking the described scenario as an example, as the vehicle continues to move forward, since the sampling areas of each SAR are seamlessly connected and do not overlap with each other, the received echo signals are all valid signals reflected back from different positions in the azimuth direction. Therefore, imaging processing can be performed directly based on the echo signals received by the first SAR and the second SAR to obtain SAR images with high resolution and good effect.

[0154] On the other hand, with Figure 9c and Figure 9d Taking the described scenario as an example, since the sampling areas of the second SAR and the first SAR partially overlap—that is, some signals in the second echo signal and the first echo signal are repeated echo signals reflected from the same position in the azimuth direction—in order to prevent the repeated echo signals from interfering with the imaging and further ensure the final imaging effect, this embodiment of the application can preprocess the repeated echo signals before imaging processing, and then perform imaging based on the preprocessed echo signals. The preprocessing can include the following two methods:

[0155] 1. Directly remove the portion of the second echo signal that overlaps with the first echo signal. Then, the second echo signal after removing this portion can be "stitched" with the first echo signal to obtain an echo signal of a continuous, non-overlapping region in the azimuth direction, which is then used for imaging processing. For example, using... Figure 9c For example, the echo signals received within the 0.5m-1m range of the second echo signal can be directly removed. Then, the echo signals received within the 1m-1.5m range of the second echo signal are "stitched" with the first echo signal received by the first SAR within the 0m-1m range, thus obtaining the echo signal of a continuous, non-repeating region within the 0m-1.5m range. The removal method for the second echo signals received by the second SAR in each transmission time is similar and will not be elaborated here.

[0156] Optionally, if multiple second SARs exist, the portion of the second echo signal received by each second SAR that overlaps with the echo signals received by the previous multiple SARs can be directly removed, and so on. This application embodiment does not specifically limit this. For example, taking two second SARs as an example, the portion of the second echo signal received by the second second SAR that overlaps with the echo signals received by the first SAR and the first second SAR, respectively, can be directly removed. Optionally, this removal operation can be performed in real time based on the received echo signals, and the remaining echo signals after the removal operation can be sent in real time to the imaging processing device (such as the aforementioned first SAR, or other devices such as vehicle-mounted systems or servers).

[0157] 2. The overlapping portions of the second echo signal and the first echo signal are weighted and averaged before imaging processing. For example, still using... Figure 9cFor example, the portion of the second echo signal received within the 0.5m-1m distance range can be weighted and averaged with the portion of the first echo signal received within the 0.5m-1m distance range. Then, the echo signal obtained after weighted averaging is "stitched" with the non-overlapping portions of the first and second echo signals to obtain the echo signal of a continuous, non-repeating region within the 0m-1.5m distance range, and then imaging processing is performed.

[0158] Similarly, in the case of multiple second SARs, the overlapping parts of the second echo signal received by each second SAR and the multiple echo signals received by the previous multiple SARs are weighted and averaged, etc. The embodiments of this application do not specifically limit this.

[0159] In summary, the signal transmission method provided in this application utilizes multiple synthetic aperture radars (SARs) employing burst mode for detection. By adjusting the transmission delays between different SARs, their transmission times become complementary, thereby extending the overall transmission time, increasing the duty cycle, and even achieving full sampling, ultimately improving the final imaging quality. For example, please refer to... Figure 10 , Figure 10 This is a schematic diagram illustrating the effect of a signal transmission method provided in an embodiment of this application. For example... Figure 10 As shown, by coordinating the transmission times of the first SAR and the second SAR on the left side of the vehicle (both with a duty cycle of 1:2), as the vehicle continues to move in the direction indicated by the arrow, the sampling areas of the first SAR and the second SAR in the azimuth direction can be complementary, achieving the ideal effect of full sampling and effectively ensuring imaging quality.

[0160] Furthermore, it should be noted that the technical solutions provided in this application can be applied to other aspects besides synthetic aperture radar. The core idea is that multiple defective products can be used to complement each other, thereby achieving the effect of a high-level product or an ideal product.

[0161] Please see Figure 11 , Figure 11 This is a schematic diagram of a signal transmission system provided in an embodiment of this application. The signal transmission system 30 can be applied to the aforementioned terminal device, whose moving speed is V. The signal transmission system 30 may include N synthetic aperture radars (SARs); the N SARs have the same transmission period, and N is an integer greater than 1. Figure 11As shown, the N SARs may specifically include synthetic aperture radar 301 (i.e., the first SAR mentioned above) and synthetic aperture radar 302 (i.e., the second SAR mentioned above), wherein synthetic aperture radar 301 and synthetic aperture radar 302 are located at different positions at the same height of the terminal device.

[0162] Synthetic Aperture Radar 301 is used to transmit a first radio frequency signal within a first range segment of a target range segment; the target range segment is the distance the synthetic aperture radar 301 moves within a first transmission cycle; the first transmission cycle is one transmission cycle of the synthetic aperture radar 301.

[0163] Synthetic aperture radar 302 is used to transmit a second radio frequency signal within a second range segment of the target range segment; all or part of the second range segment does not overlap with the first range segment.

[0164] In one possible implementation, the signal transmitting system 30 is further used for:

[0165] The transmission delays of the second radio frequency signal and the first radio frequency signal are determined based on the moving speed of the terminal device and the installation distance between the synthetic aperture radar 302301 and the synthetic aperture radar 301.

[0166] In one possible implementation, the synthetic aperture radar 301 is specifically used for:

[0167] The first radio frequency signal is transmitted at the first moment of the first transmission cycle; the transmission time of the synthetic aperture radar 301 within the first transmission cycle is the first time interval; the distance moved by the synthetic aperture radar 301 within the first time interval is the first distance segment.

[0168] In one possible implementation, the synthetic aperture radar 302 is specifically used for:

[0169] The second radio frequency signal is transmitted at the second moment; the second moment is the moment after the transmission delay of the second radio frequency signal and the first radio frequency signal at the first moment; the transmission time of the synthetic aperture radar 302 within one transmission cycle starting at the second moment is the second time interval; the distance moved by the synthetic aperture radar 302 within the second time interval is the second range segment.

[0170] In one possible implementation, the transmission delays of the second radio frequency signal and the first radio frequency signal satisfy the following equation:

[0171] T d =L / V+T B

[0172] Among them, T d L is the transmission delay of the second radio frequency signal and the first radio frequency signal; V is the installation distance between the synthetic aperture radar 302 and the synthetic aperture radar 301; T is the moving speed of the terminal device; B The preset time difference between the second radio frequency signal and the first radio frequency signal.

[0173] In one possible implementation, if the entire second distance segment does not overlap with the first distance segment, then the T B Greater than or equal to the first time interval; wherein, when T B When the time interval is equal to the first time interval, the position of the synthetic aperture radar 302 when it starts transmitting the second radio frequency signal at the second moment is the position of the synthetic aperture radar 301 when it ends transmitting the first radio frequency signal within the first transmission cycle.

[0174] In one possible implementation, if a portion of the second distance segment does not overlap with the first distance segment, then the T B It is greater than the difference between the first time interval and the second time interval, and less than the first time interval.

[0175] In one possible implementation,

[0176] The synthetic aperture radar 301 is also used to receive the first echo signal corresponding to the first radio frequency signal;

[0177] The synthetic aperture radar 302 is also used to receive the second echo signal corresponding to the second radio frequency signal;

[0178] The terminal device is also used to obtain a corresponding SAR image based on the first echo signal and the second echo signal through imaging processing.

[0179] It should be noted that the functions of each part of the signal transmission system 30 described in the embodiments of this application can be specifically referred to the above. Figure 7 The descriptions of steps S701-S702 in the embodiments of the method described above can also be found in the above descriptions. Figure 8 The relevant descriptions of steps S801-S804 in the method embodiment are not repeated here.

[0180] Based on the descriptions of the above method and system embodiments, this application also provides a terminal device. Please refer to... Figure 12 , Figure 12 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Optionally, the terminal device 1000 can be as described above. Figure 5a or Figure 5b The intelligent vehicle 200, wherein the terminal device 1000 includes at least a processor 1001 and N synthetic aperture radars 1002. Optionally, the terminal device 1000 may also include other general-purpose components such as computer-readable storage media, databases, and memory, which will not be detailed here. The processor 1001 and the N synthetic aperture radars 1002 within the terminal device 1000 can be connected via a bus or other means. Optionally, the processor 1001 may also be the processor within any one of the N synthetic aperture radars 1002, etc., and this application embodiment does not specifically limit this.

[0181] Processor 1001 and N synthetic aperture radars 1002 can be used to implement the above. Figure 7 The descriptions of steps S701-S702 in the embodiments of the method described above can also be used to implement the above. Figure 8 The descriptions of steps S801-S804 in the embodiments of the method described herein will not be repeated here. The processor 1001 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the above-described program.

[0182] The memory within the terminal device 1000 can be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions. The memory can exist independently and be connected to the processor 1001 via a bus. Alternatively, the memory can be integrated with the processor 1001.

[0183] A computer-readable storage medium can be stored in the memory of the terminal device 1000. The computer-readable storage medium is used to store a computer program, which includes program instructions. The processor 1001 is used to execute the program instructions stored in the computer-readable storage medium. The processor 1001 (or CPU (Central Processing Unit)) is the computing and control core of the terminal device 1000. It is adapted to implement one or more instructions, specifically to load and execute one or more instructions to implement a corresponding method flow or function.

[0184] This application also provides a computer program that includes instructions that, when executed, cause N SARs to perform some or all of the steps of any signal transmission method.

[0185] It should be noted that the functions of each functional unit in the terminal device 1000 described in this application embodiment can be specifically referred to the above. Figure 7 The descriptions of steps S701-S702 in the embodiments of the method described above can also be found in the above descriptions. Figure 8 The relevant descriptions of steps S801-S804 in the method embodiment are not repeated here.

[0186] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0187] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0188] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0189] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0190] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0191] Furthermore, the terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0192] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A signal transmission method, applied to a terminal device, characterized in that, The terminal device is equipped with N synthetic aperture radars (SARs); the moving speed of the terminal device is V, where V is greater than 0; the N SARs have the same transmission period, where N is an integer greater than 1; the method includes: The first SAR among the N SARs transmits a first radio frequency signal within a first range segment of the target range; the target range segment is the distance the first SAR moves within a first transmission cycle; the first transmission cycle is one transmission cycle of the first SAR; The second SAR of the N SARs transmits a second radio frequency signal within the second range of the target range; the second SAR and the first SAR are located at different positions at the same altitude of the terminal device, and all or part of the second range does not overlap with the first range.

2. The method according to claim 1, characterized in that, The method further includes: The transmission delay of the second radio frequency signal and the first radio frequency signal is determined based on the moving speed of the terminal device and the installation distance between the second SAR and the first SAR.

3. The method according to claim 2, characterized in that, The first SAR transmits a first radio frequency signal within a first range segment of the target range segment, including: The first SAR begins transmitting the first radio frequency signal at the first moment of the first transmission cycle; the transmission time of the first SAR within the first transmission cycle is the first time interval; the distance the first SAR moves within the first time interval is the first distance segment.

4. The method according to claim 3, characterized in that, The second SAR transmits a second radio frequency signal within a second range segment of the target range segment, including: The second SAR begins transmitting the second radio frequency signal at a second time point; the second time point is the time after the first time point has elapsed and the transmission delay of the second radio frequency signal and the first radio frequency signal; the transmission time of the second SAR within one transmission cycle starting at the second time point is the second time interval; the distance the second SAR moves within the second time interval is the second distance segment.

5. The method according to claim 4, characterized in that, The transmission delays of the second radio frequency signal and the first radio frequency signal satisfy the following equation: T d =L / V+T B Among them, T d L is the transmission delay of the second radio frequency signal and the first radio frequency signal; V is the installation distance between the second SAR and the first SAR; T is the moving speed of the terminal device; B The preset time difference between the second radio frequency signal and the first radio frequency signal.

6. The method according to claim 5, characterized in that, If the entire second distance segment does not overlap with the first distance segment, then the T B Greater than or equal to the first time interval; wherein, when T B When the time interval is equal to the first time interval, the position of the second SAR when it starts transmitting the second radio frequency signal at the second moment is the position of the first SAR when it ends transmitting the first radio frequency signal within the first transmission cycle.

7. The method according to claim 5, characterized in that, If a portion of the second distance segment does not overlap with the first distance segment, then the T B It is greater than the difference between the first time interval and the second time interval, and less than the first time interval.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: The first SAR receives the first echo signal corresponding to the first radio frequency signal; The second SAR receives the second echo signal corresponding to the second radio frequency signal; Based on the first echo signal and the second echo signal, the corresponding SAR image is obtained through imaging processing.

9. A signal transmission system, characterized in that, Applied to terminal equipment, the signal transmission system includes N synthetic aperture radars (SARs); the moving speed of the terminal equipment is V; the N SARs have the same transmission period, where N is an integer greater than 1; The first SAR among the N SARs is used to transmit a first radio frequency signal within a first range segment of the target range; the target range segment is the distance the first SAR moves within a first transmission cycle; the first transmission cycle is one transmission cycle of the first SAR; The second SAR among the N SARs is used to transmit a second radio frequency signal within a second range segment of the target range segment; the second SAR and the first SAR are located at different positions at the same altitude of the terminal device, and all or part of the second range segment does not overlap with the first range segment.

10. The system according to claim 9, characterized in that, The signal transmitting system is also used for: The transmission delay of the second radio frequency signal and the first radio frequency signal is determined based on the moving speed of the terminal device and the installation distance between the second SAR and the first SAR.

11. The system according to claim 10, characterized in that, The first SAR is specifically used for: The first radio frequency signal is transmitted at the first moment of the first transmission cycle; the transmission time of the first SAR within the first transmission cycle is the first time interval; the distance the first SAR moves within the first time interval is the first distance segment.

12. The system according to claim 11, characterized in that, The second SAR is specifically used for: The second radio frequency signal is transmitted at the second moment; the second moment is the moment after the first moment has elapsed and the transmission delay of the second radio frequency signal and the first radio frequency signal; the transmission time of the second SAR within one transmission cycle starting at the second moment is the second time interval; the distance the second SAR moves within the second time interval is the second distance segment.

13. The system according to claim 12, characterized in that, The transmission delays of the second radio frequency signal and the first radio frequency signal satisfy the following equation: T d =L / V+T B Among them, T d L is the transmission delay of the second radio frequency signal and the first radio frequency signal; V is the installation distance between the second SAR and the first SAR; T is the moving speed of the terminal device; B The preset time difference between the second radio frequency signal and the first radio frequency signal.

14. The system according to claim 13, characterized in that, If the entire second distance segment does not overlap with the first distance segment, then the T B Greater than or equal to the first time interval; wherein, when T B When the time interval is equal to the first time interval, the position of the second SAR when it starts transmitting the second radio frequency signal at the second moment is the position of the first SAR when it ends transmitting the first radio frequency signal within the first transmission cycle.

15. The system according to claim 13, characterized in that, If a portion of the second distance segment does not overlap with the first distance segment, then the T B It is greater than the difference between the first time interval and the second time interval, and less than the first time interval.

16. The system according to any one of claims 9-15, characterized in that: The first SAR is also used to receive the first echo signal corresponding to the first radio frequency signal; The second SAR is also used to receive the second echo signal corresponding to the second radio frequency signal; The terminal device is also used to obtain a corresponding SAR image based on the first echo signal and the second echo signal through imaging processing.

17. A terminal device, characterized in that, The terminal device includes N synthetic aperture radars (SARs) mounted on it, where N is an integer greater than 1, wherein the N SARs are used to implement the method as described in any one of claims 1-8.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, causes N synthetic aperture radars (SARs) to implement the method described in any one of claims 1-8, where N is an integer greater than 1.

Images