Positioning method and system based on reconfigurable holographic metasurface, storage medium and radar
By dividing the target space and calculating the amplitude matrix on a reconfigurable holographic metasurface, the problems of high power consumption and high cost of phased array radar are solved, and higher positioning accuracy is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HANGZHOU FFEI TECH CO LTD
- Filing Date
- 2023-01-09
- Publication Date
- 2026-07-21
AI Technical Summary
Existing phased array radars rely on high-power and high-cost hardware components, resulting in limited positioning accuracy, and traditional positioning methods are not applicable to reconfigurable holographic metasurfaces.
A positioning method based on a reconfigurable holographic metasurface is adopted. By dividing the target space, calculating the amplitude matrix of the transmitter and receiver, and setting it on the reconfigurable holographic metasurface, the target object's position parameters are determined by pointing the beam into the target space and combining the received signal.
Higher positioning accuracy was achieved with the same power consumption and cost. By utilizing the low power consumption and low cost characteristics of reconfigurable holographic metasurfaces, the positioning accuracy of radar was improved.
Smart Images
Figure CN116087932B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of radar technology, and in particular to a positioning method, system, storage medium, and radar based on a reconfigurable holographic metasurface. Background Technology
[0002] With the continuous development of applications such as autonomous driving and navigation, the demand for high-precision positioning is growing rapidly. Radar, due to its relatively low susceptibility to weather and lighting conditions, has been widely used in various positioning scenarios. To address the needs for high-precision, low-power positioning and sensing, radar (Radio Detection and Ranging) is considered one of the key technologies. Radar uses antennas to transmit and receive electromagnetic waves, and analyzes the received signals to detect and locate targets, thereby achieving positioning and sensing.
[0003] Currently, radar commonly uses phased arrays as antennas, known as phased array radar. A phased array is an array of multiple antenna elements. The signal fed from the feed source is evenly distributed to each antenna element through a power divider. Phase shifters adjust the phase shift of the signal at each antenna element, and the signals radiated by all antenna elements are superimposed to form the desired waveform, thus achieving beamforming. A phased array radar consists of a transmitter, a receiver, and a phased array antenna. The transmitter generates the transmitted radar signal, which is then transmitted and received by the phased array antenna. The receiver analyzes the received signal. By analyzing the received signal, the time delay and angle information between it and the transmitted signal can be estimated, thereby achieving target localization. However, because the hardware components such as phase shifters and power dividers that phased arrays rely on have high power consumption, the positioning accuracy of phased array radar is very limited under given power consumption constraints. Furthermore, the cost of hardware such as phase shifters in phased arrays is also very high.
[0004] With the emergence of reconfigurable holographic surface (RHS), radar systems based on RHS have been developed. RHS is an ultra-thin planar antenna with many metamaterial radiating elements embedded on its surface. Its hardware structure is different from that of phased array, so traditional positioning principles and methods based on phased array are no longer applicable. Summary of the Invention
[0005] This application provides a positioning method, system, storage medium, and radar based on a reconfigurable holographic metasurface. To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments. Its sole purpose is to present some concepts in a simple form as a prelude to the detailed description that follows.
[0006] In a first aspect, embodiments of this application provide a positioning method based on a reconfigurable holographic metasurface, the method comprising:
[0007] Multiple target spaces are divided based on the space to be measured;
[0008] Calculate the transmitter amplitude matrix and receiver amplitude matrix corresponding to the direction of the first target space; where the first target space is any one of multiple target spaces;
[0009] The transmitter amplitude matrix and receiver amplitude matrix are set on the transmitter RHS and receiver RHS respectively, so that the beams of the transmitter RHS and receiver RHS are pointed to the direction of the first target space.
[0010] Based on the amplitude matrix of the transmitter, the amplitude matrix of the receiver, and the received signal, the position parameters of the target object in the space to be measured are determined.
[0011] Optionally, multiple target spaces can be divided based on the space to be tested, including:
[0012] The pitch angle direction of the space to be measured is divided into multiple first equal parts;
[0013] The azimuth direction of the space to be measured is divided into multiple second equal parts;
[0014] The product of multiple first equal parts and multiple second equal parts is used to determine multiple target spaces;
[0015] The formula for calculating multiple target spaces is: M = M θ ×M φ M represents multiple target spaces. θ M is divided into multiple first parts. φ It is divided into multiple second parts.
[0016] Optionally, the formula for calculating the transmitter amplitude matrix is:
[0017] ψ t (θ m ,φ m )=(ψ t, (θ m ,φ m ),…,ψ t, (θ m ,φ m ));ψ t (θ m ,φ m ) is the amplitude matrix of the transmitting end, ψ t, (θ m ,φ m ψ is the amplitude value corresponding to the direction of the first target space of the transmitter. t,(θ m ,φ m ) represents the amplitude value corresponding to the direction of the Nth target space at the transmitting end, (θ) m ,φ m () represents the direction of the first target space;
[0018] The formula for calculating the amplitude value corresponding to the direction of the first target space of the transmitter is:
[0019] q t, L represents the propagation vector corresponding to the l-th feed source at the transmitter; t The number of feeds for the transmitter's RHS; a t (θ m ,φ m () refers to the guidance vector for launch.
[0020] Optionally, the formula for calculating the amplitude matrix at the receiving end is:
[0021] ψ r (θ m ,φ m )=(ψ r, (θ m ,φ m ),…,ψ r, (θ m ,φ m ));ψ r (θ m ,φ m ) represents the amplitude matrix at the receiving end, ψ r, (θ m ,φ m ψ is the amplitude value corresponding to the direction of the first target space at the receiving end. t, (θ m ,φ m ) represents the amplitude value corresponding to the direction of the Nth target space at the receiving end, (θ) m ,φ m () represents the direction of the first target space;
[0022] The formula for calculating the amplitude value corresponding to the direction of the first target space at the receiving end is:
[0023] q r,l Let L represent the propagation vectors corresponding to the l-th feed source at the receiver. r The number of feed sources for the receiver's RHS; a r (θ m ,φ m ) is the receiving guide vector.
[0024] Optionally, based on the transmitter amplitude matrix, receiver amplitude matrix, and received signal, the position parameters of the target object in the space to be measured are determined, including:
[0025] The target signal is transmitted by the transmitter to scan the direction of the first target space, and the received signal in that direction is received by the receiver.
[0026] Based on the received signal, the amplitude matrix of the transmitting end and the amplitude matrix of the receiving end, it is determined whether there is a target object in this direction, and the first number of target objects in the space to be measured is obtained.
[0027] The first number of target objects are located a second time to determine the positional parameters of the target objects in the space to be measured.
[0028] Optionally, a second positioning process is performed on the first number of target objects to determine the positional parameters of the target objects existing in the space to be measured, including:
[0029] Based on the target space range of each target object in the first number of target objects, the range is reconstructed to obtain the final range corresponding to each target object;
[0030] Multiple sub-angles are uniformly selected within the final range corresponding to each target object to obtain multiple sub-angles corresponding to each target object;
[0031] The beams of the transmitter RHS and receiver RHS are pointed to each sub-angle corresponding to each target object;
[0032] The target signal is transmitted by the transmitter to scan each sub-angle corresponding to each target object, and the received signal corresponding to each sub-angle of each target object is received by the receiver.
[0033] The target position parameters of each target are calculated based on the received signal of each sub-angle corresponding to each target.
[0034] Optionally, the target position parameter expression for each target object is:
[0035] in,
[0036] For the target object's position parameters, It is the log-likelihood function. For each target object, the received signal at each sub-angle is α. k It is an intermediate variable.
[0037] Secondly, embodiments of this application provide a positioning system based on a reconfigurable holographic metasurface, the system comprising:
[0038] The spatial partitioning module is used to divide the space to be measured into multiple target spaces;
[0039] The amplitude matrix calculation module is used to calculate the transmitter amplitude matrix and receiver amplitude matrix corresponding to the direction of the first target space; wherein, the first target space is any one of multiple target spaces;
[0040] The beam pointing module is used to set the transmitter amplitude matrix and the receiver amplitude matrix on the transmitter RHS and the receiver RHS respectively, so as to point the beams of the transmitter RHS and the receiver RHS to the direction of the first target space.
[0041] The position parameter determination module is used to determine the position parameters of the target object in the space to be measured based on the amplitude matrix of the transmitting end, the amplitude matrix of the receiving end, and the received signal.
[0042] Thirdly, embodiments of this application provide a computer storage medium storing multiple instructions adapted for loading and execution of the above-described method steps by a processor.
[0043] Fourthly, embodiments of this application provide a radar, the radar comprising:
[0044] One or more processors;
[0045] A storage system used to store one or more programs;
[0046] Host computer and radar module;
[0047] The host computer is used to control the radar module;
[0048] The radar module includes a transmitter, a transmitter RHS, a receiver, and a receiver RHS;
[0049] When one or more programs are executed by one or more processors, the one or more processors perform the method steps described above.
[0050] The technical solutions provided in this application embodiment may include the following beneficial effects:
[0051] In this embodiment, the positioning system based on a reconfigurable holographic metasurface first divides the space to be measured into multiple target spaces, and calculates the transmitter amplitude matrix and receiver amplitude matrix corresponding to the direction of the first target space. The first target space can be any one of the multiple target spaces. Then, the transmitter amplitude matrix and receiver amplitude matrix are respectively set on the transmitter RHS and receiver RHS to point the beams of the transmitter RHS and receiver RHS towards the direction of the first target space. Finally, based on the transmitter amplitude matrix, receiver amplitude matrix, and received signal, the position parameters of the target objects in the space to be measured are determined. This application proposes a new radar positioning method suitable for RHS. Furthermore, due to the low power consumption and low cost of RHS, this application can achieve higher positioning accuracy with the same power consumption and cost.
[0052] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description
[0053] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0054] Figure 1 This is a schematic flowchart of a positioning method based on a reconfigurable holographic metasurface provided in an embodiment of this application;
[0055] Figure 2 This is a schematic diagram of a positioning system based on a reconfigurable holographic metasurface provided in an embodiment of this application;
[0056] Figure 3 This is a schematic diagram of the structure of a radar provided in an embodiment of this application. Detailed Implementation
[0057] The following description and accompanying drawings fully illustrate specific embodiments of this application to enable those skilled in the art to practice them.
[0058] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.
[0059] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of systems and methods consistent with some aspects of this application as detailed in the appended claims.
[0060] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.
[0061] This application provides a positioning method, system, storage medium, and radar based on a reconfigurable holographic metasurface (RHS) to address the problems existing in the aforementioned related technologies. The technical solution provided in this application proposes a novel positioning method based on a reconfigurable holographic metasurface suitable for RHS. Furthermore, due to the low power consumption and low cost of RHS, this application can achieve higher positioning accuracy with the same power consumption and cost. Exemplary embodiments are described in detail below.
[0062] The following will be combined with the appendix Figure 1 This application provides a detailed description of the positioning method based on a reconfigurable holographic metasurface provided in its embodiments. This method can be implemented using a computer program and can run on a positioning system based on a von Neumann architecture and a reconfigurable holographic metasurface. The computer program can be integrated into an application or run as a standalone utility application.
[0063] Please see Figure 1 This is a flowchart illustrating a positioning method based on a reconfigurable holographic metasurface, as provided in this application embodiment. Figure 1 As shown, the method in this application embodiment may include the following steps:
[0064] S101, divide the space to be measured into multiple target spaces;
[0065] The space to be tested is the spatial range within which positioning based on a reconfigurable holographic metasurface is required.
[0066] In this embodiment of the application, when dividing the space to be measured into multiple target spaces, the radar first divides the elevation angle direction of the space to be measured into multiple first equal parts, then divides the azimuth angle direction of the space to be measured into multiple second equal parts, and finally determines the multiple target spaces by multiplying the multiple first equal parts and the multiple second equal parts.
[0067] The formula for calculating multiple target spaces is: M = M θ ×M φM represents multiple target spaces. θ M is divided into multiple first parts. φ It is divided into multiple second equal parts. The direction of the m-th part can be represented as (θ). m ,φ m ).
[0068] S102, calculate the transmitter amplitude matrix and receiver amplitude matrix corresponding to the direction of the first target space; wherein, the first target space is any one of multiple target spaces;
[0069] In this embodiment of the application, the formula for calculating the amplitude matrix of the transmitting end is:
[0070] ψ t (θ m ,φ m )=(ψ t, (θ m ,φ m ),…,ψ t, (θ m ,φ m ));ψ t (θ m ,φ m ) is the amplitude matrix of the transmitting end, ψ t, (θ m ,φ m ψ is the amplitude value corresponding to the direction of the first target space of the transmitter. t, (θ m ,φ m ) represents the amplitude value corresponding to the direction of the Nth target space at the transmitting end, (θ) m ,φ m () represents the direction of the first target space;
[0071] The formula for calculating the amplitude value corresponding to the direction of the first target space of the transmitter is:
[0072] q t, L represents the propagation vector corresponding to the l-th feed source at the transmitter; t The number of feeds for the transmitter's RHS; a t (θ m ,φ m () refers to the guidance vector for launch.
[0073] In this embodiment of the application, the formula for calculating the amplitude matrix at the receiving end is:
[0074] ψ r (θ m ,φ m )=(ψ r, (θ m ,φ m),…,ψ r, (θ m ,φ m ));ψ r (θ m ,φ m ) represents the amplitude matrix at the receiving end, ψ r, (θ m ,φ m ψ is the amplitude value corresponding to the direction of the first target space at the receiving end. t, (θ m ,φ m ) represents the amplitude value corresponding to the direction of the Nth target space at the receiving end, (θ) m ,φ m () represents the direction of the first target space;
[0075] The formula for calculating the amplitude value corresponding to the direction of the first target space at the receiving end is:
[0076] q r,l Let L represent the propagation vectors corresponding to the l-th feed source at the receiver. r The number of feed sources for the receiver's RHS; a r (θ m ,φ m ) is the receiving guide vector.
[0077] S103, The transmitter amplitude matrix and receiver amplitude matrix are set on the transmitter RHS and receiver RHS respectively, so as to point the beams of the transmitter RHS and receiver RHS towards the direction of the first target space.
[0078] In this embodiment, after obtaining the transmitter amplitude matrix and the receiver amplitude matrix, the transmitter amplitude matrix and the receiver amplitude matrix can be respectively set on the transmitter RHS and the receiver RHS to point the beams of the transmitter RHS and the receiver RHS towards the direction (θ) of the first target space. m ,φ m ).
[0079] S104. Based on the amplitude matrix of the transmitting end, the amplitude matrix of the receiving end, and the received signal, determine the position parameters of the target object in the space to be measured.
[0080] In this embodiment of the application, the beams of the transmitting end RHS and the receiving end RHS are directed towards the first target space in the direction (θ). m ,φ m After that, the radar will scan each portion of the space to be measured in turn.
[0081] Specifically, when determining the position parameters of targets in the space to be measured based on the amplitude matrix of the transmitter, the amplitude matrix of the receiver, and the received signal, the radar first scans the direction of the first target space by transmitting a target signal through the transmitter, and receives the received signal in that direction through the receiver. Then, based on the received signal, the amplitude matrix of the transmitter, and the amplitude matrix of the receiver, it determines whether there are targets in that direction, and obtains the first number of targets in the space to be measured. Next, the first number of targets are located a second time to determine the position parameters of targets in the space to be measured.
[0082] In this embodiment of the application, the radar receiver receives L r The path signal can be represented as: like This indicates that the echo signal strength in that direction is too weak, and there is no target to be measured. Let K be the number of directions in which the echo signal strength is greater than or equal to γ, then K is the number of targets.
[0083] Where S is the target signal transmitted by the transmitter, β k The reflection coefficient Q of the k-th target. t and Q r These are the propagation matrices in the RHS at the transmitting and receiving ends, respectively, a t (θ k ,φ k ) and a r (θ k ,φ k ) refer to the guiding vectors for transmission and reception, respectively, (θ) k ,φ k ) represents the direction of the k-th target, J k (τ k ) refers to the time delay matrix of the k-th target, and N refers to the Gaussian white noise signal received by the receiver RHS.
[0084] Furthermore, the first number of target objects is the result of the coarse positioning stage. Based on the first number of target objects, a fine positioning stage is needed to determine the target object position parameters for each target object.
[0085] In this embodiment, when performing secondary positioning on a first number of target objects to determine the position parameters of the target objects in the space to be measured, firstly, the target space range of each target object in the first number of target objects is reconstructed to obtain the final range corresponding to each target object. Then, multiple sub-angles are uniformly selected within the final range corresponding to each target object to obtain multiple sub-angles corresponding to each target object. Next, the beams of the transmitting end RHS and the receiving end RHS are pointed to each sub-angle corresponding to each target object. Then, the transmitter transmits target signals to scan each sub-angle corresponding to each target object, and the receiver receives the received signals of each sub-angle corresponding to each target object. Finally, the target object position parameters of each target object are calculated based on the received signals of each sub-angle corresponding to each target object. Secondary positioning can realize a fine positioning stage.
[0086] For example, based on the positioning results from the previous stage, it is known that there are K targets. In this stage, the radar will locate each radar target individually, thereby further optimizing its direction and range. Let the k-th target correspond to the m-th target. k If there are several directions, then the direction of the target can be considered to be in (θ). mk ,φ mk The radar will be near [θ]. m -Δθ,θ m +Δθ] and [φ m -Δφ,φ m Z angles are uniformly selected within +Δφ, denoted as... The radar uses the principle of holography to direct the beam direction to these Z angles, thereby obtaining Z received signals. According to the maximum likelihood principle, we can... To estimate the position parameters of the kth target The expression for the target position parameter of each target object is:
[0087] in,
[0088] For the target object's position parameters, It is the log-likelihood function. For each target object, the received signal at each sub-angle is α. k It is an intermediate variable.
[0089] In this embodiment, the positioning system based on a reconfigurable holographic metasurface first divides the space to be measured into multiple target spaces, and calculates the transmitter amplitude matrix and receiver amplitude matrix corresponding to the direction of the first target space. The first target space can be any one of the multiple target spaces. Then, the transmitter amplitude matrix and receiver amplitude matrix are respectively set on the transmitter RHS and receiver RHS to point the beams of the transmitter RHS and receiver RHS towards the direction of the first target space. Finally, based on the transmitter amplitude matrix, receiver amplitude matrix, and received signal, the position parameters of the target objects in the space to be measured are determined. This application proposes a new radar positioning method suitable for RHS. Furthermore, due to the low power consumption and low cost of RHS, this application can achieve higher positioning accuracy with the same power consumption and cost.
[0090] The following are system embodiments of this application, which can be used to execute the method embodiments of this application. For details not disclosed in the system embodiments of this application, please refer to the method embodiments of this application.
[0091] Please see Figure 2 This illustration shows a schematic diagram of a positioning system based on a reconfigurable holographic metasurface, provided in an exemplary embodiment of this application. This positioning system based on the reconfigurable holographic metasurface can be implemented as all or part of a radar system through software, hardware, or a combination of both. System 1 includes a spatial division module 10, an amplitude matrix calculation module 20, a beam pointing module 30, and a position parameter determination module 40.
[0092] The space partitioning module 10 is used to partition multiple target spaces based on the space to be measured;
[0093] The amplitude matrix calculation module 20 is used to calculate the transmitter amplitude matrix and receiver amplitude matrix corresponding to the direction of the first target space; wherein, the first target space is any one of multiple target spaces;
[0094] The beam pointing module 30 is used to set the transmitter amplitude matrix and the receiver amplitude matrix on the transmitter RHS and the receiver RHS respectively, so as to point the beams of the transmitter RHS and the receiver RHS to the direction of the first target space.
[0095] The position parameter determination module 40 is used to determine the position parameters of the target object in the space to be measured based on the amplitude matrix of the transmitting end, the amplitude matrix of the receiving end, and the received signal.
[0096] It should be noted that the positioning system based on reconfigurable holographic metasurfaces provided in the above embodiments is only illustrated by the division of the functional modules described above when executing the positioning method based on reconfigurable holographic metasurfaces. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the positioning system based on reconfigurable holographic metasurfaces and the positioning method embodiments based on reconfigurable holographic metasurfaces provided in the above embodiments belong to the same concept, and the implementation process is detailed in the method embodiments, which will not be repeated here.
[0097] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0098] In this embodiment, the positioning system based on a reconfigurable holographic metasurface first divides the space to be measured into multiple target spaces, and calculates the transmitter amplitude matrix and receiver amplitude matrix corresponding to the direction of the first target space. The first target space can be any one of the multiple target spaces. Then, the transmitter amplitude matrix and receiver amplitude matrix are respectively set on the transmitter RHS and receiver RHS to point the beams of the transmitter RHS and receiver RHS towards the direction of the first target space. Finally, based on the transmitter amplitude matrix, receiver amplitude matrix, and received signal, the position parameters of the target objects in the space to be measured are determined. This application proposes a new radar positioning method suitable for RHS. Furthermore, due to the low power consumption and low cost of RHS, this application can achieve higher positioning accuracy with the same power consumption and cost.
[0099] This application also provides a computer-readable medium having program instructions stored thereon, which, when executed by a processor, implement the positioning method based on the reconfigurable holographic metasurface provided in the above-described method embodiments.
[0100] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to execute the positioning method based on the reconfigurable holographic metasurface described in the various method embodiments above.
[0101] Please see Figure 3 This document provides a schematic diagram of a radar structure as an embodiment of this application. Figure 3 As shown, the radar includes: one or more processors; a storage system for storing one or more programs; a host computer and a radar module; the host computer for controlling the radar module; and the radar module for transmitting signals to detect radar targets. The host computer and the radar module are connected via a communication link.
[0102] The radar module includes a transmitter, a transmitter RHS, a receiver, and a receiver RHS; the transmitter is connected to the transmitter RHS, and the receiver is connected to the receiver RHS. The RHS consists of three parts: a waveguide, a feed source, and a metamaterial radiating element array.
[0103] Transmitter and transmitter RHS L t Each feed source is connected via L t Each of the radio frequency links is connected. The transmitter RHS has a total of N... t One radiating element; L of receiver and receiver terminal RHS r Each feed source is connected via L r Each of the radio frequency links is connected. The receiver RHS has a total of N... r There are K radiation elements. The total number of targets with unknown distances and angles is K, where K is an unknown parameter.
[0104] Specifically, during signal transmission, the radar signal is first fed into the waveguide through a feed source, and then propagates to the metamaterial units embedded in the waveguide. Each metamaterial unit radiates signal energy into free space in the form of a leakage wave. The radiation amplitude of the electromagnetic wave at each unit can be independently controlled by adjusting the bias voltage on the unit. Specifically, each metamaterial unit is controlled by the switching states of multiple PIN diodes. Assuming a unit is controlled by I PIN diodes, then the unit has 2 I Each metamaterial unit has an adjustable discrete amplitude value. By designing the amplitude value at each metamaterial unit, the desired waveform can be obtained. The RHS received signal is the reverse of the above process.
[0105] The radar processor executes the following steps:
[0106] Multiple target spaces are divided based on the space to be measured;
[0107] Calculate the transmitter amplitude matrix and receiver amplitude matrix corresponding to the direction of the first target space; where the first target space is any one of multiple target spaces;
[0108] The transmitter amplitude matrix and receiver amplitude matrix are set on the transmitter RHS and receiver RHS respectively, so that the beams of the transmitter RHS and receiver RHS are pointed to the direction of the first target space.
[0109] Based on the amplitude matrix of the transmitter, the amplitude matrix of the receiver, and the received signal, the position parameters of the target object in the space to be measured are determined.
[0110] In one embodiment, when the processor divides the space to be tested into multiple target spaces, it specifically performs the following steps:
[0111] The pitch angle direction of the space to be measured is divided into multiple first equal parts;
[0112] The azimuth direction of the space to be measured is divided into multiple second equal parts;
[0113] The product of multiple first equal parts and multiple second equal parts is used to determine multiple target spaces;
[0114] The formula for calculating multiple target spaces is: M = M θ ×M φ M represents multiple target spaces. θ M is divided into multiple first parts. φ It is divided into multiple second parts.
[0115] In one embodiment, when the processor determines the position parameters of a target object in the measured space based on the transmitter amplitude matrix, the receiver amplitude matrix, and the received signal, it specifically performs the following steps:
[0116] The target signal is transmitted by the transmitter to scan the direction of the first target space, and the received signal in that direction is received by the receiver.
[0117] Based on the received signal, the amplitude matrix of the transmitting end and the amplitude matrix of the receiving end, it is determined whether there is a target object in this direction, and the first number of target objects in the space to be measured is obtained.
[0118] The first number of target objects are located a second time to determine the positional parameters of the target objects in the space to be measured.
[0119] In one embodiment, when the processor performs secondary localization on a first number of target objects to determine the position parameters of the target objects existing in the space to be measured, it specifically performs the following steps:
[0120] Based on the target space range of each target object in the first number of target objects, the range is reconstructed to obtain the final range corresponding to each target object;
[0121] Multiple sub-angles are uniformly selected within the final range corresponding to each target object to obtain multiple sub-angles corresponding to each target object;
[0122] The beams of the transmitter RHS and receiver RHS are pointed to each sub-angle corresponding to each target object;
[0123] The target signal is transmitted by the transmitter to scan each sub-angle corresponding to each target object, and the received signal corresponding to each sub-angle of each target object is received by the receiver.
[0124] The target position parameters of each target are calculated based on the received signal of each sub-angle corresponding to each target.
[0125] In this embodiment, the positioning system based on a reconfigurable holographic metasurface first divides the space to be measured into multiple target spaces, and calculates the transmitter amplitude matrix and receiver amplitude matrix corresponding to the direction of the first target space. The first target space can be any one of the multiple target spaces. Then, the transmitter amplitude matrix and receiver amplitude matrix are respectively set on the transmitter RHS and receiver RHS to point the beams of the transmitter RHS and receiver RHS towards the direction of the first target space. Finally, based on the transmitter amplitude matrix, receiver amplitude matrix, and received signal, the position parameters of the target objects in the space to be measured are determined. This application proposes a new radar positioning method suitable for RHS. Furthermore, due to the low power consumption and low cost of RHS, this application can achieve higher positioning accuracy with the same power consumption and cost.
[0126] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The positioning program based on the reconfigurable holographic metasurface can be stored in a computer-readable storage medium. When executed, the program can include the processes of the embodiments of the above methods. The storage medium for the positioning program based on the reconfigurable holographic metasurface can be a magnetic disk, optical disk, read-only memory, or random access memory, etc.
[0127] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.
Claims
1. A positioning method based on a reconfigurable holographic metasurface, characterized in that, The method includes: Multiple target spaces are divided based on the space to be measured; Calculate the transmitter amplitude matrix and receiver amplitude matrix corresponding to the direction of the first target space; wherein, the first target space is any one of the plurality of target spaces; The transmitter amplitude matrix and receiver amplitude matrix are respectively set on the transmitter RHS and receiver RHS to point the beams of the transmitter RHS and receiver RHS toward the first target space. Based on the transmitter amplitude matrix, receiver amplitude matrix, and received signal, determine the position parameters of the target object in the space to be measured; The formula for calculating the amplitude matrix of the transmitting end is: ; For the transmitter amplitude matrix, The amplitude value corresponding to the direction of the first target space at the transmitting end. This represents the amplitude value corresponding to the direction of the Nth target space at the transmitting end. The direction of the first target space; The formula for calculating the amplitude value corresponding to the direction of the first target space of the transmitter is: ; Indicates the first transmitter The propagation vectors corresponding to each feed source; The number of feeds for the transmitter's RHS; Refers to the launch guidance vector; The formula for calculating the amplitude matrix at the receiving end is: ; For the amplitude matrix at the receiving end, The amplitude value corresponding to the direction of the first target space at the receiving end. This represents the amplitude value corresponding to the direction of the Nth target space at the receiving end. The direction of the first target space; The formula for calculating the amplitude value corresponding to the direction of the first target space at the receiving end is: ; These represent the receiving end's first... The propagation vectors corresponding to each feed source The number of feeds for the receiver's RHS; The receiving guide vector.
2. The method according to claim 1, characterized in that, The process of dividing the space to be measured into multiple target spaces includes: The pitch angle direction of the space to be measured is divided into multiple first equal parts; The azimuth direction of the space to be measured is divided into multiple second equal parts; The product of the plurality of first equal parts and the plurality of second equal parts is determined as a plurality of target spaces; The calculation formula for the plurality of target spaces is as follows: , For multiple target spaces, Divide into multiple first parts, It is divided into multiple second parts.
3. The method according to claim 1, characterized in that, The step of determining the position parameters of the target object in the space to be measured based on the transmitter amplitude matrix, the receiver amplitude matrix, and the received signal includes: The target signal is transmitted by the transmitter to scan the direction of the first target space, and the received signal in that direction is received by the receiver. Based on the received signal, the transmitter amplitude matrix and the receiver amplitude matrix, it is determined whether there is a target object in this direction, and the first number of target objects in the space to be measured is obtained. The first number of target objects are repositioned to determine the position parameters of the target objects in the space to be measured.
4. The method according to claim 3, characterized in that, The step of performing secondary positioning on the first number of target objects to determine the position parameters of the target objects existing in the space to be measured includes: Based on the target space range of each target object in the first number of target objects, the range is reconstructed to obtain the final range corresponding to each target object; Multiple sub-angles are uniformly selected within the final range corresponding to each target object to obtain multiple sub-angles corresponding to each target object; The beams of the transmitter RHS and receiver RHS are pointed to each sub-angle corresponding to each target object; The target signal is transmitted by the transmitter to scan each sub-angle corresponding to each target object, and the received signal corresponding to each sub-angle of each target object is received by the receiver. The target position parameters of each target are calculated based on the received signal of each sub-angle corresponding to each target.
5. The method according to claim 4, characterized in that, The target position parameter expression for each target object is: ;in, For the target object's position parameters, It is the log-likelihood function. The received signal for each sub-angle corresponding to each target object. It is an intermediate variable.
6. A positioning system based on a reconfigurable holographic metasurface implemented using the method described in any one of claims 1-5, characterized in that, The system includes: The spatial partitioning module is used to divide the space to be measured into multiple target spaces; An amplitude matrix calculation module is used to calculate the transmitter amplitude matrix and receiver amplitude matrix corresponding to the direction of the first target space; wherein, the first target space is any one of the plurality of target spaces; A beam pointing module is used to set the transmitter amplitude matrix and receiver amplitude matrix on the transmitter RHS and receiver RHS respectively, so as to point the beams of the transmitter RHS and receiver RHS to the direction of the first target space. The position parameter determination module is used to determine the position parameters of the target object in the space to be measured based on the amplitude matrix of the transmitting end, the amplitude matrix of the receiving end, and the received signal.
7. A computer storage medium, characterized in that, The computer storage medium stores a plurality of instructions adapted for loading by a processor and executing the method as described in any one of claims 1-5.
8. A radar, characterized in that, The radar includes: One or more processors; A storage system used to store one or more programs; Host computer and radar module; The host computer is used to control the radar module; The radar module includes a transmitter, a transmitter RHS, a receiver, and a receiver RHS; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-5.