Method and apparatus for improving target detection accuracy, integrated circuit and radio device

Abstract

The application discloses a method and device for improving target measurement accuracy, an integrated circuit and a radio device. In the embodiment of the application, only angle information of a target is contained in a second reflection signal function for estimating the angle of the target, and interference information of other targets does not exist, so that interference between targets in a multi-target scene is eliminated, and measurement accuracy of target detection is improved.

Description

Technical Field

[0001] This application relates to, but is not limited to, radar technology, and in particular to a method and apparatus for improving target detection accuracy based on frequency-modulated continuous wave (FMCW) radar. Background Technology

[0002] FMCW radar has been widely used due to its excellent performance and low cost. In single-target scenarios, it can accurately measure the target's elevation angle. However, in non-single-target scenarios, the reflected waves from different targets interfere with each other in the radar echo received (such as colored interference in elevation angle estimation), causing interference in the radar's parameter estimation of each target and thus reducing measurement accuracy. Summary of the Invention

[0003] This application provides a method, apparatus, integrated circuit, and wireless device for improving target detection accuracy, which can eliminate interference between targets and improve measurement accuracy.

[0004] This invention provides a method for improving target measurement accuracy, applied to obtaining echo signals from at least two targets using constant false alarm rate (CFAR) processing based on a frequency modulated continuous wave (FMCW) radar. The method includes: obtaining a linear combination of corresponding steering vectors based on the first reflection signals of the at least two targets; obtaining the coefficients of the linear combination from the constructed linear combination using the least squares method; obtaining the second reflection signal corresponding to each target based on the obtained coefficients of the linear combination; and estimating the angle of any target based on the second reflection signal corresponding to that target, wherein the angle includes an elevation angle or a horizontal angle.

[0005] In one exemplary instance, the FMCW radar includes an antenna array arranged in a two-dimensional configuration; when estimating the elevation angle of the target based on a second reflected signal corresponding to the target, the linear combination of the corresponding steering vectors includes: Where the subscript n represents the total number of targets, and n is an integer greater than or equal to 2; Indicates the pitch angle of the nth target; θ i SV0(α) represents the horizontal angle of the i-th target. i ), SV1(α) i ) represent the horizontal steering vectors corresponding to the two rows of antenna arrays; The coefficients of the linear combination are m, where A, B, C…N, i = 1, 2, 3…n; y0 and y1 are used to represent the ordinate values ​​of the two rows of antenna elements in the antenna array.

[0006] In one exemplary instance, the at least two targets include a dual target; when estimating the pitch angle of a target based on a second reflected signal corresponding to the target, the linear combination of the corresponding steering vectors includes: in, Indicates the pitch angle of the first target. Indicates the pitch angle of the second target; θ1 represents the horizontal angle of the first target. θ2 represents the horizontal angle of the second target; SV0(α1), SV0(α2), SV1(α1), and SV1(α2) represent the horizontal steering vectors corresponding to the two rows of antenna arrays, respectively. are the coefficients of the linear combination.

[0007] In one exemplary instance, obtaining the coefficients of the linear combination from the constructed linear combination using the least squares method involves calculating the coefficients of the linear combination according to the following formula: in, Wherein, for the X0, For X1,

[0008] In one exemplary instance, obtaining the second reflection signal corresponding to each target based on the coefficients of the obtained linear combination includes: constructing the second reflection signal for estimating the pitch angle of the target using the coefficients of the linear combination of the calculated guide vectors corresponding to the multiple targets, based on the coefficients of the linear combination related to the pitch angle of the target.

[0009] In one exemplary instance, the second reflected signal corresponds to the first target in the dual targets. The second reflected signal corresponding to the second target in the dual targets

[0010] In one exemplary instance, the pitch angle of the target is estimated based on the second reflected signal corresponding to the target according to the following formula: Where i = 1, 2, 3…n represents different objectives. The vertical direction steering vector corresponding to the two rows of antenna arrays.

[0011] This application also provides a computer-readable storage medium storing computer-executable instructions for performing any of the above-described methods for improving target measurement accuracy.

[0012] This application embodiment further provides a device for realizing multi-target pitch angle measurement, including a memory and a processor, wherein the memory stores the following instructions executable by the processor: steps for performing the method for improving target measurement accuracy described in any of the above claims.

[0013] This application provides another embodiment of an apparatus for improving target measurement accuracy, characterized by comprising: an acquisition module, an extraction module, a construction module, and an estimation module; wherein, the acquisition module, in the case of constant false alarm rate (CFAR) processing of at least two target echo signals obtained from the first reflection signals of at least two targets using a frequency-modulated continuous wave (FMCW) radar, is used to acquire a linear combination of steering vectors corresponding to multiple targets based on the first reflection signals of the at least two targets; the extraction module is used to acquire the coefficients of the linear combination from the constructed linear combination using the least squares method; the construction module is used to acquire the second reflection signal corresponding to each target based on the obtained coefficients of the linear combination; and the estimation module is used to estimate the angle of any target based on the second reflection signal corresponding to that target. In one embodiment, the angle may be an elevation angle or a horizontal angle.

[0014] In some optional embodiments, the estimation module may estimate the angle information of each detected target based on the method described in any embodiment of this application.

[0015] This application also provides an integrated circuit, which may include a radio frequency module, an analog signal processing module, and a digital signal processing module connected in sequence; the radio frequency module is used to generate radio frequency transmission signals and receive radio frequency reception signals; the analog signal processing module is used to down-convert the radio frequency reception signals to obtain intermediate frequency signals; the digital signal processing module is used to perform analog-to-digital conversion on the intermediate frequency signals to obtain digital signals, and to process the digital signals as described in any embodiment of this application to obtain angle information of each target.

[0016] In some alternative embodiments, the integrated circuit may be a millimeter-wave chip.

[0017] This application also provides a wireless device, which may include: a carrier; an integrated circuit as described in any embodiment of this application, disposed on the carrier; an antenna, disposed on the carrier, or the antenna and the integrated circuit are integrated into a single device disposed on the carrier; wherein the integrated circuit is connected to the antenna and is used to transmit the radio frequency transmission signal and / or receive the radio frequency reception signal.

[0018] This application also provides a terminal device, which may include: a device body; and a wireless device disposed on the device body as described in any embodiment of this application; wherein the wireless device is used for target detection and / or communication to provide reference information to the operation of the device body.

[0019] In the method for improving target detection accuracy provided by the embodiments of this application, the constructed second reflection signal for estimating the angle of the target contains only the angle information of the target and does not contain interference information from other targets, thereby eliminating interference between targets in multi-target scenarios and improving the measurement accuracy of target detection.

[0020] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0021] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0022] Figure 1 This is a flowchart illustrating the method for improving target detection accuracy in the embodiments of this application;

[0023] Figure 2 This is an example diagram of a virtual antenna array in a dual-target scenario as described in this application.

[0024] Figure 3 This is a schematic diagram illustrating the principle of the least squares method in the embodiments of this application;

[0025] Figure 4 This is a schematic diagram of the structure of the device for improving target detection accuracy in the embodiments of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be arbitrarily combined with each other.

[0027] In a typical configuration of this application, the computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0028] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0029] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include non-transitory computer-readable media, such as modulated data signals and carrier waves.

[0030] The steps illustrated in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than that presented here.

[0031] Traditional TD-MIMO millimeter-wave radar, when determining the angle information of two or more targets, suffers from interference from other targets, such as those in the Combined Mode algorithm, in addition to the target's own angle information. This interference leads to colored interference between targets when calculating angles such as elevation, thus reducing the accuracy of target detection. To improve the accuracy of target angle detection in scenarios with two or more targets, this application proposes a method to enhance target detection precision. Figure 1 This is a flowchart illustrating the method for improving target detection accuracy in embodiments of this application, as shown below. Figure 1 As shown, this application is applied to obtaining echo signals from at least two targets using constant false alarm rate (CFAR) processing based on FMCW radar. The FMCW radar can detect the target's elevation and azimuth angles (i.e., horizontal angles). The method may include:

[0032] Step 100: Obtain a linear combination of the corresponding guidance vectors based on the first reflection signals of at least two targets.

[0033] In one exemplary instance, for ease of description, this embodiment uses a dual-target approach, and takes... Figure 2 Taking the two-dimensional arrangement of the virtual antenna array shown as an example, in this embodiment, in order to enable the radar to simultaneously measure the target's horizontal and vertical angles, a two-transmit, four-receive MIMO antenna array can be used to form a virtual antenna array. Figure 2 The two-dimensional arrangement shown includes both horizontal and vertical seismic sources. Furthermore, for any receiving antenna Y0 or Y1, the resulting virtual transceiver channels are all located in the same horizontal direction, as shown below. Figure 2 The virtual transceiver channels X10, X11, X12 and X13 formed based on the receiving antenna Y1 are distributed on the same horizontal line (i.e., row), while the virtual transceiver channels X00, X01, X02 and X03 formed based on the receiving antenna Y0 are distributed on another horizontal line, thus forming a virtual antenna array arranged in two rows. Once the virtual antenna array is determined, the coordinate values ​​of each antenna element are also determined. For example, for the virtual transceiver channel formed based on the receiving antenna Y0, namely antenna elements X00, X01, X02, and X03, their coordinate values ​​are (x00, y0), (x01, y0), (x02, y0), and (x03, y0), respectively. As another example, for the virtual transceiver channel formed based on the receiving antenna Y1, namely antenna elements X10, X11, X12, and X13, their coordinate values ​​are (x10, y1), (x11, y1), (x12, y1), and (x13, y1), respectively.

[0034] After processing the echo signal through mixing, analog-to-digital conversion, sampling, and Fourier transform, the radar uses Constant False Alarm Rate (CFAR) to determine that there are two targets in the current application scenario. Let's assume the angle information of these two targets (i.e., dual targets) is as follows: Where θ represents the horizontal angle (i.e., the azimuth angle), To represent the pitch angle, more specifically, θ1 and Let θ2 and θ2 represent the horizontal and vertical angles of the first target, respectively. These represent the horizontal and vertical angles of the second target, respectively. CFAR (Cross-Fault Radar Arrestor) is a technique used by radar systems to distinguish between the receiver's output signal and noise while maintaining a constant false alarm probability to determine the presence of a target signal.

[0035] In this embodiment, it is assumed that So, the dual objectives are based on Figure 2 Based on the entire virtual antenna array shown, the expression for its first reflected signal can be given by formula (1):

[0036]

[0037] In formula (1), n ​​is Gaussian white noise. At this point, it can be considered that the dual-target signal data X in the echo signal can be represented by the above formula (1), that is, the dual-target signal data X is the result of the coupling of echo signal data received by each virtual transceiver antenna channel. x00, x01, x02, x03, x10, x11, x12, and x13 are used to represent... Figure 2 The horizontal coordinates of each antenna element in the virtual antenna array shown are y0 and y1, which are used to represent the vertical coordinates of each antenna element in the two rows of the virtual antenna array, respectively, while A and B are constants.

[0038] based on Figure 2 The distribution pattern of the virtual antenna array shown can also be transformed from formula (1) into formula (2):

[0039]

[0040] in,

[0041]

[0042]

[0043] That is, X0 can be the coupling result of the signal data received by the two targets in a row of four virtual transmit and receive channels (i.e., X00, X01, X02 and X03) formed based on the receiving antenna Y0; similarly, X1 can be the coupling result of the signal data received by the two targets in a row of four virtual transmit and receive channels (i.e., X10, X11, X12 and X13) formed based on the receiving antenna Y1.

[0044] The horizontal steering vectors corresponding to the two rows of virtual transceiver channels can be represented by SV0(α) and SV1(α) in formula (3):

[0045]

[0046] Combining formulas (2) and (3), the linear combination of the guidance vectors corresponding to the two targets can be obtained as shown in formula (4):

[0047]

[0048]

[0049] In formula (4), These can be referred to as the coefficients of a linear combination.

[0050] In some optional embodiments, when the number of targets detected by constant false alarm rate (CFAR) is greater than 2, and the number of rows of the virtual antenna array is greater than 2, such as m rows (i.e., the FMCW radar includes an antenna array arranged in m dimensions), the linear combination of the corresponding steering vectors can be further extended into a formula, which can be:

[0051]

[0052]

[0053]

[0054] Wherein, the subscript n represents the total number of targets, and the subscript m represents the total number of rows (or columns) of the virtual antenna array, and n and m are both integers greater than or equal to 2. X represents the pitch angle of the nth target. m-1 This represents the coupling result of the received signal data for all targets in each of the m-th virtual transceiver channels; θ i SV0(α) represents the horizontal angle of the i-th target. i ), SV1(α) i ), SV m-1 (α i ) represent the horizontal steering vectors corresponding to the m rows of the antenna array; Let z be the coefficients of the linear combination, and z be constants A, B, C…N, i = 1, 2, 3…n; y0, y1…y m-1 These are used to represent the ordinate values ​​of the m rows of antenna elements in an m-dimensional antenna array.

[0055] It should be noted that the formulas described in this application embodiment for two rows of virtual antenna arrays and dual targets can be used by those skilled in the art to obtain corresponding formula algorithms for three or more rows of virtual antenna arrays and / or three or more targets, based on the above descriptions. Therefore, they will not be elaborated here.

[0056] It should be noted that the virtual antenna matrix in this application embodiment is described using a two-transmit, four-receive MIMO antenna array as an example, but it is not intended to limit the scope of protection of this application. The antenna can be multi-transmitter, multi-receiver, or single-transmitter, multi-transmitter, single-receiver, as long as the direction of the array of transmit and receive channels formed is perpendicular to the direction of the detected target angle (such as elevation angle). For example, the horizontal angle of each target can also be calculated based on the elevation angle data.

[0057] Step 101: Obtain the coefficients of the linear combination from the constructed linear combination using the least squares method.

[0058] like Figure 3 As shown, according to the least squares method, the relationship shown in formula (5) exists:

[0059]

[0060] In formula (5), Based on mathematical derivation, we can conclude that:

[0061]

[0062] Based on the least squares method described above, the coefficients of each linear combination in formula (4) can be calculated. For X0 in formula (4), For X1 in formula (4),

[0063] Step 102: Obtain the second reflection signal corresponding to each target based on the coefficients of the obtained linear combination.

[0064] In one exemplary instance, based on the coefficients of the linear combination of the guide vectors corresponding to at least two targets, an input signal, namely the second reflection signal, is constructed using the coefficients of the linear combination related to the angle (e.g., pitch angle or horizontal angle) corresponding to the target.

[0065] In one embodiment, it still uses a dual objective, and with Figure 2 Taking the two-dimensional arrangement of the virtual antenna array as an example, the second reflection signals corresponding to the two targets, namely the first target and the second target, are shown in Equations (7) and (8), respectively:

[0066]

[0067]

[0068] As can be seen from formula (7), taking the construction of the pitch angle as an example, the second reflection signal constructed in this embodiment of the application for estimating the pitch angle of the first target is... Only the pitch angle of the first target is shown. Information, there is no interference information from other targets. Similarly, as can be seen from formula (8), the second reflection signal constructed in this embodiment for estimating the pitch angle of the second target is... Only the pitch angle of the second target is shown. The information is free from interference from other targets. This eliminates interference between targets in multi-target scenarios and improves the accuracy of pitch angle measurements.

[0069] In an exemplary instance, for n targets and an m-dimensional antenna array, the second reflected signals corresponding to the first target, the second target, ..., the nth target can be respectively:

[0070]

[0071]

[0072] …

[0073]

[0074] Step 103: For any target, estimate the angle of the target based on the second reflected signal corresponding to the target. In one embodiment, the angle includes a pitch angle or a horizontal angle.

[0075] In one exemplary instance, taking the construction of the pitch angle as an example, the pitch angle of the target can be estimated using formula (9):

[0076]

[0077] In formula (9), The subscripts i = 1, 2, 3…n represent different targets. The vertical direction guide vector for each row of antenna arrays, for two rows of antenna arrays. The expression can be shown in formula (10):

[0078]

[0079] It should be noted that the above embodiments are illustrated using the elevation angle estimation of two targets. A similar approach can also be used to achieve high-precision estimation of the target's horizontal angle for a virtual antenna array arranged in columns. The specific implementation method can be achieved by those skilled in the art based on the technical content described above, and will not be elaborated here.

[0080] This application also provides a computer-readable storage medium storing computer-executable instructions, the computer-executable instructions being used to perform... Figure 1 Any of the methods described herein for improving the accuracy of target measurement.

[0081] This application further provides a device for realizing multi-target pitch angle measurement, including a memory and a processor, wherein the memory stores the following instructions that can be executed by the processor: for executing Figure 1 The steps of any of the methods for improving the accuracy of target measurement.

[0082] Figure 4 This is a schematic diagram of the structure of the device for improving target measurement accuracy in the embodiments of this application, as shown below. Figure 4 As shown, the system includes: an acquisition module, an extraction module, a construction module, and an estimation module. The acquisition module, in the case of constant false alarm rate (CFAR) processing of at least two target echo signals obtained from the first reflection signals of at least two targets using a frequency-modulated continuous wave (FMCW) radar, is used to obtain a linear combination of steering vectors corresponding to multiple targets based on the first reflection signals of the at least two targets. The extraction module is used to obtain the coefficients of the linear combination from the constructed linear combination using the least squares method. The construction module is used to obtain the second reflection signal corresponding to each target based on the obtained coefficients of the linear combination. The estimation module is used to estimate the angle of any target based on the second reflection signal corresponding to that target. In one embodiment, the angle includes an elevation angle or a horizontal angle.

[0083] The second reflection signal constructed in this embodiment for estimating the pitch angle of a target contains only the pitch angle information of that target and does not contain interference information from other targets. This eliminates interference between targets in multi-target scenarios and improves the accuracy of pitch angle measurement.

[0084] In an optional embodiment, this application also provides an integrated circuit, which may include a radio frequency (RF) module, an analog signal processing module, and a digital signal processing module connected in sequence; the RF module is used to generate RF transmitted signals (e.g., radiated signals through a transmitting antenna) and receive RF received signals (e.g., received signals through a receiving antenna); the analog signal processing module is used to down-convert the RF received signals to obtain intermediate frequency (IF) signals; the digital signal processing module is used to perform analog-to-digital conversion on the IF signals to obtain digital signals, and to process the digital signals as described in any embodiment of this application to obtain angle information of each target.

[0085] In an optional embodiment, the integrated circuit described above can be a millimeter-wave radar chip. The type of digital signal processing module in the integrated circuit can be determined according to actual needs. For example, in a millimeter-wave radar chip, the digital signal processing module can be used for operations such as range Vidoff transformation, velocity Vidoff transformation, constant false alarm rate detection, direction of arrival detection, and point cloud processing to acquire information such as the target's distance, angle, velocity, shape, size, surface roughness, and dielectric properties. Optionally, the integrated circuit can be an AiP (Antenna-In-Package) chip structure, an AoP (Antenna-On-Package) chip structure, or an AoC (Antenna-On-Chip) chip structure, etc.

[0086] In an optional embodiment, the integrated circuit may be equivalent to the chip structure described in any embodiment of this application, that is, they may have the same structure and function, and may be combined with each other to form a cascaded structure. For the sake of simplicity, it will not be described in detail here, but it should be understood that the technology that those skilled in the art should know based on the content described in this application should be included within the scope of this application.

[0087] In some optional embodiments, this application also provides a wireless device, which may include: a carrier; an integrated circuit as described in any of the above embodiments, wherein the integrated circuit may be disposed on the carrier; an antenna, disposed on the carrier, or integrated with the integrated circuit as a single device disposed on the carrier (i.e., the antenna may be an antenna disposed in an AiP, AoP, or AoC structure); wherein the integrated circuit is connected to the antenna (i.e., the sensing chip or integrated circuit does not have an integrated antenna, such as a conventional SoC), for transmitting and receiving radio signals. The carrier may be a printed circuit board (PCB) (such as a development board, data acquisition board, or the motherboard of a device), and the first transmission line may be a PCB trace.

[0088] In some optional embodiments, this application also provides a terminal device, including: a device body; and a wireless device disposed on the device body as described in any of the above embodiments; wherein the wireless device can be used to implement functions such as target detection and / or wireless communication.

[0089] Specifically, based on the above embodiments, in one optional embodiment of this application, the wireless device may be disposed outside the device body or inside the device body. In other optional embodiments of this application, the wireless device may be partially disposed inside the device body and partially disposed outside the device body. This application does not limit the specific implementation; it may be determined according to the circumstances.

[0090] In an optional embodiment, the aforementioned device body can be a component or product applied in fields such as smart cities, smart homes, transportation, smart homes, consumer electronics, security monitoring, industrial automation, in-cabin detection (such as smart cockpits), medical devices, and healthcare. For example, the device body can be intelligent transportation equipment (such as automobiles, bicycles, motorcycles, ships, subways, trains, etc.), security equipment (such as cameras), liquid level / flow rate detection equipment, smart wearable devices (such as wristbands, glasses, etc.), smart home devices (such as robot vacuum cleaners, door locks, televisions, air conditioners, smart lights, etc.), various communication devices (such as mobile phones, tablets, etc.), as well as devices such as barriers, intelligent traffic lights, intelligent signs, traffic cameras, and various industrial robotic arms (or robots). It can also be various instruments for detecting vital signs parameters and various devices equipped with such instruments, such as in-cabin vital sign detection in automobiles, indoor personnel monitoring, smart medical devices, and consumer electronic devices.

[0091] It should be noted that wireless devices can transmit and receive radio signals to achieve functions such as target detection and / or communication, thereby providing the device body with target detection information and / or communication information, and thus assisting or even controlling the operation of the device body.

[0092] For example, when the aforementioned device is applied to an advanced driver assistance system (ADAS), wireless devices (such as millimeter-wave radar) used as vehicle sensors can assist the ADAS system in achieving application scenarios such as adaptive cruise control, automatic emergency braking (AEB), blind spot detection warning (BSD), lane change assist warning (LCA), rear cross traffic alert (RCTA), parking assist, rear vehicle warning, collision avoidance (such as door opening warning / collision avoidance), and pedestrian detection.

[0093] The above-described embodiments merely illustrate preferred embodiments of the present invention and the technical principles employed. While the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the inventive concept, and the scope of protection of this patent is determined by the appended claims.

[0094] Although the embodiments disclosed in this application are as described above, the content described is merely for the purpose of understanding this application and is not intended to limit this application. Any person skilled in the art to which this application pertains may make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in this application; however, the scope of patent protection of this application shall still be determined by the scope defined in the appended claims.

Claims

1. A method for improving the accuracy of target measurement, characterized in that, The method, applied to constant false alarm rate (CFAR) processing of frequency modulated continuous wave (FMCW) radar to obtain echo signals from at least two targets, includes: A linear combination of the corresponding steering vectors is obtained based on the first reflected signals of the at least two targets; the linear combination includes: the coupling result of the signal data received from the at least two targets based on a row of virtual transmit and receive channels formed by the receiving antenna; The coefficients of the linear combination are obtained from the constructed linear combination using the least squares method; The second reflection signal corresponding to each target is obtained based on the coefficients of the obtained linear combination; and For any target, estimate the angle of the target based on the second reflection signal corresponding to that target; The angles mentioned include pitch angle or horizontal angle.

2. The method according to claim 1, wherein, The FMCW radar includes an antenna array arranged in m dimensions; The linear combination of the corresponding guide vectors includes: Based on a row of virtual transmit and receive channels formed by the first receiving antenna, the first coupling result of the signal data received from the at least two targets; Based on a row of virtual transmit / receive channels formed by the second receiving antenna, the second coupling result of the signal data received from the at least two targets; ...; and Based on a row of virtual transmit and receive channels formed by the m-th receiving antenna, the m-th coupling result of the signal data received from the at least two targets.

3. The method according to claim 2, wherein, When estimating the pitch angle of a target based on its corresponding second reflected signal, the linear combination of the corresponding steering vectors includes: ， ，… ， Where the subscript n represents the total number of targets, the subscript m represents the total number of rows of the virtual antenna array, and n and m are integers greater than or equal to 2; Indicates the pitch angle of the nth target; , Indicates the horizontal angle of the i-th target; , , These represent the horizontal steering vectors corresponding to the m rows of antenna arrays; , , Let X0 be the coefficients of the linear combination, and z be constants A, B, C…N, i=1,2,3…n; X0, Xn… 1… X m These are respectively used to represent the steering vectors corresponding to each row of antenna elements in the antenna array; , … These are used to represent the ordinate values ​​of each row of antenna elements in the antenna array.

4. The method according to claim 2, wherein, When estimating the pitch angle of a target based on its corresponding second reflected signal, the at least two targets include a dual-target configuration; the linear combination of the corresponding steering vectors includes: ， ， in, Indicates the pitch angle of the first target. Indicates the pitch angle of the second target; , The horizontal angle representing the first target. , Indicates the horizontal angle of the second target; , , , These represent the horizontal steering vectors corresponding to the two rows of antenna arrays; , , , are the coefficients of the linear combination.

5. The method according to claim 4, wherein, The coefficients of the linear combination obtained from the constructed linear combination using the least squares method are calculated according to the following formula: ,in, , ,in, For the above , , , , For the aforementioned , , , , .

6. The method according to claim 4 or 5, wherein, The step of obtaining the second reflection signal corresponding to each target based on the coefficients of the obtained linear combination includes: Based on the coefficients in the linear combination of the guide vectors corresponding to the multiple targets, a second reflection signal for estimating the pitch angle of the target is constructed using the coefficients of the linear combination related to the pitch angle of the target.

7. The method according to claim 6, wherein, The second reflected signal corresponding to the first target in the dual targets ; The second reflected signal corresponding to the second target in the dual targets .

8. The method according to claim 7, wherein, The pitch angle of the target is estimated based on the second reflected signal corresponding to the target according to the following formula: ； Where i = 1, 2, 3…n represents different objectives. The vertical direction steering vector corresponding to the two rows of antenna arrays. .

9. A computer-readable storage medium storing computer-executable instructions for performing the method for improving target measurement accuracy as described in any one of claims 1 to 8.

10. A device for measuring the pitch angle of multiple targets, comprising a memory and a processor, wherein, The memory stores the following instructions that can be executed by a processor: steps for performing the method for improving the accuracy of target measurement as described in any one of claims 1 to 8.

11. A device for improving the accuracy of target measurement, characterized in that, include: The module includes an acquisition module, an extraction module, a construction module, and an estimation module; among which, The acquisition module, in the constant false alarm rate (CFAR) processing of the frequency modulated continuous wave (FMCW) radar to obtain the echo signals of at least two targets, is used to obtain a linear combination of the steering vectors corresponding to multiple targets based on the first reflection signals of at least two targets; The extraction module is used to obtain the coefficients of the linear combination from the constructed linear combination using the least squares method; A module is constructed to obtain the second reflection signal corresponding to each target based on the coefficients of the obtained linear combination; An estimation module is used to estimate the angle of any target based on the second reflection signal corresponding to that target; the angle includes a pitch angle or a horizontal angle. The estimation module estimates the angle information of each target based on the method described in any one of claims 1-8.

12. An integrated circuit, characterized in that, It includes a radio frequency module, an analog signal processing module, and a digital signal processing module connected in sequence; The radio frequency module is used to generate radio frequency transmission signals and receive radio frequency reception signals; The analog signal processing module is used to down-frequency the received radio frequency signal to obtain an intermediate frequency signal; The digital signal processing module is used to perform analog-to-digital conversion on the intermediate frequency signal to obtain a digital signal, and to process the digital signal using the method described in any one of claims 1-8 to obtain the angle information of each target.

13. The integrated circuit according to claim 12, characterized in that, The integrated circuit is a millimeter-wave chip.

14. A wireless device, characterized in that, include: Carrier; The integrated circuit as described in claim 12 or 13 is disposed on the carrier. An antenna is disposed on the carrier, or the antenna and the integrated circuit are integrated into a single device and disposed on the carrier. The integrated circuit is connected to the antenna and is used to transmit the radio frequency transmission signal and / or receive the radio frequency reception signal.

15. A terminal device, characterized in that, include: Equipment body; as well as The wireless device as described in claim 14 is disposed on the device body; The wireless device is used for target detection and / or communication to provide reference information for the operation of the device body.

Images