A two-dimensional high-resolution waveguide printed circuit board integrated antenna

Abstract

The invention discloses a two-dimensional high-resolution waveguide printed circuit board integrated antenna, which belongs to the field of antenna technology and solves the problem of how to improve the resolution of the waveguide printed circuit board integrated antenna. The transmitting antenna array is composed of waveguide slot antenna units arranged in a stepped form, and the receiving antenna array is composed of waveguide slot antenna units arranged in a horizontal form. The transmitting end of the substrate is etched with rectangular feeding windows arranged in a stepped form; the receiving end is etched with rectangular feeding windows arranged in a horizontal form; the transmitting antenna array is vertically aligned and interconnected with the rectangular feeding windows of the transmitting end of the printed circuit board through a rectangular feeding waveguide structure; the receiving antenna array is vertically aligned and interconnected with the rectangular feeding windows of the receiving end of the printed circuit board through a rectangular feeding waveguide structure; the antenna of the invention adopts a new layout form and the transmitting and receiving antenna arrays are isolated, and the transmitting antenna is in an equidistant stepped array form, so as to improve the pitch angle resolution of the entire radar, thereby improving the radar detection accuracy.

Description

Technical Field

[0001] The invention belongs to the technical field of antennas and relates to a two-dimensional high-resolution waveguide printed board integrated antenna. Background Art

[0002] With the development of millimeter wave technology, the performance of millimeter wave radar has gradually improved. The improvement of resolution can make radar detect targets more accurately and avoid false alarms to a greater extent. As a key component of radar, the millimeter wave antenna array has a significant impact on the angular resolution of the radar. By optimizing the array layout, reducing the beam width, and adopting advanced beamforming technology, the angular resolution and detection performance of the radar can be significantly improved. Waveguide antennas have lower losses and better radiation characteristics than printed antennas, and are gradually replacing printed antennas in the field of millimeter wave radars. The integration of waveguide antennas and active chips is also a difficult problem in current research. Summary of the invention

[0003] The technical solution of the present invention is used to solve the problem of how to improve the resolution of the waveguide printed circuit board integrated antenna.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] A two-dimensional high-resolution waveguide printed circuit board integrated antenna comprises: a transmitting antenna array (10), a receiving antenna array (20), and a printed circuit board (30); the transmitting antenna array (10) is formed into a whole by a plurality of identical waveguide slot antenna units (101), and the plurality of waveguide slot antenna units (101) are arranged in a stepped manner; the receiving antenna array (20) is formed into a whole by a plurality of identical waveguide slot antenna units (101), and the plurality of waveguide slot antenna units (101) are arranged in a horizontal manner; the printed circuit board (30) comprises a substrate (301), a plurality of rectangular feeding windows (303) are etched on a transmitting end of the substrate (301), and the plurality of rectangular feeding windows (303) on the transmitting end of the substrate (301) are arranged in a stepped manner; a plurality of rectangular feeding windows (303) are etched on a receiving end of the substrate (301), and the substrate (301) is connected to the receiving end of the substrate (301). The plurality of rectangular feed windows (303) at the receiving end are arranged in a horizontal form; the transmitting antenna array (10) is vertically aligned and interconnected with the plurality of rectangular feed windows (303) at the transmitting end of the printed board (30) via a plurality of rectangular feed waveguide structures (1014); the receiving antenna array (20) is vertically aligned and interconnected with the plurality of rectangular feed windows (303) at the receiving end of the printed board (30) via a plurality of rectangular feed waveguide structures (1014); the plurality of rectangular feed windows (303) at the transmitting end of the printed board (30) are connected to the output end of the radio frequency chip mounting slot (304) via a plurality of grounded coplanar waveguide feed line segments (302); and the plurality of rectangular feed windows (303) at the receiving end of the printed board (30) are connected to the input end of the radio frequency chip mounting slot (304) via a plurality of grounded coplanar waveguide feed line segments (302).

[0006] Furthermore, the waveguide slot antenna unit (101) comprises: a rectangular parallelepiped waveguide shell (1011), the rectangular parallelepiped waveguide shell (1011) being a hollow structure, the upper surface of the rectangular parallelepiped waveguide shell (1011) being provided with a plurality of staggered radiation slots (1012); a rectangular boss (1013) being processed at the bottom of the rectangular parallelepiped waveguide shell (1011), one end of the rectangular boss (1013) being provided with a rectangular feeding waveguide structure (1014), the rectangular feeding waveguide structure (1014) being connected to the interior of the rectangular parallelepiped waveguide shell (1011), and the other end of the rectangular boss (1013) being provided with a U-shaped groove (1015).

[0007] Furthermore, the horizontal spacings between adjacent waveguide slot antenna units (101) in the transmitting antenna array (10) are equal and are integer multiples of the wavelength of the antenna, and the step height differences between adjacent waveguide slot antenna units (101) in the transmitting antenna array (10) are equal and are integer multiples of the wavelength of the antenna; and the horizontal spacings between adjacent waveguide slot antenna units (101) in the receiving antenna array (20) are equal and are integer multiples of the wavelength of the antenna.

[0008] Furthermore, the upper half of the upper surface of the substrate (301) is etched with a plurality of grounded coplanar waveguide feed line segments (302), the lower half of the upper surface of the substrate (301) is etched with a plurality of grounded coplanar waveguide feed line segments (302), and the middle position of the upper surface of the substrate (301) is etched with a plurality of RF chip mounting slots (304); the plurality of grounded coplanar waveguide feed line segments (302) in the upper half of the upper surface of the substrate (301) are divided into a plurality of groups, one end of each group is connected to the output end of the RF chip mounting slot (304), the other end of each group is connected to one end of a plurality of substrate integrated waveguide transmission line segments (305) at the transmitting end of the substrate (301), and the other ends of the plurality of substrate integrated waveguide transmission line segments (305) are connected to a plurality of rectangular feeding windows (303) at the transmitting end of the substrate (301); the lower half of the upper surface of the substrate (301) is etched with a plurality of grounded coplanar waveguide feed line segments (302) in the middle position of the upper surface of the substrate (301); The plurality of grounded coplanar waveguide feed line segments (302) are divided into a plurality of groups, one end of each group is connected to the input end of the radio frequency chip mounting slot (304), the other end of each group is connected to one end of a plurality of substrate integrated waveguide transmission line segments (305) at the receiving end of the substrate (301), and the other ends of the plurality of substrate integrated waveguide transmission line segments (305) are connected to a plurality of rectangular feed windows (303) at the receiving end of the substrate (301); the plurality of grounded coplanar waveguide feed line segments (302) at the upper half of the upper surface of the substrate (301) extend upward from the output end of the radio frequency chip mounting slot (304) to the transmitting end of the substrate (301), and the plurality of grounded coplanar waveguide feed line segments (302) at the lower half of the upper surface of the substrate (301) extend downward from the input end of the radio frequency chip mounting slot (304) to the receiving end of the substrate (301).

[0009] Furthermore, the multiple grounded coplanar waveguide feeder line segments (302) on the upper half of the upper surface of the substrate (301) and the multiple grounded coplanar waveguide feeder line segments (302) on the lower half of the upper surface of the substrate (301) are designed with equal radiality and equal phase.

[0010] Furthermore, the rectangular feeding window (303) is connected to one end of a substrate integrated waveguide transmission line segment (305), and the other end of the substrate integrated waveguide transmission line segment (305) is connected to a grounded coplanar waveguide feeding line segment (302) via a gradient line structure.

[0011] Furthermore, a rectangular metal sheet (3032) is offsetly placed inside the rectangular opening (3031) of the rectangular feed window (303), and a plurality of metallized vias are opened around the outside of the rectangular opening (3031).

[0012] Furthermore, the grounded coplanar waveguide feed line segment (302) is connected to the metal coating layer on the lower surface of the substrate (301) through a metallized via hole; a plurality of metallized via holes are provided on both sides of the path of the grounded coplanar waveguide feed line segment (302), and a plurality of metallized via holes are provided on both sides of the substrate integrated waveguide transmission line segment (305).

[0013] Furthermore, the transmitting antenna array (10) is mounted on the transmitting end of the printed circuit board (30) using positioning pins and screws, and the receiving antenna array (20) is mounted on the receiving end of the printed circuit board (30) using positioning pins and screws.

[0014] Furthermore, the rectangular feeding waveguide structure (1014) is located at the center directly below the rectangular parallelepiped waveguide housing (1011).

[0015] The advantages of the present invention are:

[0016] The waveguide antenna of the present invention adopts a new layout form and the transmitting and receiving antenna arrays are isolated, and the transmitting antenna is in an equidistant step array form, which greatly improves the pitch angle resolution of the entire radar, thereby improving the radar detection accuracy. The waveguide antenna adopts vertical waveguide feeding, and is vertically interconnected with the feeding network on the printed circuit board through a conversion structure, so that the antenna can be replaced and disassembled, and can be repaired and maintained; the integrated method of the waveguide antenna and the lower feeding network of the present invention can reduce the difficulty of processing, facilitate the replacement of product components, reduce maintenance costs, and improve product versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front view of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to the first embodiment of the present invention;

[0018] Figure 2 A top view of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to Embodiment 1 of the present invention;

[0019] Figure 3 A structural top view of a transmitting antenna array of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to a first embodiment of the present invention;

[0020] Figure 4 A structural top view of a receiving antenna array of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to a first embodiment of the present invention;

[0021] Figure 5It is a structural front view of a waveguide antenna unit of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to the first embodiment of the present invention;

[0022] Figure 6 A structural top view of a waveguide antenna unit of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to a first embodiment of the present invention;

[0023] Figure 7 A structural side view of a waveguide antenna unit of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to a first embodiment of the present invention;

[0024] Figure 8 A structural bottom view of a waveguide antenna unit of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to a first embodiment of the present invention;

[0025] Fig. 9 A bottom oblique view of the structure of a waveguide antenna unit of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to a first embodiment of the present invention;

[0026] Fig.10 A top view of the structure of a printed circuit board of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to the first embodiment of the present invention;

[0027] Fig.11 It is a partial enlarged view of the printed circuit board transmitting end of the two-dimensional high-resolution waveguide printed circuit board integrated antenna of the first embodiment of the present invention;

[0028] Fig.12 It is a partial enlarged view of the printed circuit board receiving end of the two-dimensional high-resolution waveguide printed circuit board integrated antenna of the first embodiment of the present invention;

[0029] Fig.13 A structural and connection detail diagram of a rectangular feeding window at a printed board transmitting end and a receiving end of a two-dimensional high-resolution waveguide printed board integrated antenna according to a first embodiment of the present invention, a substrate integrated waveguide transmission line segment (305), and a grounded coplanar waveguide feeding line segment (302);

[0030] Fig.14 A standing wave waveform diagram of an antenna unit of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to the first embodiment of the present invention;

[0031] Fig.15 The isolation waveform diagram of adjacent antennas of the transmitting antenna array and the receiving antenna array of the two-dimensional high-resolution waveguide printed circuit board integrated antenna of the first embodiment of the present invention;

[0032] Fig.16 A gain diagram of a waveguide antenna unit of a receiving antenna array of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to the first embodiment of the present invention;

[0033] Fig.17A gain diagram of a waveguide antenna unit of a transmitting antenna array of a two-dimensional high-resolution waveguide printed circuit board integrated antenna according to the first embodiment of the present invention;

[0034] Fig.18 A gain diagram of the receiving antenna array of the two-dimensional high-resolution waveguide printed circuit board integrated antenna at 77 GHz according to the first embodiment of the present invention;

[0035] Fig.19 This is a gain diagram of the transmitting antenna array of the two-dimensional high-resolution waveguide printed circuit board integrated antenna at 77 GHz according to the first embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments:

[0038] Embodiment 1

[0039] like Figure 1 and Figure 2 As shown, the two-dimensional high-resolution waveguide printed circuit board integrated antenna of the embodiment of the present invention comprises: a transmitting antenna array (10), a receiving antenna array (20), and a printed circuit board (30). The transmitting antenna array (10) is mounted on the transmitting end of the printed circuit board (30) using positioning pins and screws, and the receiving antenna array (20) is mounted on the receiving end of the printed circuit board (30) using positioning pins and screws, thereby realizing heterogeneous integration of the waveguide antenna and the printed circuit board.

[0040] like Figure 3 As shown, the transmitting antenna array (10) is composed of 12 identical waveguide slot antenna units (101) forming a whole, and the 12 waveguide slot antenna units (101) are arranged in a stepped manner; the horizontal spacing between adjacent waveguide slot antenna units (101) in the transmitting antenna array (10) is equal and is an integer multiple of the wavelength of the antenna, and the step height differences between adjacent waveguide slot antenna units (101) in the transmitting antenna array (10) are equal and are an integer multiple of the wavelength of the antenna.

[0041] like Figure 4As shown, the receiving antenna array (20) is composed of 16 identical waveguide slot antenna units (101) forming a whole, and the 16 waveguide slot antenna units (101) are arranged in a horizontal form; the horizontal spacing between adjacent waveguide slot antenna units (101) in the receiving antenna array (20) is equal and is an integer multiple of the wavelength of the antenna.

[0042] like Figures 5 to 9 As shown, the waveguide slot antenna unit (101) comprises: a rectangular parallelepiped waveguide shell (1011), the rectangular parallelepiped waveguide shell (1011) is a hollow structure, and a ridge structure (not shown) is processed inside the rectangular parallelepiped waveguide shell (1011); a plurality of staggered radiation slots (1012) are provided on the upper surface of the rectangular parallelepiped waveguide shell (1011); a rectangular boss (1013) is processed on the bottom of the rectangular parallelepiped waveguide shell (1011), a rectangular feeding waveguide structure (1014) is provided at one end of the rectangular boss (1013), the rectangular feeding waveguide structure (1014) is located at the center directly below the rectangular parallelepiped waveguide shell (1011), the rectangular feeding waveguide structure (1014) is connected to the inside of the rectangular parallelepiped waveguide shell (1011), and a U-shaped groove (1015) is provided at the other end of the rectangular boss (1013).

[0043] The waveguide opening dimensions of the waveguide slot antenna unit (101) are 3.4 mm×1.034 mm, the length of the waveguide slot antenna unit (101) is 22.7 mm, and the wall thickness is 0.6 mm; the width of the ridge structure inside the waveguide slot antenna unit (101) is 1.215 mm, and the height is 0.203 mm; the length of the radiation slot (1012) on the upper surface of the waveguide slot antenna unit (101) is 2.13 mm, and the width is 0.58 mm; the aperture dimensions of the rectangular feeding waveguide structure (1014) below the waveguide slot antenna unit (101) are 2.54 mm×1.27 mm, and the height is 1 mm.

[0044] like Figures 10 to 12 As shown, the printed board (30) comprises a substrate (301), the upper surface and the lower surface of the substrate (301) are both metal coating layers; 12 rectangular feeding windows (303) are etched on the transmitting end of the substrate (301); Fig.10 The 12 rectangular feeding windows (303) at the upper end of the substrate (301) are arranged in a stepped manner and are used to supply power to the 12 waveguide slot antenna units (101) of the transmitting antenna array (10); at the receiving end ( Fig.1016 rectangular feeding windows (303) are etched on the receiving end of the substrate (301), and the 16 rectangular feeding windows (303) are arranged in a horizontal form, and are used to supply power to 16 waveguide slot antenna units (101) of the receiving antenna array (20); 12 grounded coplanar waveguide feeding line segments (302) are etched on the upper half of the upper surface of the substrate (301), and 16 grounded coplanar waveguide feeding line segments (302) are etched on the lower half of the upper surface of the substrate (301); and 4 four-input and three-output radio frequency chip installation slots (304) are etched in the middle of the upper surface of the substrate (301); the 12 grounded coplanar waveguide feeding line segments (302) on the upper half of the upper surface of the substrate (301) are divided into 4 groups, and one end of each group is connected to three output ends of the four-input and three-output radio frequency chip installation slots (304) correspondingly. The other end of each group is connected to one end of 12 substrate integrated waveguide transmission line segments (305) at the transmitting end of the substrate (301), and the other ends of the 12 substrate integrated waveguide transmission line segments (305) are connected to 12 rectangular feeding windows (303) at the transmitting end of the substrate (301); the 16 grounded coplanar waveguide feeding line segments (302) at the lower half of the upper surface of the substrate (301) are divided into 4 groups, one end of each group is connected to four input ends of the four-input and three-output radio frequency chip mounting gap (304), and the other end of each group is connected to one end of the 16 substrate integrated waveguide transmission line segments (305) at the receiving end of the substrate (301), and the other ends of the 16 substrate integrated waveguide transmission line segments (305) are connected to 16 rectangular feeding windows (303) at the receiving end of the substrate (301).

[0045] The 12 grounded coplanar waveguide feed line segments (302) on the upper half of the upper surface of the substrate (301) and the 16 grounded coplanar waveguide feed line segments (302) on the lower half of the upper surface of the substrate (301) are designed with equal radiality and equal phase. The 12 grounded coplanar waveguide feed line segments (302) on the upper half of the upper surface of the substrate (301) extend upward from the output end of the four-input and three-outlet radio frequency chip mounting slots (304) to the transmitting end of the substrate (301), and the 16 grounded coplanar waveguide feed line segments (302) on the lower half of the upper surface of the substrate (301) extend downward from the input end of the four-input and three-outlet radio frequency chip mounting slots (304) to the receiving end of the substrate (301), thereby increasing the distance between the transmitting antenna array (10) and the receiving antenna array (20).

[0046] like Fig.13As shown, the rectangular feeding window (303) is connected to one end of the substrate integrated waveguide transmission line segment (305), and the other end of the substrate integrated waveguide transmission line segment (305) is connected to the grounded coplanar waveguide feeding line segment (302) through a gradient line structure; a rectangular metal sheet (3032) is offset and placed inside the rectangular opening (3031) of the rectangular feeding window (303), and a plurality of metallized vias are opened around the outside of the rectangular opening (3031).

[0047] The grounded coplanar waveguide feed line segment (302) is connected to the metal coating layer on the lower surface of the substrate (301) through a metallized via hole; a plurality of metallized via holes are provided on both sides of the path of the grounded coplanar waveguide feed line segment (302), and a plurality of metallized via holes are provided on both sides of the substrate integrated waveguide transmission line segment (305); the line width of the grounded coplanar waveguide feed line segment (302) is 0.28 mm, and the gap is 0.2 mm; the line width of the substrate integrated waveguide transmission line segment (305) is 1.68 mm; the size of the rectangular window (3031) is 1.87 mm×1.08 mm, and the size of the rectangular metal sheet (3032) is 1.26 mm×0.83 mm.

[0048] The transmitting antenna array (10) is vertically aligned and interconnected with 12 rectangular feeding windows (303) at the transmitting end of the printed circuit board (30) via 12 rectangular feeding waveguide structures (1014); the receiving antenna array (20) is vertically aligned and interconnected with 16 rectangular feeding windows (303) at the receiving end of the printed circuit board (30) via 16 rectangular feeding waveguide structures (1014); and the U-shaped groove (1015) covers the substrate integrated waveguide transmission line segment (305) and the grounded coplanar waveguide feeding line segment (302).

[0049] The two-dimensional high-resolution waveguide printed circuit board integrated antenna of the present invention realizes heterogeneous integration of waveguide antenna and printed circuit board. The transmitting antenna is responsible for radiating electromagnetic waves into the air to form a beam to hit the target in space. After that, the electromagnetic waves will be reflected from the target. A part of the electromagnetic waves reflected back to the radar will be captured by the receiving antenna and subsequently converted into electrical signals. The standing wave of its antenna unit is as follows: Fig.14 As shown in the figure, it can be seen that the standing wave of the antenna unit is less than 2 within 74.5-81.5GHz; the isolation between the adjacent antennas of the transmitting antenna array and the receiving antenna array is as follows Fig.15 As shown; the gain diagrams of the transmitting antenna unit and the receiving antenna unit at 76, 78, and 80 GHz are as follows Fig.16 , 17 As shown in sequence, the peak gain is greater than 15dBi; the gain diagrams of the transmitting and receiving antenna arrays at 77GHz are as follows Fig.18 , 19In summary, the waveguide antenna array and printed circuit board feed integrated design of the above embodiment, the transmitting antenna array adopts a stepped distribution, the receiving and transmitting are distributed up and down, and the antenna working bandwidth reaches 74.5-81.5GHz, providing high pitch resolution and high isolation for the radar system; the waveguide antenna and the printed circuit board are vertically interconnected, which can realize the replacement and disassembly of the antenna, and can be repaired and maintained, providing a method for optimizing and modifying the radar system.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A two-dimensional high-resolution waveguide printed circuit board integrated antenna, characterized in that: include: A transmitting antenna array (10), a receiving antenna array (20), and a printed circuit board (30); the transmitting antenna array (10) is composed of a plurality of identical waveguide slot antenna units (101) forming a whole, and the plurality of waveguide slot antenna units (101) are arranged in a stepped manner; the receiving antenna array (20) is composed of a plurality of identical waveguide slot antenna units (101) forming a whole, and the plurality of waveguide slot antenna units (101) are arranged in a horizontal manner; the printed circuit board (300) comprises a substrate (301), a plurality of rectangular feeding windows (303) are etched on the transmitting end of the substrate (301), and the plurality of rectangular feeding windows (303) on the transmitting end of the substrate (301) are arranged in a stepped manner; a plurality of rectangular feeding windows (303) are etched on the receiving end of the substrate (301), and the plurality of rectangular feeding windows (303) on the receiving end of the substrate (301) are arranged in a stepped manner. (303) are arranged in a horizontal form; the transmitting antenna array (10) is vertically aligned and interconnected with the multiple rectangular feeding windows (303) at the transmitting end of the printed circuit board (30) through multiple rectangular feeding waveguide structures (1014); the receiving antenna array (20) is vertically aligned and interconnected with the multiple rectangular feeding windows (303) at the receiving end of the printed circuit board (30) through multiple rectangular feeding waveguide structures (1014); the multiple rectangular feeding windows (303) at the transmitting end of the printed circuit board (30) are connected to the output end of the radio frequency chip installation slot (304) through multiple grounded coplanar waveguide feeding line segments (302); the multiple rectangular feeding windows (303) at the receiving end of the printed circuit board (30) are connected to the input end of the radio frequency chip installation slot (304) through multiple grounded coplanar waveguide feeding line segments (302).

2. The two-dimensional high-resolution waveguide printed circuit board integrated antenna according to claim 1, characterized in that: The waveguide slot antenna unit (101) comprises: a rectangular parallelepiped waveguide shell (1011), the rectangular parallelepiped waveguide shell (1011) being a hollow structure, and a plurality of staggered radiation slots (1012) being provided on the upper surface of the rectangular parallelepiped waveguide shell (1011); a rectangular boss (1013) being processed on the bottom of the rectangular parallelepiped waveguide shell (1011), a rectangular feeding waveguide structure (1014) being provided at one end of the rectangular boss (1013), the rectangular feeding waveguide structure (1014) being connected to the interior of the rectangular parallelepiped waveguide shell (1011), and a U-shaped groove (1015) being provided at the other end of the rectangular boss (1013).

3. The two-dimensional high-resolution waveguide printed circuit board integrated antenna according to claim 2, characterized in that: The horizontal spacings between adjacent waveguide slot antenna units (101) in the transmitting antenna array (10) are equal and are integer multiples of the wavelength of the antenna, and the step height differences between adjacent waveguide slot antenna units (101) in the transmitting antenna array (10) are equal and are integer multiples of the wavelength of the antenna; the horizontal spacings between adjacent waveguide slot antenna units (101) in the receiving antenna array (20) are equal and are integer multiples of the wavelength of the antenna.

4. The two-dimensional high-resolution waveguide printed circuit board integrated antenna according to claim 1, characterized in that: The upper half of the upper surface of the substrate (301) is etched with a plurality of grounded coplanar waveguide feed line segments (302), the lower half of the upper surface of the substrate (301) is etched with a plurality of grounded coplanar waveguide feed line segments (302), and the middle position of the upper surface of the substrate (301) is etched with a plurality of radio frequency chip mounting slots (304); the plurality of grounded coplanar waveguide feed line segments (302) in the upper half of the upper surface of the substrate (301) are divided into a plurality of groups, one end of each group is connected to the output end of the radio frequency chip mounting slot (304), the other end of each group is connected to one end of a plurality of substrate integrated waveguide transmission line segments (305) at the transmitting end of the substrate (301), and the other ends of the plurality of substrate integrated waveguide transmission line segments (305) are connected to a plurality of rectangular feeding windows (303) at the transmitting end of the substrate (301); the lower half of the upper surface of the substrate (301) is The multiple grounded coplanar waveguide feed line segments (302) are divided into multiple groups, one end of each group is connected to the input end of the radio frequency chip installation slot (304), the other end of each group is connected to one end of multiple substrate integrated waveguide transmission line segments (305) at the receiving end of the substrate (301), and the other ends of the multiple substrate integrated waveguide transmission line segments (305) are connected to multiple rectangular feeding windows (303) at the receiving end of the substrate (301); the multiple grounded coplanar waveguide feed line segments (302) on the upper half of the upper surface of the substrate (301) extend upward from the output end of the radio frequency chip installation slot (304) to the transmitting end of the substrate (301), and the multiple grounded coplanar waveguide feed line segments (302) on the lower half of the upper surface of the substrate (301) extend downward from the input end of the radio frequency chip installation slot (304) to the receiving end of the substrate (301).

5. The two-dimensional high-resolution waveguide printed circuit board integrated antenna according to claim 4, characterized in that: The multiple grounded coplanar waveguide feeder line segments (302) on the upper half of the upper surface of the substrate (301) and the multiple grounded coplanar waveguide feeder line segments (302) on the lower half of the upper surface of the substrate (301) are designed with equal radiality and equal phase.

6. The two-dimensional high-resolution waveguide printed circuit board integrated antenna according to claim 4, characterized in that: The rectangular feeding window (303) is connected to one end of the substrate integrated waveguide transmission line segment (305), and the other end of the substrate integrated waveguide transmission line segment (305) is connected to the grounded coplanar waveguide feeding line segment (302) via a gradient line structure.

7. The two-dimensional high-resolution waveguide printed circuit board integrated antenna according to claim 4, characterized in that: A rectangular metal sheet (3032) is offsetly placed inside the rectangular opening (3031) of the rectangular feed window (303), and a plurality of metallized vias are opened around the outside of the rectangular opening (3031).

8. The two-dimensional high-resolution waveguide printed circuit board integrated antenna according to claim 4, characterized in that: The grounded coplanar waveguide feed line segment (302) is connected to the metal coating layer on the lower surface of the substrate (301) through a metallized via hole; a plurality of metallized via holes are provided on both sides of the path of the grounded coplanar waveguide feed line segment (302), and a plurality of metallized via holes are provided on both sides of the substrate integrated waveguide transmission line segment (305).

9. The two-dimensional high-resolution waveguide printed circuit board integrated antenna according to claim 1, characterized in that: The transmitting antenna array (10) is mounted on the transmitting end of the printed circuit board (30) using positioning pins and screws, and the receiving antenna array (20) is mounted on the receiving end of the printed circuit board (30) using positioning pins and screws.

10. The two-dimensional high-resolution waveguide printed circuit board integrated antenna according to claim 2, characterized in that: The rectangular feeding waveguide structure (1014) is located at the center directly below the rectangular parallelepiped waveguide housing (1011).

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