Antenna array construction method and device for agricultural machinery navigation

Abstract

The invention relates to the technical field of antenna arrays, in particular to an antenna array construction method and device for agricultural machinery navigation. The method comprises the following steps: constructing an antenna array grid model based on an application area of agricultural machinery navigation, the antenna array grid model being used for determining a plurality of initial antenna sub-arrays; based on a star-sparrow optimization algorithm, adjusting position parameters of antenna elements in each initial antenna sub-array to obtain an optimized antenna sub-array corresponding to each initial antenna sub-array; according to the array fitness of the optimized antenna sub-array, a target antenna sub-array is screened out for antenna array construction, and the array fitness is used for representing the matching degree of the antenna sub-array and the application area of agricultural machinery navigation. According to the method, the problem that the traditional antenna array design method cannot meet the navigation requirement of the agricultural machinery due to the variability and uncertainty of the system due to the high mobility of the navigation system of the agricultural machinery is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of antenna arrays, and in particular to a method and device for constructing an antenna array for agricultural machinery navigation. Background Art

[0002] With the rapid advancement of science and technology, antenna array optimization methods have gradually been integrated into the field of agricultural machinery navigation, playing an increasingly important and even irreplaceable role. The construction of sparse array antennas makes it possible to achieve challenging tasks such as large-scale unmanned farmland operations, which can significantly improve the positioning accuracy of the navigation system and enable agricultural machinery to perform precise route planning and autonomous driving in field operations.

[0003] Due to the high mobility of agricultural machinery navigation systems, the system itself has variability and uncertainty. Therefore, traditional antenna array design methods cannot fully meet the needs of agricultural machinery navigation. Summary of the invention

[0004] The present invention provides an antenna array construction method and device for agricultural machinery navigation, which are used to solve the problem that due to the high mobility of the agricultural machinery navigation system, the system itself has variability and uncertainty, resulting in the inability of traditional antenna array design methods to meet the agricultural machinery navigation needs.

[0005] The present invention provides a sparse array antenna optimization method for agricultural machinery, comprising: Based on the application area of ​​agricultural machinery navigation, an antenna array grid model is constructed, wherein the antenna array grid model is used to determine a plurality of initial antenna subarrays; Based on the starfinch optimization algorithm, the position parameters of the antenna elements in each initial antenna subarray are adjusted to obtain the optimized antenna subarray corresponding to each initial antenna subarray; According to the array fitness of the optimized antenna subarray, the target antenna subarray is screened out for antenna array construction, and the array fitness is used to characterize the matching degree between the antenna subarray and the application area of ​​agricultural machinery navigation.

[0006] According to a method for constructing an antenna array for agricultural machinery navigation provided by the present invention, the method adjusts the position parameters of the antenna elements in each initial antenna subarray based on the starfinch optimization algorithm to obtain an optimized antenna subarray corresponding to each initial antenna subarray, specifically comprising: Based on the starfinch optimization algorithm, the position parameter of each antenna element in each initial antenna subarray is updated to obtain a first position parameter; The first position parameter is adjusted using a preset objective function to obtain a second position parameter, wherein the preset objective function is constructed according to performance indicators of each antenna element in the antenna array grid model; Based on the starfinch optimization algorithm, the second position parameter is iterated to obtain the third position parameter, so as to obtain the optimized antenna subarray corresponding to each initial antenna subarray.

[0007] According to a method for constructing an antenna array for agricultural machinery navigation provided by the present invention, the array adaptability is determined based on the radiation intensity of the antenna subarray, the effective signal coverage range, the total signal power generated in the non-application area, and the average signal power.

[0008] According to a method for constructing an antenna array for agricultural machinery navigation provided by the present invention, the first position parameter is adjusted using a preset objective function to obtain a second position parameter, which specifically includes: obtaining the gradient of the preset objective function; adjusting the first position parameter according to the gradient of the preset objective function to obtain the second position parameter.

[0009] According to an antenna array construction method for agricultural machinery navigation provided by the present invention, the preset objective function is determined according to the following formula:

[0010] Wherein, N and M are the number of rows and columns of the antenna array grid model, respectively, is the weight factor of antenna element (i, j), represents the performance index corresponding to the antenna element (i, j), Indicates whether there is an antenna at this location.

[0011] According to a method for constructing an antenna array for agricultural machinery navigation provided by the present invention, the antenna array grid model is a rectangular array, and each row in the rectangular array determines an initial antenna subarray.

[0012] The present invention also provides an antenna array construction device for agricultural machinery navigation, comprising: An array construction unit, used to construct an antenna array grid model based on an application area of ​​agricultural machinery navigation, wherein the antenna array grid model is used to determine a plurality of initial antenna subarrays; An array optimization unit, configured to adjust position parameters of antenna elements in each initial antenna subarray based on a starfinch optimization algorithm to obtain an optimized antenna subarray corresponding to each initial antenna subarray; The array screening unit is used to screen out the target antenna subarray for antenna array construction according to the array fitness of the optimized antenna subarray, wherein the array fitness is used to characterize the matching degree between the antenna subarray and the application area of ​​agricultural machinery navigation.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, an antenna array construction method for agricultural machinery navigation as described in any one of the above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the antenna array construction method for agricultural machinery navigation as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for constructing an antenna array for agricultural machinery navigation as described in any one of the above is implemented.

[0016] The antenna array construction method and device for agricultural machinery navigation provided by the present invention obtain an optimized antenna subarray through the global search capability of the star sparrow algorithm, thereby improving the positioning accuracy of the agricultural machinery navigation system and the stability and anti-interference capability of signal reception; at the same time, according to the array fitness of the optimized antenna subarray, the target antenna subarray is screened out for antenna array construction, ensuring that the antenna array can provide high-precision positioning services in various environments, thereby improving the operation quality and efficiency of agricultural machinery navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is one of the flow charts of the antenna array construction method for agricultural machinery navigation provided by the present invention.

[0019] Figure 2 It is a schematic diagram of the principle of constructing an antenna array grid model provided by the present invention.

[0020] Figure 3 This is the second flow chart of the method for constructing an antenna array for agricultural machinery navigation provided by the present invention.

[0021] Figure 4 This is one of the scene schematic diagrams of the rectangular grid grid of the antenna array provided by the present invention.

[0022] Figure 5 This is the second scene schematic diagram of the rectangular grid grid of the antenna array provided by the present invention.

[0023] Figure 6This is the third scene schematic diagram of the rectangular grid grid of the antenna array provided by the present invention.

[0024] Figure 7 It is a schematic diagram comparing simulation results of various different algorithms provided by the present invention.

[0025] Figure 8 It is a structural schematic diagram of an antenna array construction device for agricultural machinery navigation provided by the present invention.

[0026] Fig. 9 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0028] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the descriptions used in this way can be interchanged where appropriate, so that the embodiments can be implemented in a sequence other than that illustrated or described in the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules that are clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products or devices. The naming or numbering of the steps that appear in the present application does not mean that the steps in the method flow must be executed in the time / logical sequence indicated by the naming or numbering. The process steps that have been named or numbered can change the execution order according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved. The division of modules in this application is a logical division. There may be other division methods when it is implemented in actual applications. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection between units can be electrical or other similar forms, which are not limited in this application. In addition, the modules or submodules described as separate components may or may not be physically separated, may or may not be physical units, or may be distributed in multiple circuit units, and some or all of the units may be selected according to actual needs to achieve the purpose of the present application.

[0029] Combine the following Figure 1-Figure 9 The specific contents of the present invention are described.

[0030] Figure 1 is a flow chart of a method for constructing an antenna array for agricultural machinery navigation provided by the present invention, such as Figure 1 As shown, the method includes steps S101-S103.

[0031] Step S101: construct an antenna array grid model based on the application area of ​​agricultural machinery navigation, and the antenna array grid model is used to determine a plurality of initial antenna sub-arrays.

[0032] Specifically, if Figure 2 As shown in the figure, an antenna array grid model is constructed to determine the coverage area of ​​the antenna array in the application area of ​​agricultural machinery navigation and divide it into regular rectangular grids, where each grid cell represents a potential antenna position. The grid size is , each grid is assigned coordinates; the antenna position is randomly set according to the sparsity rate, which is represented by the following matrix.

[0033]

[0034] Where the matrix C represents the antenna array, Represents the antenna placement at position (n,m). A value of 1 indicates that an antenna is placed at this position, and a value of 0 indicates that no antenna is placed at this position.

[0035] In a possible implementation manner, the antenna array grid model is a rectangular array, and each row in the rectangular array determines an initial antenna subarray.

[0036] In the embodiment of the present invention, in the application area of ​​agricultural machinery navigation, the antenna array that needs to be constructed can be circular, rectangular, triangular, and other shapes. For antenna arrays of any shape, they are equivalent to the antenna array grid model of a rectangular array to perform the subsequent equivalence of individual star finches.

[0037] Step S102: Based on the starfinch optimization algorithm, position parameters of antenna elements in each initial antenna subarray are adjusted to obtain an optimized antenna subarray corresponding to each initial antenna subarray.

[0038] In an embodiment of the present invention, each row in the antenna array grid model is an initial antenna subarray, each initial antenna subarray is equated to a starfinch individual, and based on the starfinch optimization algorithm, the position parameters of the antenna elements in each initial antenna subarray are adjusted to obtain the optimized antenna subarray corresponding to each initial antenna subarray.

[0039] Specifically, the parameters are set based on the Starfinch optimization algorithm: the grid structure size is set to , the antenna sparseness rate is , maximum number of iterations , foraging step length and probability , storage position accuracy control and , hiding position update step length ; The topology of the initialized antenna array is a rectangular grid, and the topology update frequency is set to , connection weight between antennas (i, j) The fine-tuning factor is , inter-node constraints, direction and power constraints and other parameters.

[0040] Step S103, according to the array fitness of the optimized antenna subarray, a target antenna subarray is selected to construct an antenna array, and the array fitness is used to characterize the matching degree between the antenna subarray and the application area of ​​the agricultural machinery navigation.

[0041] In an embodiment of the present invention, the star finch individuals are sorted based on their array fitness to screen out the optimal antenna array deployment scheme. In the multiple iteration step S102, a threshold k of the number of iterations is set, and the fitness value of each star finch individual in the star finch population is calculated according to the position of the star finch individual at the k+1th iteration; the antenna array deployment scheme of the star finch individual is dynamically adjusted according to the fitness value of the star finch individual to determine the optimal antenna array deployment scheme.

[0042] In a possible implementation, the array adaptability is determined according to the radiation intensity of the antenna subarray, the effective signal coverage, the total signal power generated in the non-application area, and the average signal power.

[0043] According to the actual application scenarios of agricultural machinery navigation, consider the antenna directivity , Coverage , signal strength , interference level , establish the fitness function .

[0044]

[0045] in, It represents the radiation intensity of the antenna subarray, that is, the maximum radiation intensity of the antenna subarray in a specific direction; It represents the effective signal coverage of the antenna subarray, that is, the area of ​​the geographical area that the antenna subarray can effectively cover; Represents the total signal power generated by the antenna subarray in the non-application area, which is used to evaluate the interference impact; represents the average signal power level provided by the antenna subarray. are their respective weight indicators, and satisfy .

[0046] In a possible implementation, in step S102, based on the starfinch optimization algorithm, the position parameters of the antenna elements in each initial antenna subarray are adjusted to obtain an optimized antenna subarray corresponding to each initial antenna subarray, such as Figure 3 As shown, it specifically includes steps S301-S303.

[0047] In steps S301-S303, based on the starfinch optimization algorithm, four stage strategies of foraging, storage, hiding and recycling are proposed, and improved in combination with the preset objective function. In the foraging stage, the foraging strategy of the starfinch optimization algorithm is used to preliminarily optimize the position of the antenna array elements, and potential high fitness areas are found through global search. In the storage stage, the connection relationship and local structure of the antenna elements are adjusted to further improve the performance of the array. In the hiding stage, the array scheme optimized in the storage stage is locally optimized to avoid falling into the local optimum.

[0048] Step S301: Based on the starfinch optimization algorithm, the position parameter of each antenna element in each initial antenna subarray is updated to obtain a first position parameter.

[0049] Specifically, in the star finch optimization algorithm, each star finch has a food source and storage place. The star finch will look for food in the forest and update its position. Based on the above concept, the position parameters of each antenna element in each initial antenna subarray are updated to obtain the first position parameters.

[0050] In an embodiment of the present invention, according to the formula:

[0051] in represents the position of the jth antenna in the ith starfinch at the tth iteration, Parameters that control the step size, affecting the search range and speed, random angle To introduce randomness and simulate the search direction of the star sparrow, and is the random perturbation vector, and By controlling the disturbance variables, this stage simulates the behavior of star finches searching for food, aiming to explore the solution space and find potential optimization directions.

[0052] Step S302: The first position parameter is adjusted using a preset objective function to obtain a second position parameter. The preset objective function is constructed according to performance indicators of each antenna element in the antenna array grid model.

[0053] Specifically, the antenna array structure obtained during the foraging phase is analyzed to identify the local substructures in the array. Determine which antenna positions and connections can be further adjusted to improve the overall performance of the array. Then, based on this evaluation result, the connection relationship and local structure of the antenna elements are gradually adjusted to improve the performance indicators of the array. This gradual adjustment method can effectively avoid the problem of excessive adjustment that may occur when performing global search over a large range, resulting in structural imbalance or performance degradation. The preset objective function is .

[0054] In a possible implementation, the preset objective function is determined according to the following formula:

[0055] Where N and M are the number of rows and columns of the antenna array grid model, respectively. is the weight factor of antenna element (i, j), represents the performance index corresponding to the antenna element (i, j), Indicates whether there is an antenna at this location.

[0056] In a possible implementation, the first position parameter is adjusted using a preset objective function to obtain the second position parameter, specifically including: obtaining the gradient of the preset objective function; and adjusting the first position parameter according to the gradient of the preset objective function to obtain the second position parameter.

[0057]

[0058] Among them, ∇f(X) is the gradient of the preset objective function, It means f(X) relative to The rate of change, is the learning rate.

[0059] It should be noted that That is, In steps S301-S303, the last position parameter update obtained , which is used as the next position parameter update .

[0060] Step S303, based on the starfinch optimization algorithm, iterate the second position parameter to obtain the third position parameter, so as to obtain the optimized antenna subarray corresponding to each initial antenna subarray, specifically including steps S3031-S3034.

[0061] Step S3031, this step simulates the behavior of the starfinch storing food, aims to strengthen the algorithm's search for the area near the current best solution, enhance the local search capability, and store the currently found first The optimal solution for the initial antenna subarray .

[0062]

[0063] in For the best solution found so far, use and Parameters that control the search accuracy, adjust the update amplitude of the solution, use random numbers Increase the diversity of solutions to obtain the best solution for the t+1th generation .

[0064] Step S3032, the individual star finches use spatial memory to return to the hiding place to search for food. During the process, the star finch population will explore again, conduct an extensive search of the current solution space, and then optimize the geometric arrangement of the antenna according to the topological substructure to obtain a new antenna array structure.

[0065] According to the formula:

[0066] in represents the most recently updated position of the jth antenna of the i-th starfinch at the t-th iteration, represents the position of the jth antenna of the ith starbird at the t+1th iteration, is the hiding update step size, Introducing directional adjustments when updating positions, are the upper and lower limits of location update, respectively. is a random number between [0,1], which makes the position update random and diverse and prevents falling into the local optimal solution.

[0067] Step S3033, the step S3032 obtained Fine-tuning.

[0068]

[0069] in, is the fine-tuning factor, Represents the performance index of the i,jth antenna element The gradient of is used to guide the position update.

[0070] Step S3034, this stage simulates the starling finding hidden food for use in winter. In this process, the currently known good solution is used to perform local search to obtain a better solution. The update formula is:

[0071] in represents a random position generated at time step t+1, simulating the randomness of individual star finches searching for new food sources. is the latest position calculated by the above algorithm, is the center position of the antenna array at the tth iteration, using a random number and Controls the step size towards the optimal position and random points, increasing search randomness and diversity.

[0072] The more optimal solution obtained in step S3034 is output as a third position parameter to obtain an optimized antenna subarray corresponding to each initial antenna subarray. After the third position parameter is output, step S103 is executed.

[0073] Provide the most detailed embodiment content of the present invention below: In the embodiment of the present invention, considering the application scenario of small and medium-sized agricultural machinery navigation, a sparse array antenna is constructed, and the array size is N×M, which is 8*8 ( , suitable for space-constrained scenarios such as small farmland or narrow operating areas), 16*16 ( % , suitable for general farmland operations), 32*32 ( %, suitable for large-scale farmland or wide operating areas) rectangular grid rectangular array low side lobe, array element spacing , the unit feeding is equal amplitude and in-phase excitation. Algorithm parameter setting: Maximum number of iterations , foraging step length , foraging probability , storage location update frequency , update probability , hiding location update frequency and probability , recovery step length =0.2 and probability , , the connection weights between all antennas are set to 1, the minimum distance constraint is 1, the direction constraint is [0°, 180°], and the power constraint is [0.5, 1.5].

[0074] Figures 4 to 6 The initial array configuration schemes of rectangular sparse arrays with array sizes of 8×8, 16×16 and 32×32 were demonstrated. Among them, the maximum sidelobe level achieved by the 8×8 array is -19.54dB; the maximum sidelobe level achieved by the 23×23 array is -23.65dB; and the maximum sidelobe level achieved by the 36×36 array is -26.72dB.

[0075] Figure 7 The convergence curve comparison of the 16×16 array under the present invention and other existing technologies is shown. From the simulation results, it can be seen that the proposed algorithm can find a high-quality solution and achieve convergence in only 300 iterations, which is superior to other existing optimization technologies in terms of solution quality and convergence speed.

[0076] By adopting the above method, the present invention can achieve at least one of the following beneficial effects: 1. The present invention constructs an antenna array grid model, establishes array fitness, and evaluates and screens the generated star finch individuals. During the optimization process, the position of each individual star finch will be adaptively adjusted as the number of iterations increases to ensure the effective exploration and utilization capabilities of the algorithm. Ultimately, this method optimizes the sparse array layout corresponding to the optimal solution generated as the optimal array arrangement of the array elements in the antenna array. This method highlights the antenna directivity, antenna coverage, signal strength, and interference level as constraints, constructs a multi-objective fitness function, and ensures that the array exhibits a higher direction-finding performance under the premise of the same number of array elements and the minimum spacing between antennas, thereby improving the accuracy and reliability of agricultural machinery navigation in the antenna field.

[0077] 2. Not only does the layout of the antenna array get optimized, but multiple influencing factors are also considered in the specific implementation process, making the optimization results more comprehensive and accurate. By adaptively adjusting the position of each individual starfinch, the effectiveness and stability of different iteration stages are ensured. The introduction of array fitness enables this method to perform global optimization under multiple constraints, thereby further improving the performance and reliability of the antenna array.

[0078] 3. By improving the direction-finding performance of antenna arrays, it can not only improve the accuracy of agricultural machinery navigation, but also play an important role in other fields that require precise signal processing and high-reliability communication.

[0079] The antenna array construction device for agricultural machinery navigation provided by the present invention is described below. The antenna array construction device for agricultural machinery navigation described below and the antenna array construction method for agricultural machinery navigation described above can refer to each other.

[0080] like Figure 8 As shown, the present invention also provides an antenna array construction device for agricultural machinery navigation, comprising: An array construction unit 810 is used to construct an antenna array grid model based on the application area of ​​agricultural machinery navigation, and the antenna array grid model is used to determine multiple initial antenna subarrays; An array optimization unit 820 is used to adjust the position parameters of the antenna elements in each initial antenna subarray based on the starfinch optimization algorithm to obtain an optimized antenna subarray corresponding to each initial antenna subarray; The array screening unit 830 is used to screen out a target antenna subarray for antenna array construction according to the array fitness of the optimized antenna subarray. The array fitness is used to characterize the matching degree between the antenna subarray and the application area of ​​agricultural machinery navigation.

[0081] In a possible implementation manner, the array optimization unit 820 specifically includes: A first optimization subunit is used to update the position parameter of each antenna element in each initial antenna subarray based on the starfinch optimization algorithm to obtain a first position parameter; A second optimization subunit is used to adjust the first position parameter by using a preset objective function to obtain a second position parameter, wherein the preset objective function is constructed according to performance indicators of each antenna element in the antenna array grid model; The third optimization subunit is used to iterate the second position parameter based on the starfinch optimization algorithm to obtain the third position parameter, so as to obtain the optimized antenna subarray corresponding to each initial antenna subarray.

[0082] In a possible implementation, the array adaptability is determined according to the radiation intensity of the antenna subarray, the effective signal coverage, the total signal power generated in the non-application area, and the average signal power.

[0083] In a possible implementation, the second optimization subunit is specifically configured to obtain a gradient of a preset objective function; and adjust the first position parameter according to the gradient of the preset objective function to obtain the second position parameter.

[0084] In a possible implementation, the preset objective function is determined according to the following formula:

[0085] Where N and M are the number of rows and columns of the antenna array grid model, respectively. is the weight factor of antenna element (i, j), represents the performance index corresponding to the antenna element (i, j), Indicates whether there is an antenna at this location.

[0086] In a possible implementation manner, the antenna array grid model is a rectangular array, and each row in the rectangular array determines an initial antenna subarray.

[0087] Fig. 9 An example of a physical structure diagram of an electronic device is shown in FIG. Fig. 9 As shown, the electronic device may include: a processor 910, a communications interface 920, a memory 930 and a communication bus 940, wherein the processor 910, the communications interface 920 and the memory 930 communicate with each other through the communication bus 940. The processor 910 may call the logic instructions in the memory 930 to execute an antenna array construction method for agricultural machinery navigation, the method comprising: Based on the application area of ​​agricultural machinery navigation, an antenna array grid model is constructed, and the antenna array grid model is used to determine multiple initial antenna subarrays; Based on the starfinch optimization algorithm, the position parameters of the antenna elements in each initial antenna subarray are adjusted to obtain the optimized antenna subarray corresponding to each initial antenna subarray; According to the array fitness of the optimized antenna subarray, the target antenna subarray is screened out for antenna array construction. The array fitness is used to characterize the matching degree between the antenna subarray and the application area of ​​agricultural machinery navigation.

[0088] In addition, the logic instructions in the above-mentioned memory 930 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0089] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer can execute an antenna array construction method for agricultural machinery navigation provided by the above methods, the method comprising: Based on the application area of ​​agricultural machinery navigation, an antenna array grid model is constructed, and the antenna array grid model is used to determine multiple initial antenna subarrays; Based on the starfinch optimization algorithm, the position parameters of the antenna elements in each initial antenna subarray are adjusted to obtain the optimized antenna subarray corresponding to each initial antenna subarray; According to the array fitness of the optimized antenna subarray, the target antenna subarray is screened out for antenna array construction. The array fitness is used to characterize the matching degree between the antenna subarray and the application area of ​​agricultural machinery navigation.

[0090] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute an antenna array construction method for agricultural machinery navigation provided by the above methods, the method comprising: Based on the application area of ​​agricultural machinery navigation, an antenna array grid model is constructed, and the antenna array grid model is used to determine multiple initial antenna subarrays; Based on the starfinch optimization algorithm, the position parameters of the antenna elements in each initial antenna subarray are adjusted to obtain the optimized antenna subarray corresponding to each initial antenna subarray; According to the array fitness of the optimized antenna subarray, the target antenna subarray is screened out for antenna array construction. The array fitness is used to characterize the matching degree between the antenna subarray and the application area of ​​agricultural machinery navigation.

[0091] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0092] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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 method for constructing an antenna array for agricultural machinery navigation, characterized in that: include: Based on the application area of ​​agricultural machinery navigation, an antenna array grid model is constructed, wherein the antenna array grid model is used to determine a plurality of initial antenna subarrays; Based on the starfinch optimization algorithm, the position parameters of the antenna elements in each initial antenna subarray are adjusted to obtain the optimized antenna subarray corresponding to each initial antenna subarray; According to the array fitness of the optimized antenna subarray, the target antenna subarray is screened out for antenna array construction, and the array fitness is used to characterize the matching degree between the antenna subarray and the application area of ​​agricultural machinery navigation.

2. The antenna array construction method for agricultural machinery navigation according to claim 1, characterized in that: The step of adjusting the position parameters of the antenna elements in each initial antenna subarray based on the starfinch optimization algorithm to obtain the optimized antenna subarray corresponding to each initial antenna subarray specifically includes: Based on the starfinch optimization algorithm, the position parameter of each antenna element in each initial antenna subarray is updated to obtain a first position parameter; The first position parameter is adjusted using a preset objective function to obtain a second position parameter, wherein the preset objective function is constructed according to performance indicators of each antenna element in the antenna array grid model; Based on the starfinch optimization algorithm, the second position parameter is iterated to obtain the third position parameter, so as to obtain the optimized antenna subarray corresponding to each initial antenna subarray.

3. The antenna array construction method for agricultural machinery navigation according to claim 1, characterized in that: The array adaptability is determined according to the radiation intensity of the antenna subarray, the effective signal coverage, the total signal power generated in the non-application area, and the average signal power.

4. The antenna array construction method for agricultural machinery navigation according to claim 2, characterized in that: The adopting a preset objective function to adjust the first position parameter to obtain the second position parameter specifically includes: Get the gradient of the preset objective function; According to the gradient of the preset objective function, the first position parameter is adjusted to obtain the second position parameter.

5. The antenna array construction method for agricultural machinery navigation according to claim 2, characterized in that: The preset objective function is determined according to the following formula: Wherein, N and M are the number of rows and columns of the antenna array grid model, respectively, is the weight factor of antenna element (i, j), represents the performance index corresponding to the antenna element (i, j), Indicates whether there is an antenna at this location.

6. The antenna array construction method for agricultural machinery navigation according to any one of claims 1 to 5, characterized in that: The antenna array grid model is a rectangular array, and each row in the rectangular array determines an initial antenna subarray.

7. An antenna array construction device for agricultural machinery navigation, characterized in that: include: An array construction unit, used to construct an antenna array grid model based on an application area of ​​agricultural machinery navigation, wherein the antenna array grid model is used to determine a plurality of initial antenna subarrays; An array optimization unit, configured to adjust position parameters of antenna elements in each initial antenna subarray based on a starfinch optimization algorithm to obtain an optimized antenna subarray corresponding to each initial antenna subarray; The array screening unit is used to screen out the target antenna subarray for antenna array construction according to the array fitness of the optimized antenna subarray, wherein the array fitness is used to characterize the matching degree between the antenna subarray and the application area of ​​agricultural machinery navigation.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the antenna array construction method for agricultural machinery navigation as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the antenna array construction method for agricultural machinery navigation as described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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