MIMO (Multiple Input Multiple Output) arraying method and system for improving angle measurement stability

Abstract

The invention discloses an MIMO (Multiple Input Multiple Output) arraying method and system for improving angle measurement stability, and the method comprises the steps: respectively generating and obtaining a transmitting azimuth array and a receiving azimuth array, and generating a corresponding receiving and transmitting synthesis array after MIMO based on the transmitting azimuth array and the receiving azimuth array; generating corresponding equally spaced sub-arrays based on the transmit-receive synthetic array; generating and acquiring angle measurement error rate data of a same-distance and same-speed dual-target angle difference within a preset range corresponding to the receiving and transmitting synthesis array, and judging whether the angle measurement error rate data meets a preset value or not; if yes, executing the next step; otherwise, obtaining and judging again; and according to the angle measurement error rate data and in combination with the uniformly-spaced sub-arrays, generating a high-stability and high-resolution MIMO array corresponding to the transmit-receive synthesis array, and ensuring the angle measurement stability while making the FOV larger and larger and the angular resolution higher and higher without increasing the complexity of the algorithm.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle-mounted millimeter-wave radars, and in particular relates to a MIMO array method and system for improving angle measurement stability. Background Art

[0002] The current automotive millimeter-wave radars, whether front radars or corner radars, have increasingly larger FOVs and higher angular resolutions, but the number of antennas has not increased significantly. This results in a greater probability of measuring the wrong angle and greater challenges to the stability of angle measurement.

[0003] Therefore, in view of the above technical problems and defects, it is urgent to design and develop a MIMO array method and system that can improve the angle measurement stability. Summary of the invention

[0004] In order to overcome the shortcomings and difficulties of the above-mentioned prior art, the purpose of the present invention is to propose a mimo array method and some arrays derived from this method, which can ensure the stability of angle measurement while making the FOV larger and the angular resolution higher, and at the same time does not increase the complexity of the algorithm.

[0005] The first object of the present invention is to provide a MIMO array method for improving angle measurement stability; the second object of the present invention is to provide a MIMO array system for improving angle measurement stability; the third object of the present invention is to provide a MIMO array for improving angle measurement stability.

[0006] The first object of the present invention is achieved in that the method comprises the following steps:

[0007] Generate and obtain a transmitting azimuth array and a receiving azimuth array respectively, and generate a corresponding transmitting and receiving synthesis array after MIMO based on the transmitting azimuth array and the receiving azimuth array;

[0008] Based on the transmit-receive synthesis array, a corresponding equally spaced sub-array is generated; wherein the number of array elements of the equally spaced sub-array is at least four, and the aperture of the equally spaced sub-array is greater than 12 times of the half wavelength;

[0009] Generate and obtain angle measurement error rate data of dual targets at the same distance and speed corresponding to the transceiver synthesis array within a preset range of angle difference, and determine whether the angle measurement error rate data meets the preset value; if so, execute the next step; otherwise, re-acquire and determine; wherein, the judgment standard of angle measurement error is that the angle measurement error exceeds half of the angle measurement resolution of the transceiver synthesis array DBF, and the dual targets at the same distance and speed step through 0 to 360 degrees at each angle difference according to the predetermined phase difference;

[0010] According to the angle measurement error rate data and in combination with the equally spaced sub-arrays, a MIMO array with high stability and high resolution corresponding to the transmit-receive synthesis array is generated.

[0011] Furthermore, the transmit-receive synthesis array, for two targets at the same distance and speed with an angle difference within a preset range, and for two targets with an arbitrary phase difference within the preset angle range, the angle measurement error rate meets a preset value: the angle measurement error rate is 0; and within another angle range, the angle measurement error rate is less than 0.1.

[0012] Furthermore, in the transceiver synthesis array, when a single target is at 0 degrees, the DBF sidelobe of the transceiver synthesis array within the FOV range of the radar is better than 4dB, and the DBF sidelobe of the transceiver synthesis array within the range of -90 degrees to 90 degrees is better than 3dB.

[0013] Furthermore, the length of the transmitting and receiving synthesis array is greater than 18 times of half the wavelength.

[0014] Furthermore, in the transmit-receive synthesis array, the length of the transmitting array and the receiving array are both less than 30 times of the half wavelength; the difference between the length of the transmitting array and the receiving array is less than 5; and the minimum spacing between all antennas is at least twice the grid spacing.

[0015] Further, the transmitting azimuth array is provided with three antennas, and the receiving azimuth array is provided with four antennas; or the transmitting azimuth array is provided with four antennas, and the receiving azimuth array is provided with three antennas.

[0016] Further, the transmitting azimuth array and the receiving azimuth array both have three array elements, while the transmitting elevation array and the receiving elevation array both have two array elements; the transmitting elevation array and the transmitting azimuth array have one array element in common, the receiving elevation array and the receiving azimuth array have one array element in common, and the elevation intervals of the non-shared array elements in the transmitting elevation array and the non-shared array elements in the receiving elevation array are the same but in opposite directions.

[0017] The second object of the present invention is achieved in this way: the MIMO array system is applied to the MIMO array method for improving angle measurement stability;

[0018] The system includes the following functional modules: an array generation unit, used to generate and obtain a transmission azimuth array and a receiving azimuth array respectively, and generate a corresponding transmission and reception synthesis array after MIMO based on the transmission azimuth array and the receiving azimuth array;

[0019] A subarray generation unit, configured to generate a corresponding equally spaced subarray based on the transmit / receive synthesis array; wherein the number of array elements of the equally spaced subarray is at least four, and the aperture of the equally spaced subarray is greater than 12 times of the half wavelength;

[0020] A data generating unit is used to generate and obtain angle measurement error rate data of dual targets at the same distance and speed corresponding to the transceiver synthesis array within a preset range of angle difference, and determine whether the angle measurement error rate data meets the preset value; if so, execute the next step; otherwise, re-acquire and determine; wherein, the judgment standard of angle measurement error is that the angle measurement error exceeds half of the angle measurement resolution of the transceiver synthesis array DBF, and the dual targets at the same distance and speed step through 0 to 360 degrees at each angle difference according to the predetermined phase difference;

[0021] The array generation unit is used to generate a MIMO array with high stability and high resolution corresponding to the transmit-receive synthesis array according to the angle measurement error rate data and in combination with the equally spaced sub-arrays.

[0022] Furthermore, the transmit-receive synthesis array has an angle measurement error rate of 0 for two targets with the same distance and speed and an angle difference within a preset range, and for two targets with any phase difference within the preset angle range; and within another angle range, the angle measurement error rate is less than 0.1;

[0023] In the transceiver synthesis array, when a single target is at 0 degrees, the DBF sidelobe of the transceiver synthesis array within the FOV range of the radar is better than 4dB, and the DBF sidelobe of the transceiver synthesis array within the range of -90 degrees to 90 degrees is better than 3dB;

[0024] The length of the transmitting and receiving synthesis array is greater than 18 times of half wavelength;

[0025] In the transmit-receive synthesis array, the length of the transmitting array and the receiving array are both less than 30 times of the half wavelength; the difference between the length of the transmitting array and the receiving array is less than 5; the minimum spacing between all antennas is at least twice the grid spacing;

[0026] The transmitting azimuth array is provided with three antennas, and the receiving azimuth array is provided with four antennas; or the transmitting azimuth array is provided with four antennas, and the receiving azimuth array is provided with three antennas;

[0027] Or the transmitting azimuth array and the receiving azimuth array both have three array elements, while the transmitting elevation array and the receiving elevation array both have two array elements; the transmitting elevation array and the transmitting azimuth array have one array element in common, the receiving elevation array and the receiving azimuth array have one array element in common, and the elevation intervals of the non-shared array elements in the transmitting elevation array and the non-shared array elements in the receiving elevation array are the same but in opposite directions.

[0028] The third object of the present invention is achieved in this way: the array is composed of a plurality of transmitting antennas forming a transmitting azimuth array, and a plurality of receiving antennas forming a receiving azimuth array; the transmitting azimuth array and the receiving azimuth array form a transmitting and receiving synthesis array after MIMO;

[0029] The array has an angle measurement error rate of 0 for two targets with the same distance and speed and an angle difference within a preset range, and for two targets with any phase difference within the preset angle range, and an angle measurement error rate of less than 0.1 within another angle range; the judgment standard of angle measurement error is that the angle measurement error exceeds half of the DBF angle measurement resolution of the transceiver synthesis array; 2 When a single target is at 0 degrees, the DBF side lobe of the transceiver synthesis array within the FOV range of the radar is better than 4dB, and the DBF side lobe of the transceiver synthesis array within the range of -90 degrees to 90 degrees is better than 3dB;

[0030] There are equally spaced subarrays in the transmit-receive synthesis array, the number of subarray elements is at least 4, and the subarray aperture is greater than 12 times the half wavelength; the length of the transmit-receive synthesis array is greater than 18 times the half wavelength; the length of the transmit array and the receive array are both less than 30 times the half wavelength; the difference between the length of the transmit array and the receive array is less than 5;

[0031] The minimum spacing between all antennas is twice the grid spacing; the transmitting azimuth array has 3 antennas and the receiving azimuth array has 4 antennas, or the transmitting azimuth array has 4 antennas and the receiving azimuth array has 3 antennas;

[0032] The spacing between the transmitting antennas is an integer multiple of the grid spacing d, and the spacing between the receiving antennas is an integer multiple of the grid spacing d. The position of the transmitting antenna at the edge and the receiving antenna at the edge is set to 1. The position of all antennas is represented by numbers relative to the multiples of the grid spacing. Then the transmitting azimuth array and the receiving azimuth array can be represented by two vectors; the vector pair is:

[0033] Pair 1: v1 =

[1721] v2 = [161323];

[0034] Pair 2: v1 =

[1721] v2 = [1111823];

[0035] Pair 3: v1 =

[11521] v2 = [161323];

[0036] The fourth pair: v1 =

[11521] v2 = [1111823];

[0037] Pair 5: v1 =

[1921] v2 = [141420];

[0038] Pair 6: v1 =

[1921] v2 = [171720];

[0039] Pair 7: v1 =

[11321] v2 = [141420]

[0040] Pair 8: v1 =

[11321] v2 = [171720];

[0041] Pair 9: v1 =

[1321] v2 = [171220];

[0042] Pair 10: v1 =

[11921] v2 = [171220];

[0043] Pair 11: v1 =

[1321] v2 = [191420];

[0044] Pair 12: v1 =

[11921] v2 = [191420];

[0045] Pair 13: v1 =

[1621] v2 =

[17920] ;

[0046] 14th pair: v1 =

[1621] v2 = [1121420];

[0047] Pair 15: v1 =

[11621] v2 =

[17920] ;

[0048] Pair 16: v1 =

[11621] v2 = [1121420];

[0049] Pair 17: v1 =

[1920] v2 =

[16821] ;

[0050] Pair 18: v1 =

[1920] v2 = [1141621];

[0051] Pair 19: v1 =

[11220] v2 =

[16821] ;

[0052] Pair 20: v1 =

[11220] v2 = [1141621];

[0053] Pair 21: v1 =

[11220] v2 = [161921];

[0054] Pair 22: v1 =

[11220] v2 = [131621];

[0055] Pair 23: v1 =

[1920] v2 = [161921];

[0056] Pair 24: v1 =

[1920] v2 = [131621];

[0057] The transmitting azimuth array and the receiving azimuth array both have 3 array elements, the transmitting elevation array and the receiving elevation array both have 2 array elements, the transmitting elevation array and the transmitting azimuth array have one array element in common, the receiving elevation array and the receiving azimuth array have one array element in common, the non-shared array elements in the transmitting elevation array and the non-shared array elements in the receiving elevation array have the same elevation interval but opposite directions;

[0058] The spacing between transmitting antennas is an integer multiple of the grid spacing d, and the spacing between receiving antennas is an integer multiple of the grid spacing d. The position of the transmitting antenna at the edge and the receiving antenna at the edge is set to 1. A number is used to represent the multiples of the positions of all antennas relative to the grid spacing. Then the transmitting azimuth array and the receiving azimuth array can be represented by two vectors. Extra is used to represent the position of non-shared array elements in the transmitting and receiving elevation arrays; the vector pair is:

[0059] Group 1: v1 =

[1612] v2 =

[1916] v1extra = 21 v2extra = 20;

[0060] Group 2: v1 =

[1816] v2 =

[1712] v1extra = 21 v2extra = 20;

[0061] Group 3: v1 =

[1621] v2 =

[1920] v1extra = 10 v2extra = 18;

[0062] Group 4: v1 =

[1621] v2 =

[1920] v1extra = 11 v2extra = 17;

[0063] Group 5: v1 =

[1621] v2 =

[1920] v1extra = 12 v2extra = 16;

[0064] Group 6: v1 =

[1621] v2 =

[1920] v1extra = 13 v2extra = 15;

[0065] Group 6: v1 =

[1621] v2 =

[1920] v1extra = 14 v2extra = 14;

[0066] Group 7: v1 =

[1621] v2 =

[1920] v1extra = 15 v2extra = 13;

[0067] Group 8: v1 =

[1621] v2 =

[1920] v1extra = 16 v2extra = 12;

[0068] Group 9: v1 =

[1621] v2 =

[1920] v1extra = 17 v2extra = 11;

[0069] Group 10: v1 =

[1819] v2 =

[179] v1extra = 21 v2extra = 20;

[0070] Group 11: v1 =

[11013] v2 =

[1515] v1extra = 21 v2extra = 20;

[0071] Group 12: v1 =

[11013] v2 =

[1515] v1extra = 20 v2extra = 21;

[0072] Group 13: v1 =

[11115] v2 =

[1413] v1extra = 21 v2extra = 20;

[0073] Group 14: v1 =

[11115] v2 =

[1413] v1extra = 20 v2extra = 21;

[0074] Group 15: v1=

[11219] v2=

[139] v1extra=21v2extra=20.

[0075] The present invention generates and obtains a transmitting azimuth array and a receiving azimuth array respectively through a method, and generates a corresponding transmitting and receiving synthesis array based on the transmitting azimuth array and the receiving azimuth array after MIMO; generates a corresponding equally spaced sub-array based on the transmitting and receiving synthesis array; wherein the number of array elements of the equally spaced sub-array is at least four, and the aperture of the equally spaced sub-array is greater than 12 times of a half wavelength; generates and obtains angle measurement error rate data of the angle difference of two targets at the same distance and speed within a preset range corresponding to the transmitting and receiving synthesis array, and determines whether the angle measurement error rate data meets the preset value ; If satisfied, execute the next step; otherwise, re-acquire and judge; wherein, the judgment standard of angle measurement error is that the angle measurement error exceeds half of the angle measurement resolution of the DBF of the transceiver synthesis array, and the two targets at the same distance and speed step through 0 to 360 degrees at each angle difference according to the predetermined phase difference; according to the angle measurement error rate data and in combination with the equally spaced sub-arrays, a MIMO array corresponding to the transceiver synthesis array with high stability and high resolution is generated, so that the FOV is made larger and larger, the angular resolution is higher and higher, and the angle measurement stability is guaranteed without increasing the complexity of the algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0077] Figure 1 A schematic diagram of a MIMO array method for improving angle measurement stability according to the present invention;

[0078] Figure 2 A schematic diagram of an embodiment of a MIMO array method for improving angle measurement stability according to the present invention;

[0079] Figure 3 A schematic diagram of a second embodiment of a MIMO array method for improving angle measurement stability according to the present invention;

[0080] Figure 4 A third schematic diagram of an embodiment of a MIMO array method for improving angle measurement stability according to the present invention;

[0081] Figure 5 A fourth schematic diagram of an embodiment of a MIMO array method for improving angle measurement stability according to the present invention;

[0082] Figure 6 A fifth schematic diagram of an embodiment of a MIMO array method for improving angle measurement stability according to the present invention;

[0083] Figure 7 A sixth schematic diagram of an embodiment of a MIMO array method for improving angle measurement stability according to the present invention;

[0084] Figure 8 A seventh schematic diagram of an embodiment of a MIMO array method for improving angle measurement stability according to the present invention;

[0085] Fig. 9 An eighth schematic diagram of an embodiment of a MIMO array method for improving angle measurement stability according to the present invention;

[0086] Fig.10 A ninth schematic diagram of a MIMO array method for improving angle measurement stability according to an embodiment of the present invention;

[0087] Fig.11 A schematic diagram of a MIMO array system for improving angle measurement stability according to the present invention.

[0088] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0089] In order to better understand the purpose, technical solutions and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0090] The present invention may also be implemented or applied through other different specific examples, and the details in this specification may also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0091] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0092] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. Secondly, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0093] like Figure 1-Figure 10 As shown, the present invention provides a MIMO array method for improving angle measurement stability, and the method comprises the following steps:

[0094] S1. Generate and obtain a transmitting azimuth array and a receiving azimuth array respectively, and generate a corresponding transmitting and receiving synthesis array after MIMO based on the transmitting azimuth array and the receiving azimuth array;

[0095] S2. Based on the transmit-receive synthesis array, generate a corresponding equally spaced sub-array; wherein the number of array elements of the equally spaced sub-array is at least four, and the aperture of the equally spaced sub-array is greater than 12 times of the half wavelength;

[0096] S3, generate and obtain angle measurement error rate data of the angle difference of two targets at the same distance and speed corresponding to the transceiver synthesis array within a preset range, and determine whether the angle measurement error rate data meets the preset value; if so, execute the next step; otherwise, re-acquire and determine; wherein, the judgment standard of the angle measurement error is that the angle measurement error exceeds half of the angle measurement resolution of the transceiver synthesis array DBF, and the two targets at the same distance and speed step through 0 to 360 degrees at each angle difference according to the predetermined phase difference;

[0097] S4. Based on the angle measurement error rate data and in combination with the equally spaced sub-arrays, a MIMO array with high stability and high resolution corresponding to the transmit-receive synthesis array is generated.

[0098] The transmit-receive synthesis array has an angle measurement error rate of 0 for two targets with the same distance and speed and an angle difference within a preset range, and for two targets with any phase difference within the preset angle range; and within another angle range, the angle measurement error rate is less than 0.1.

[0099] In the transceiver synthesis array, when a single target is at 0 degrees, the DBF sidelobe of the transceiver synthesis array within the FOV range of the radar is better than 4dB, and the DBF sidelobe of the transceiver synthesis array within the range of -90 degrees to 90 degrees is better than 3dB.

[0100] The length of the transmitting and receiving synthesis array is greater than 18 times of half the wavelength.

[0101] In the transmit-receive synthesis array, the length of the transmitting array and the receiving array are both less than 30 times of the half wavelength; the difference between the length of the transmitting array and the receiving array is less than 5; and the minimum spacing between all antennas is at least twice the grid spacing.

[0102] The transmitting azimuth array is provided with three antennas, and the receiving azimuth array is provided with four antennas; or the transmitting azimuth array is provided with four antennas, and the receiving azimuth array is provided with three antennas.

[0103] Or the transmitting azimuth array and the receiving azimuth array both have three array elements, while the transmitting elevation array and the receiving elevation array both have two array elements; the transmitting elevation array and the transmitting azimuth array have one array element in common, the receiving elevation array and the receiving azimuth array have one array element in common, and the elevation intervals of the non-shared array elements in the transmitting elevation array and the non-shared array elements in the receiving elevation array are the same but in opposite directions.

[0104] Specifically, in the embodiment of the present invention, multiple transmitting antennas form a transmitting azimuth array, and multiple receiving antennas form a receiving azimuth array. The transmitting azimuth array and the receiving azimuth array form a transmitting and receiving synthesis array after MIMO, which satisfies the following conditions: 1. For two targets with the same distance and speed and an angle difference within a certain range, and two targets with any phase difference within a certain angle range, the angle measurement error rate is 0, and within another larger angle range, the angle measurement error rate is less than 0.1. The judgment standard of the angle measurement error is that the angle measurement error exceeds half of the DBF angle measurement resolution of the transmitting and receiving synthesis array.

[0105] It also meets the following conditions: when a single target is at 0 degrees, the DBF sidelobe of the transceiver array within the radar's FOV is better than 4dB, and the DBF sidelobe of the transceiver array within the range of -90 degrees to 90 degrees is better than 3dB

[0106] The following conditions are also met: there are equally spaced sub-arrays in the transmit-receive synthesis array, the number of sub-array elements is at least 4, and the sub-array aperture is greater than 12 times of the half wavelength.

[0107] The following condition is also satisfied: the length of the transmitting and receiving combining array is greater than 18 times of the half wavelength.

[0108] The following condition is also met: the length of the transmitting array and the receiving array are both less than 30 times the half wavelength

[0109] The following condition is also met: the difference between the length of the transmitting array and the receiving array is less than 5.

[0110] The minimum spacing between all antennas is twice the grid spacing.

[0111] The transmitting azimuth array has 3 antennas and the receiving azimuth array has 4 antennas, or the transmitting azimuth array has 4 antennas and the receiving azimuth array has 3 antennas

[0112] The spacing between the transmitting antennas is an integer multiple of the grid spacing d, and the spacing between the receiving antennas is an integer multiple of the grid spacing d. The position of the transmitting antenna at the edge and the receiving antenna at the edge is set to 1. The position of all antennas is represented by numbers relative to the multiple of the grid spacing. Then the transmitting azimuth array and the receiving azimuth array can be represented by two vectors. Some vector pairs that meet the above conditions 1 to 7 and have excellent performance are as follows:

[0113] Pair 1: v1 =

[1721] v2 = [161323];

[0114] Pair 2: v1 =

[1721] v2 = [1111823];

[0115] Pair 3: v1 =

[11521] v2 = [161323];

[0116] The fourth pair: v1 =

[11521] v2 = [1111823];

[0117] Pair 5: v1 =

[1921] v2 = [141420];

[0118] Pair 6: v1 =

[1921] v2 = [171720];

[0119] Pair 7: v1 =

[11321] v2 = [141420]

[0120] Pair 8: v1 =

[11321] v2 = [171720];

[0121] Pair 9: v1 =

[1321] v2 = [171220];

[0122] Pair 10: v1 =

[11921] v2 = [171220];

[0123] Pair 11: v1 =

[1321] v2 = [191420];

[0124] Pair 12: v1 =

[11921] v2 = [191420];

[0125] Pair 13: v1 =

[1621] v2 =

[17920] ;

[0126] 14th pair: v1 =

[1621] v2 = [1121420];

[0127] Pair 15: v1 =

[11621] v2 =

[17920] ;

[0128] Pair 16: v1 =

[11621] v2 = [1121420];

[0129] Pair 17: v1 =

[1920] v2 =

[16821] ;

[0130] Pair 18: v1 =

[1920] v2 = [1141621];

[0131] Pair 19: v1 =

[11220] v2 =

[16821] ;

[0132] Pair 20: v1 =

[11220] v2 = [1141621];

[0133] Pair 21: v1 =

[11220] v2 = [161921];

[0134] Pair 22: v1 =

[11220] v2 = [131621];

[0135] Pair 23: v1 =

[1920] v2 = [161921];

[0136] Pair 24: v1 =

[1920] v2 = [131621];

[0137] The transmitting azimuth array and the receiving azimuth array both have 3 array elements, the transmitting elevation array and the receiving elevation array both have 2 array elements, the transmitting elevation array and the transmitting azimuth array share one array element, the receiving elevation array and the receiving azimuth array share one array element, the non-shared array elements in the transmitting elevation array and the non-shared array elements in the receiving elevation array have the same elevation intervals but opposite directions.

[0138] The spacing between the transmitting antennas is an integer multiple of the grid spacing d, and the spacing between the receiving antennas is an integer multiple of the grid spacing d. The position of the transmitting antenna at the edge and the receiving antenna at the edge is set to 1. The position of all antennas is represented by numbers relative to the multiple of the grid spacing. Then the transmitting azimuth array and the receiving azimuth array can be represented by two vectors. Extra is used to represent the position of non-shared array elements in the transmitting and receiving elevation arrays. The vector pairs that meet conditions 1-6 and 9 are as follows:

[0139] Group 1: v1 =

[1612] v2 =

[1916] v1extra = 21 v2extra = 20;

[0140] Group 2: v1 =

[1816] v2 =

[1712] v1extra = 21 v2extra = 20;

[0141] Group 3: v1 =

[1621] v2 =

[1920] v1extra = 10 v2extra = 18;

[0142] Group 4: v1 =

[1621] v2 =

[1920] v1extra = 11 v2extra = 17;

[0143] Group 5: v1 =

[1621] v2 =

[1920] v1extra = 12 v2extra = 16;

[0144] Group 6: v1 =

[1621] v2 =

[1920] v1extra = 13 v2extra = 15;

[0145] Group 6: v1 =

[1621] v2 =

[1920] v1extra = 14 v2extra = 14;

[0146] Group 7: v1 =

[1621] v2 =

[1920] v1extra = 15 v2extra = 13;

[0147] Group 8: v1 =

[1621] v2 =

[1920] v1extra = 16 v2extra = 12;

[0148] Group 9: v1 =

[1621] v2 =

[1920] v1extra = 17 v2extra = 11;

[0149] Group 10: v1 =

[1819] v2 =

[179] v1extra = 21 v2extra = 20;

[0150] Group 11: v1 =

[11013] v2 =

[1515] v1extra = 21 v2extra = 20;

[0151] Group 12: v1 =

[11013] v2 =

[1515] v1extra = 20 v2extra = 21;

[0152] Group 13: v1 =

[11115] v2 =

[1413] v1extra = 21 v2extra = 20;

[0153] Group 14: v1 =

[11115] v2 =

[1413] v1extra = 20 v2extra = 21;

[0154] Group 15: v1 =

[11219] v2 =

[139] v1extra = 21 v2extra = 20;

[0155] Take the 7th pair as an example. Figure 2 As shown;

[0156] Figure 3 Take the second group as an example; Figure 4 This is the effect after MIMO of the seventh pair of array examples; Figure 5 This is the effect after MIMO of the second array example; Figure 6 This is the DBF curve of the transmit-receive synthesis array after MIMO of the seventh pair of array instances; Figure 7 This is the DBF curve of the transmit and receive synthesis array after MIMO for the second array example.

[0157] In the scheme of the present invention, the angle measurement stability is high; in long-term working experience and practice, it is found that there is a certain probability that the radar will have a wrong angle measurement phenomenon in actual application. Through analysis and investigation of the phenomenon, it is found that there are two types of radar wrong angle measurement: 1. The wrong angle measurement of a single target at the same distance and speed. 2. The wrong angle measurement of multiple targets at the same distance and speed.

[0158] The main reason for the wrong angle measurement of a single target at the same distance and speed is the insufficient DBF sidelobe margin in the array design. In the following three links, the DBF sidelobe will become worse and worse, and even negative at some angles (this will cause the wrong angle measurement): 1) In the antenna design, antenna mutual coupling, edge effects of the antenna board, protruding devices in the radar board, feeder radiation and other reasons lead to the deterioration of DBF sidelobes at some angles in the design link. 2) During the production process of the radar individual, due to the inconsistency between antenna processing and design, the DBF sidelobes at some angles deteriorate. 3) After the radar is installed on the bumper, the bumper brings additional amplitude and phase differences, and this part of the amplitude and phase difference cannot be calibrated, resulting in the deterioration of DBF sidelobes. Therefore, the solution to this is to make the DBF sidelobes of the array synthesized after MIMO higher during array design. When a single target is at 0 degrees, the DBF sidelobes of the transmit-receive synthesized array within the FOV range of the radar are better than 4dB, and the DBF sidelobes of the transmit-receive synthesized array within the range of -90 degrees to 90 degrees are better than 3dB.

[0159] The angle measurement error of multiple targets at the same distance and speed is more likely to be the angle measurement error of two targets at the same distance and speed in practice (the reason is that the current radar distance resolution and speed resolution are very high, and the probability of more than two targets appearing at the same distance and the same speed is very small), and in the actual two targets at the same distance and the same speed, the probability is that the angle difference between the two targets is not large (the reason is that if the angle difference is large, after the radar is installed on the vehicle and moves, the radial speed difference of the target with a large angle difference is also large, so the same distance and speed will not be formed). In view of such a practical situation, the present invention proposes a solution: that is, when designing the array, the array synthesized by MIMO after the transmission and reception is made to measure the angle error rate of two targets at the same distance and speed within a certain range, and within a certain angle range, two targets with arbitrary phase difference, and within another larger angle range, the angle measurement error rate is 0. In the judgment standard of the angle measurement error, the angle measurement error exceeds half of the angle measurement resolution of the DBF of the transmission and reception synthesis array.

[0160] Here is a counterexample. Suppose a MIMO synthesized array is as follows

[0161] [1 0 0 0 0 1 0 0 0 0 0 0 0 0 11 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 001]; 1 means there is an antenna, and 0 means there is no antenna. The figure below is its array DBF curve. It can be seen that the DBF sidelobe reaches 6dB. If only a single target is considered, it meets the requirement of better than 4dB. It is a well-designed array. Figure 8 As shown; but for such an array, there is a target at -3 degrees and a target at 2 degrees, and the phase difference between the two targets is 300°. In this case, the DBF sidelobe is negative, and the measured angles are -53.96 degrees and 52.28 degrees respectively, while the actual measured angles are -2.46 degrees and 1.79 degrees, which are not the highest. This will cause an error in the angle measurement, such as Fig. 9 As shown;

[0162] In the present invention, it is deliberately required that the array synthesized by transmitting and receiving after MIMO has an angle measurement error rate of 0 for two targets with the same distance and speed and an angle difference within a certain range, and for two targets with any phase difference within a certain angle range, and an angle measurement error rate of less than 0.1 within another larger angle range.

[0163] Taking the first pair in the present invention as an example, the first pair: v1 =

[1721] v2 = [161323], the array after MIMO synthesis is [10 0 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 1 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1]

[0166] This array meets the requirements mentioned above. For example, if there is a target at -3 degrees and a target at 2 degrees, no matter how much the phase difference between the two targets is, there will be no angle measurement error. For example, in the following 18 pictures, there is no angle measurement error. Fig.10 As shown;

[0167] In addition, the solution of the present invention has high resolution. The example given in the present invention not only meets the condition that the length of the transceiver synthesis array is greater than 18 times of the half wavelength, but also reaches 40 times. The longer the length, the higher the resolution.

[0168] Furthermore, the algorithm burden is not increased. In order to avoid angle measurement errors, an additional processing algorithm is required to identify and determine whether the angle measurement is wrong after the angle is measured incorrectly. However, the present invention does not require such an algorithm, so the algorithm burden is not increased.

[0169] To achieve the above object, the present invention also provides a MIMO array system for improving angle measurement stability, such as Fig.11 As shown, the MIMO array system is applied to the MIMO array method for improving angle measurement stability;

[0170] The system includes the following functional modules: an array generation unit, used to generate and obtain a transmission azimuth array and a receiving azimuth array respectively, and generate a corresponding transmission and reception synthesis array after MIMO based on the transmission azimuth array and the receiving azimuth array;

[0171] A subarray generation unit, configured to generate a corresponding equally spaced subarray based on the transmit / receive synthesis array; wherein the number of array elements of the equally spaced subarray is at least four, and the aperture of the equally spaced subarray is greater than 12 times of the half wavelength;

[0172] A data generating unit is used to generate and obtain angle measurement error rate data of dual targets at the same distance and speed corresponding to the transceiver synthesis array within a preset range of angle difference, and determine whether the angle measurement error rate data meets the preset value; if so, execute the next step; otherwise, re-acquire and determine; wherein, the judgment standard of angle measurement error is that the angle measurement error exceeds half of the angle measurement resolution of the transceiver synthesis array DBF, and the dual targets at the same distance and speed step through 0 to 360 degrees at each angle difference according to the predetermined phase difference;

[0173] The array generation unit is used to generate a MIMO array with high stability and high resolution corresponding to the transmit-receive synthesis array according to the angle measurement error rate data and in combination with the equally spaced sub-arrays.

[0174] Furthermore, the transmit-receive synthesis array has an angle measurement error rate of 0 for two targets with the same distance and speed and an angle difference within a preset range, and for two targets with any phase difference within the preset angle range; and within another angle range, the angle measurement error rate is less than 0.1;

[0175] In the transceiver synthesis array, when a single target is at 0 degrees, the DBF sidelobe of the transceiver synthesis array within the FOV range of the radar is better than 4dB, and the DBF sidelobe of the transceiver synthesis array within the range of -90 degrees to 90 degrees is better than 3dB;

[0176] The length of the transmitting and receiving synthesis array is greater than 18 times of half wavelength;

[0177] In the transmit-receive synthesis array, the length of the transmitting array and the receiving array are both less than 30 times of the half wavelength; the difference between the length of the transmitting array and the receiving array is less than 5; the minimum spacing between all antennas is at least twice the grid spacing;

[0178] The transmitting azimuth array is provided with three antennas, and the receiving azimuth array is provided with four antennas; or the transmitting azimuth array is provided with four antennas, and the receiving azimuth array is provided with three antennas;

[0179] Or the transmitting azimuth array and the receiving azimuth array both have three array elements, while the transmitting elevation array and the receiving elevation array both have two array elements; the transmitting elevation array and the transmitting azimuth array have one array element in common, the receiving elevation array and the receiving azimuth array have one array element in common, and the elevation intervals of the non-shared array elements in the transmitting elevation array and the non-shared array elements in the receiving elevation array are the same but in opposite directions.

[0180] In the framework solution embodiment of the present invention, the method steps involved in the MIMO array for improving the angle measurement stability have been described above in detail. That is to say, the components in the framework are used to implement the steps or sub-steps in the above method embodiment, which will not be repeated here.

[0181] To achieve the above object, the present invention also provides a MIMO array for improving the stability of angle measurement, wherein the array is composed of a plurality of transmitting antennas forming a transmitting azimuth array, and a plurality of receiving antennas forming a receiving azimuth array; the transmitting azimuth array and the receiving azimuth array form a transmitting and receiving synthetic array after MIMO;

[0182] The array has an angle measurement error rate of 0 for two targets with the same distance and speed and an angle difference within a preset range, and for two targets with any phase difference within the preset angle range, and an angle measurement error rate of less than 0.1 within another angle range; the judgment standard of the angle measurement error is that the angle measurement error exceeds half of the DBF angle measurement resolution of the transceiver synthesis array; when a single target is at 0 degrees, the DBF side lobe of the transceiver synthesis array within the FOV range of the radar is better than 4dB, and the DBF side lobe of the transceiver synthesis array within the range of -90 degrees to 90 degrees is better than 3dB;

[0183] There are equally spaced subarrays in the transmit-receive synthesis array, the number of subarray elements is at least 4, and the subarray aperture is greater than 12 times the half wavelength; the length of the transmit-receive synthesis array is greater than 18 times the half wavelength; the length of the transmit array and the receive array are both less than 30 times the half wavelength; the difference between the length of the transmit array and the receive array is less than 5;

[0184] The minimum spacing between all antennas is twice the grid spacing; the transmitting azimuth array has 3 antennas and the receiving azimuth array has 4 antennas, or the transmitting azimuth array has 4 antennas and the receiving azimuth array has 3 antennas;

[0185] The spacing between transmitting antennas is an integer multiple of the grid spacing d, and the spacing between receiving antennas is an integer multiple of the grid spacing d. The position of the transmitting antenna at the edge and the receiving antenna at the edge is set to 1. Use numbers to represent the multiples of the positions of all antennas relative to the grid spacing. Then the transmitting azimuth array and the receiving azimuth array can be represented by two vectors.

[0186] The vector pair is:

[0187] Pair 1: v1 =

[1721] v2 = [161323];

[0188] Pair 2: v1 =

[1721] v2 = [1111823];

[0189] Pair 3: v1 =

[11521] v2 = [161323];

[0190] The fourth pair: v1 =

[11521] v2 = [1111823];

[0191] Pair 5: v1 =

[1921] v2 = [141420];

[0192] Pair 6: v1 =

[1921] v2 = [171720];

[0193] Pair 7: v1 =

[11321] v2 = [141420]

[0194] Pair 8: v1 =

[11321] v2 = [171720];

[0195] Pair 9: v1 =

[1321] v2 = [171220];

[0196] Pair 10: v1 =

[11921] v2 = [171220];

[0197] Pair 11: v1 =

[1321] v2 = [191420];

[0198] Pair 12: v1 =

[11921] v2 = [191420];

[0199] Pair 13: v1 =

[1621] v2 =

[17920] ;

[0200] 14th pair: v1 =

[1621] v2 = [1121420];

[0201] Pair 15: v1 =

[11621] v2 =

[17920] ;

[0202] Pair 16: v1 =

[11621] v2 = [1121420];

[0203] Pair 17: v1 =

[1920] v2 =

[16821] ;

[0204] Pair 18: v1 =

[1920] v2 = [1141621];

[0205] Pair 19: v1 =

[11220] v2 =

[16821] ;

[0206] Pair 20: v1 =

[11220] v2 = [1141621];

[0207] Pair 21: v1 =

[11220] v2 = [161921];

[0208] Pair 22: v1 =

[11220] v2 = [131621];

[0209] Pair 23: v1 =

[1920] v2 = [161921];

[0210] Pair 24: v1 =

[1920] v2 = [131621];

[0211] The transmitting azimuth array and the receiving azimuth array both have 3 array elements, the transmitting elevation array and the receiving elevation array both have 2 array elements, the transmitting elevation array and the transmitting azimuth array have one array element in common, the receiving elevation array and the receiving azimuth array have one array element in common, the non-shared array elements in the transmitting elevation array and the non-shared array elements in the receiving elevation array have the same elevation interval but opposite directions;

[0212] The spacing between transmitting antennas is an integer multiple of the grid spacing d, and the spacing between receiving antennas is an integer multiple of the grid spacing d. The position of the transmitting antenna at the edge and the receiving antenna at the edge is set to 1. A number is used to represent the multiples of the positions of all antennas relative to the grid spacing. Then the transmitting azimuth array and the receiving azimuth array can be represented by two vectors. Extra is used to represent the position of non-shared array elements in the transmitting and receiving elevation arrays; the vector pair is:

[0213] Group 1: v1 =

[1612] v2 =

[1916] v1extra = 21 v2extra = 20;

[0214] Group 2: v1 =

[1816] v2 =

[1712] v1extra = 21 v2extra = 20;

[0215] Group 3: v1 =

[1621] v2 =

[1920] v1extra = 10 v2extra = 18;

[0216] Group 4: v1 =

[1621] v2 =

[1920] v1extra = 11 v2extra = 17;

[0217] Group 5: v1 =

[1621] v2 =

[1920] v1extra = 12 v2extra = 16;

[0218] Group 6: v1 =

[1621] v2 =

[1920] v1extra = 13 v2extra = 15;

[0219] Group 6: v1 =

[1621] v2 =

[1920] v1extra = 14 v2extra = 14;

[0220] Group 7: v1 =

[1621] v2 =

[1920] v1extra = 15 v2extra = 13;

[0221] Group 8: v1 =

[1621] v2 =

[1920] v1extra = 16 v2extra = 12;

[0222] Group 9: v1 =

[1621] v2 =

[1920] v1extra = 17 v2extra = 11;

[0223] Group 10: v1 =

[1819] v2 =

[179] v1extra = 21 v2extra = 20;

[0224] Group 11: v1 =

[11013] v2 =

[1515] v1extra = 21 v2extra = 20;

[0225] Group 12: v1 =

[11013] v2 =

[1515] v1extra = 20 v2extra = 21;

[0226] Group 13: v1 =

[11115] v2 =

[1413] v1extra = 21 v2extra = 20;

[0227] Group 14: v1 =

[11115] v2 =

[1413] v1extra = 20 v2extra = 21;

[0228] Group 15: v1=

[11219] v2=

[139] v1extra=21v2extra=20.

[0229] The present invention generates and obtains a transmitting azimuth array and a receiving azimuth array respectively through a method, and generates a corresponding transmitting and receiving synthesis array based on the transmitting azimuth array and the receiving azimuth array after MIMO; generates a corresponding equally spaced sub-array based on the transmitting and receiving synthesis array; wherein the number of array elements of the equally spaced sub-array is at least four, and the aperture of the equally spaced sub-array is greater than 12 times of a half wavelength; generates and obtains angle measurement error rate data of the angle difference of two targets at the same distance and speed within a preset range corresponding to the transmitting and receiving synthesis array, and determines whether the angle measurement error rate data meets the preset value ; If satisfied, execute the next step; otherwise, re-acquire and judge; wherein, the judgment standard of angle measurement error is that the angle measurement error exceeds half of the angle measurement resolution of the DBF of the transceiver synthesis array, and the two targets at the same distance and speed step through 0 to 360 degrees at each angle difference according to the predetermined phase difference; according to the angle measurement error rate data and in combination with the equally spaced sub-arrays, a MIMO array corresponding to the transceiver synthesis array with high stability and high resolution is generated, so that the FOV is made larger and larger, the angular resolution is higher and higher, and the angle measurement stability is guaranteed without increasing the complexity of the algorithm.

[0230] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A MIMO array method for improving angle measurement stability, characterized in that: The method comprises the following steps: Generate and obtain a transmitting azimuth array and a receiving azimuth array respectively, and generate a corresponding transmitting and receiving synthesis array after MIMO based on the transmitting azimuth array and the receiving azimuth array; Based on the transmit-receive synthesis array, a corresponding equally spaced sub-array is generated; wherein the number of array elements of the equally spaced sub-array is at least four, and the aperture of the equally spaced sub-array is greater than 12 times of the half wavelength; Generate and obtain angle measurement error rate data of dual targets at the same distance and speed within a preset range of angle difference corresponding to the transceiver synthesis array, and determine whether the angle measurement error rate data meets the preset value; if so, execute the next step; otherwise, re-acquire and determine; wherein, the judgment standard of angle measurement error is that the angle measurement error exceeds half of the angle measurement resolution of the transceiver synthesis array DBF; the dual targets at the same distance and speed step through 0 to 360 degrees at each angle difference according to the predetermined phase difference; According to the angle measurement error rate data and in combination with the equally spaced sub-arrays, a MIMO array with high stability and high resolution corresponding to the transmit-receive synthesis array is generated.

2. A MIMO array method for improving angle measurement stability according to claim 1, characterized in that: The transmit-receive synthesis array has an angle measurement error rate of 0 for two targets with the same distance and speed and an angle difference within a preset range, and for two targets with any phase difference within the preset angle range; and within another angle range, the angle measurement error rate is less than 0.

1.

3. A MIMO array method for improving angle measurement stability according to claim 1 or 2, characterized in that: In the transceiver synthesis array, when a single target is at 0 degrees, the DBF sidelobe of the transceiver synthesis array within the FOV range of the radar is better than 4dB, and the DBF sidelobe of the transceiver synthesis array within the range of -90 degrees to 90 degrees is better than 3dB.

4. The MIMO array method for improving angle measurement stability according to claim 3, characterized in that: The length of the transmitting and receiving synthesis array is greater than 18 times of half the wavelength.

5. The MIMO array method for improving angle measurement stability according to claim 3, characterized in that: In the transmit-receive synthesis array, the length of the transmitting array and the receiving array are both less than 30 times of the half wavelength; the difference between the length of the transmitting array and the receiving array is less than 5; and the minimum spacing between all antennas is at least twice the grid spacing.

6. The MIMO array method for improving angle measurement stability according to claim 1, characterized in that: The transmitting azimuth array is provided with three antennas, and the receiving azimuth array is provided with four antennas; or the transmitting azimuth array is provided with four antennas, and the receiving azimuth array is provided with three antennas.

7. A MIMO array method for improving angle measurement stability according to claim 1 or 6, characterized in that: Or the transmitting azimuth array and the receiving azimuth array both have three array elements, while the transmitting elevation array and the receiving elevation array both have two array elements; the transmitting elevation array and the transmitting azimuth array have one array element in common, the receiving elevation array and the receiving azimuth array have one array element in common, and the elevation intervals of the non-shared array elements in the transmitting elevation array and the non-shared array elements in the receiving elevation array are the same but in opposite directions.

8. A MIMO array system for improving angle measurement stability, wherein the MIMO array system is applied to the MIMO array method for improving angle measurement stability, and is characterized in that: The system includes the following functional modules: An array generation unit, used to generate and obtain a transmitting azimuth array and a receiving azimuth array respectively, and generate a corresponding transmitting and receiving synthesis array after MIMO based on the transmitting azimuth array and the receiving azimuth array; A subarray generation unit, configured to generate a corresponding equally spaced subarray based on the transmit / receive synthesis array; wherein the number of array elements of the equally spaced subarray is at least four, and the aperture of the equally spaced subarray is greater than 12 times of the half wavelength; A data generating unit is used to generate and obtain angle measurement error rate data of dual targets at the same distance and speed corresponding to the transceiver synthesis array within a preset range of angle difference, and determine whether the angle measurement error rate data meets the preset value; if so, execute the next step; otherwise, re-acquire and determine; wherein, the judgment standard of angle measurement error is that the angle measurement error exceeds half of the angle measurement resolution of the transceiver synthesis array DBF, and the dual targets at the same distance and speed step through 0 to 360 degrees at each angle difference according to the predetermined phase difference; An array generation unit is used to generate a MIMO array with high stability and high resolution corresponding to the transmit-receive synthesis array according to the angle measurement error rate data and in combination with the equally spaced sub-arrays.

9. The MIMO array system for improving angle measurement stability according to claim 8, characterized in that: The transmit-receive synthesis array has an angle measurement error rate of 0 for two targets with the same distance and speed and an angle difference within a preset range, and for two targets with any phase difference within the preset angle range; and an angle measurement error rate of less than 0.1 within another angle range; In the transceiver synthesis array, when a single target is at 0 degrees, the DBF sidelobe of the transceiver synthesis array within the FOV range of the radar is better than 4dB, and the DBF sidelobe of the transceiver synthesis array within the range of -90 degrees to 90 degrees is better than 3dB; The length of the transmit-receive composite array is greater than 18 times of half a wavelength; in the transmit-receive composite array, the length of the transmit array and the receive array are both less than 30 times of half a wavelength; the difference between the length of the transmit array and the receive array is less than 5; the minimum spacing between all antennas is at least twice the grid spacing; The transmitting azimuth array is provided with three antennas, and the receiving azimuth array is provided with four antennas; or the transmitting azimuth array is provided with four antennas, and the receiving azimuth array is provided with three antennas; Or the transmitting azimuth array and the receiving azimuth array both have three array elements, while the transmitting elevation array and the receiving elevation array both have two array elements; the transmitting elevation array and the transmitting azimuth array have one array element in common, the receiving elevation array and the receiving azimuth array have one array element in common, and the elevation intervals of the non-shared array elements in the transmitting elevation array and the non-shared array elements in the receiving elevation array are the same but in opposite directions.

10. A MIMO array for improving angle measurement stability, characterized in that: The array is composed of a plurality of transmitting antennas forming a transmitting azimuth array, and a plurality of receiving antennas forming a receiving azimuth array; The transmitting azimuth array and the receiving azimuth array form a transmit-receive synthesis array after MIMO; The array has an angle measurement error rate that meets a preset value for two targets with the same distance and speed and an angle difference within a preset range, and for two targets with an arbitrary phase difference within the preset angle range; the judgment standard for angle measurement error is that the angle measurement error exceeds half of the angle measurement resolution of the DBF of the transceiver synthesis array; When a single target is at 0 degrees, the DBF sidelobe of the transmit-receive synthetic array is better than 4dB within the radar's FOV range, and the DBF sidelobe of the transmit-receive synthetic array is better than 3dB within the range of -90 degrees to 90 degrees; There are equally spaced subarrays in the transmit-receive synthesis array, the number of subarray elements is at least 4, and the subarray aperture is greater than 12 times the half wavelength; the length of the transmit-receive synthesis array is greater than 18 times the half wavelength; the length of the transmit array and the receive array are both less than 30 times the half wavelength; the difference between the length of the transmit array and the receive array is less than 5; The minimum spacing between all antennas is twice the grid spacing; The transmitting azimuth array has 3 antennas and the receiving azimuth array has 4 antennas, or the transmitting azimuth array has 4 antennas and the receiving azimuth array has 3 antennas; The spacing between the transmitting antennas is an integer multiple of the grid spacing d, and the spacing between the receiving antennas is an integer multiple of the grid spacing d. The position of the transmitting antenna at the edge and the receiving antenna at the edge is set to 1. The position of all antennas is represented by numbers relative to the multiples of the grid spacing. Then the transmitting azimuth array and the receiving azimuth array can be represented by two vectors; the vector pair is: Pair 1: v1 = [1721] v2 = [161323]; Pair 2: v1 = [1721] v2 = [1111823]; Pair 3: v1 = [11521] v2 = [161323]; The fourth pair: v1 = [11521] v2 = [1111823]; Pair 5: v1 = [1921] v2 = [141420]; Pair 6: v1 = [1921] v2 = [171720]; Pair 7: v1 = [11321] v2 = [141420] Pair 8: v1 = [11321] v2 = [171720]; Pair 9: v1 = [1321] v2 = [171220]; Pair 10: v1 = [11921] v2 = [171220]; Pair 11: v1 = [1321] v2 = [191420]; Pair 12: v1 = [11921] v2 = [191420]; Pair 13: v1 = [1621] v2 = [17920]; 14th pair: v1 = [1621] v2 = [1121420]; Pair 15: v1 = [11621] v2 = [17920]; Pair 16: v1 = [11621] v2 = [1121420]; Pair 17: v1 = [1920] v2 = [16821]; Pair 18: v1 = [1920] v2 = [1141621]; Pair 19: v1 = [11220] v2 = [16821]; Pair 20: v1 = [11220] v2 = [1141621]; Pair 21: v1 = [11220] v2 = [161921]; Pair 22: v1 = [11220] v2 = [131621]; Pair 23: v1 = [1920] v2 = [161921]; Pair 24: v1 = [1920] v2 = [131621]; The transmitting azimuth array and the receiving azimuth array both have 3 array elements, the transmitting elevation array and the receiving elevation array both have 2 array elements, the transmitting elevation array and the transmitting azimuth array have one array element in common, the receiving elevation array and the receiving azimuth array have one array element in common, the non-shared array elements in the transmitting elevation array and the non-shared array elements in the receiving elevation array have the same elevation interval but opposite directions; The spacing between transmitting antennas is an integer multiple of the grid spacing d, and the spacing between receiving antennas is an integer multiple of the grid spacing d. The position of the transmitting antenna at the edge and the receiving antenna at the edge is set to 1. A number is used to represent the multiples of the positions of all antennas relative to the grid spacing. Then the transmitting azimuth array and the receiving azimuth array can be represented by two vectors. In the transmitting and receiving elevation arrays, extra is used to represent the lateral position of non-shared array elements; where the vector pair is: Group 1: v1 = [1612] v2 = [1916] v1extra = 21 v2extra = 20; Group 2: v1 = [1816] v2 = [1712] v1extra = 21 v2extra = 20; Group 3: v1 = [1621] v2 = [1920] v1extra = 10 v2extra = 18; Group 4: v1 = [1621] v2 = [1920] v1extra = 11 v2extra = 17; Group 5: v1 = [1621] v2 = [1920] v1extra = 12 v2extra = 16; Group 6: v1 = [1621] v2 = [1920] v1extra = 13 v2extra = 15; Group 6: v1 = [1621] v2 = [1920] v1extra = 14 v2extra = 14; Group 7: v1 = [1621] v2 = [1920] v1extra = 15 v2extra = 13; Group 8: v1 = [1621] v2 = [1920] v1extra = 16 v2extra = 12; Group 9: v1 = [1621] v2 = [1920] v1extra = 17 v2extra = 11; Group 10: v1 = [1819] v2 = [179] v1extra = 21 v2extra = 20; Group 11: v1 = [11013] v2 = [1515] v1extra = 21 v2extra = 20; Group 12: v1 = [11013] v2 = [1515] v1extra = 20 v2extra = 21; Group 13: v1 = [11115] v2 = [1413] v1extra = 21 v2extra = 20; Group 14: v1 = [11115] v2 = [1413] v1extra = 20 v2extra = 21; Group 15: v1=[11219]v2=[139]v1extra=21v2extra=20.

Images