Antenna positioning method and device based on microwave distance measurement, equipment and medium

Abstract

The invention discloses an antenna positioning method based on microwave distance measurement, and the method comprises the steps: obtaining the space coordinates of each positioning target, and determining the moving speed of each positioning target; time slot distribution is carried out according to the moving speed and a preset positioning period, the time slot length corresponding to each moving target is obtained, and the time slot length is in positive correlation with the moving speed; estimating a target position of the positioning target based on the moving speed, and determining a main lobe direction of a positioning beam according to the target position; based on the time slot length and the main lobe direction, sending the positioning beam to each positioning target; a positioning period is divided into time slot lengths corresponding to a plurality of positioning targets, positioning beams used for positioning different positioning targets are sent in different time slot lengths, and positioning of a plurality of targets in different directions is realized through a single antenna device according to positioning echoes generated by reflection of each positioning target.

Description

Technical Field

[0001] The present invention relates to the field of microwave technology, and in particular to an antenna positioning method, device, equipment and medium based on microwave ranging. Background Art

[0002] Antennas can detect targets by emitting electromagnetic waves and receiving their reflected echoes. After detecting the target, they use the target positioning algorithm to stably output the target's position and distance information. However, since the electromagnetic waves emitted by the antenna are directional beams, how to improve the efficiency of the antenna and locate targets in different directions through one antenna device has become an urgent problem to be solved. Summary of the invention

[0003] The technical problem solved by the present invention is: since the electromagnetic waves emitted by the antenna are directional beams, how to improve the use efficiency of the antenna and locate targets in different directions through one antenna device has become an urgent problem to be solved.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: In the first aspect, an antenna positioning method based on microwave ranging, wherein:

[0005] Step S101, obtaining the spatial coordinates of each positioning target and determining the moving speed of each positioning target;

[0006] Step S102, allocating time slots according to the moving speed and a preset positioning period to obtain a time slot length corresponding to each moving target, wherein the time slot length is positively correlated with the moving speed;

[0007] Step S103, estimating the target position of the positioning target based on the moving speed, and determining the main lobe direction of the positioning beam according to the target position;

[0008] Step S104, sending the positioning beam to each of the positioning targets based on the time slot length and the main lobe direction;

[0009] Step S5: performing multi-target positioning on each of the positioning targets according to the positioning echoes generated by the positioning targets based on the positioning beam reflection.

[0010] As a preferred solution of the antenna positioning method based on microwave ranging described in the present invention, wherein: the time slot allocation is performed according to the moving speed and the preset positioning period to obtain the time slot length corresponding to each moving target, including:

[0011] Calculating the sum of the moving speeds of the positioning targets to obtain a total moving speed;

[0012] Determining a second ratio of the time slot length in the positioning cycle according to a first ratio of the moving speed to the sum of the moving speeds;

[0013] The time slot length is determined according to the second ratio and the positioning period.

[0014] As a preferred solution of the antenna positioning method based on microwave ranging of the present invention, the step of acquiring at least one positioning target and determining the moving speed of each positioning target includes:

[0015] Transmitting a scanning beam at a preset scanning angle interval;

[0016] A scanning echo generated by the scanning beam reflection is acquired, and the positioning target and the corresponding moving speed are determined according to the scanning echo.

[0017] As a preferred solution of the antenna positioning method based on microwave ranging described in the present invention, wherein: the obtaining of the scanning echo generated by the reflection of the scanning beam, and determining the positioning target and the corresponding moving speed according to the scanning echo, comprises:

[0018] Acquire the scanning echo, and perform mixing processing on the scanning echo and the scanning beam to obtain a corresponding intermediate frequency signal;

[0019] Based on fast Fourier transform, a spectrum analysis is performed on the intermediate frequency signal to obtain a target spectrum diagram of the intermediate frequency signal;

[0020] Determine the Doppler frequency of the intermediate frequency signal according to the frequency peak in the target spectrum graph;

[0021] The moving speed of the positioning target is determined according to the product of the Doppler frequency and the scanning wavelength of the scanning beam.

[0022] As a preferred solution of the antenna positioning method based on microwave ranging described in the present invention, wherein:

[0023] The sending the positioning beam to each of the positioning targets based on the time slot length and the main lobe direction includes:

[0024] Determine the arrangement order of each of the time slot lengths in the positioning cycle according to the direction angle of the main lobe direction;

[0025] According to the arrangement order and the time slot length, the positioning beam is sent in sequence to the corresponding main lobe direction.

[0026] As a preferred solution of the antenna positioning method based on microwave ranging of the present invention, wherein: sending the positioning beam to each positioning target based on the time slot length and the main lobe direction includes:

[0027] When the time slot length is greater than a preset time slot length, dividing the time slot length into a first sub-time slot and a second sub-time slot;

[0028] In the first sub-time slot, sending a first positioning beam in the main lobe direction based on a preset main lobe width;

[0029] Acquire a first positioning echo corresponding to the first positioning beam, and determine a velocity resolution of the first positioning beam according to the first positioning echo;

[0030] The target main lobe width is obtained by adjusting the main lobe width according to the velocity resolution, and a second positioning beam is transmitted in a second sub-time slot based on the target main lobe width.

[0031] As a preferred solution of the antenna positioning method based on microwave ranging of the present invention, wherein: performing multi-target positioning on each positioning target based on the positioning echo generated by the positioning target based on the positioning beam reflection includes:

[0032] Determining the real-time speed of the positioning target according to the positioning echo;

[0033] The time slot length corresponding to the moving target is adjusted according to the real-time speed, and multiple targets are positioned based on the adjusted time slot length.

[0034] In a second aspect, the present invention further provides an antenna positioning device based on microwave ranging, characterized in that it includes:

[0035] A target acquisition module, used to acquire at least one positioning target and determine the moving speed of each positioning target;

[0036] A time slot allocation module, used to allocate time slots according to the moving speed and a preset positioning period, and obtain a time slot length corresponding to each moving target, wherein the time slot length is positively correlated with the moving speed;

[0037] A direction determination module, used to estimate the target position of the positioning target based on the moving speed, and determine the main lobe direction of the positioning beam according to the target position;

[0038] A beam transmitting module, used for transmitting the positioning beam to each positioning target based on the time slot length and the main lobe direction;

[0039] The target positioning module is used to perform multi-target positioning on each of the positioning targets according to the positioning echoes generated by the positioning targets based on the reflection of the positioning beams.

[0040] In a third aspect, the present invention also provides a computer device, characterized in that the computer device comprises a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the above-mentioned antenna positioning method based on microwave ranging are implemented.

[0041] In a fourth aspect, the present invention further provides a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, wherein when the computer program is executed by a processor, the steps of the above-mentioned antenna positioning method based on microwave ranging are implemented.

[0042] The beneficial effects of the present invention are as follows: by dividing a positioning cycle into time slot lengths corresponding to multiple positioning targets, and sending positioning beams for locating different positioning targets in different time slot lengths, positioning echoes generated by reflections from each positioning target are used to realize positioning of targets in multiple different directions through a single antenna device. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of the basic flow of an antenna positioning method based on microwave ranging is provided for one embodiment of the present invention.

[0044] Figure 2 A schematic diagram of the basic flow of an antenna positioning device based on microwave ranging is provided for one embodiment of the present invention.

[0045] Figure 3 The present invention is a block diagram showing the structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings. It is obvious that the described embodiments are only part of the embodiments of the present invention, but not all of the embodiments.

[0047] Embodiment 1, referring to the figure, is an embodiment of the present invention, which provides an antenna positioning method based on microwave ranging, including steps S101 to S105.

[0048] Step S101: Acquire at least one positioning target and determine the moving speed of each positioning target.

[0049] In this embodiment, the antenna can track the target by transmitting a signal in a certain direction and obtaining the signal reflected by the object. However, the existing antenna cannot track multiple targets at the same time, and the multi-target positioning method of the antenna provided in this application can scan multiple positioning targets in space so as to track multiple positioning targets in real time at the same time. Therefore, firstly, at least one positioning target and the corresponding moving speed of each positioning target are obtained, so as to subsequently locate each positioning target accordingly according to the moving speed.

[0050] In some implementations, acquiring at least one positioning target and determining a moving speed of each positioning target includes:

[0051] Transmitting a scanning beam at a preset scanning angle interval;

[0052] A scanning echo generated by the scanning beam reflection is acquired, and the positioning target and the corresponding moving speed are determined according to the scanning echo.

[0053] In this embodiment, the scanning beam is used to scan the positioning targets in space at the beginning of multi-target positioning. It can be understood that the scanning beam needs to have sufficient resolution to distinguish the target from the background, so the scanning beam usually uses a narrow pulse or frequency modulation waveform to improve the distance and speed resolution.

[0054] In this embodiment, the signal beam emitted by the antenna has a certain directionality. Therefore, when emitting a scanning beam, the antenna changes the direction of the scanning beam by physically rotating the antenna or changing the direction of the phased array, and emits the scanning beam in all directions. During the scanning phase, the antenna needs to obtain as much information about objects in the space as possible. Therefore, the antenna is controlled to emit a scanning beam at preset scanning angle intervals. For example, the range that the scanning beam needs to cover may be 360°, and the scanning angle interval may be set to 15°, that is, a scanning beam is emitted every 15°, and after 24 cycles, a range of 360° around the antenna is covered. Of course, it is not limited to this. The preset angle interval may also be other values, which are not limited here.

[0055] In this embodiment, the scanning echo generated by the scanning beam reflected by the object carries information related to the object, such as the existence of the object and the moving speed of the object. In order to subsequently locate the target based on the moving speed, it is necessary to analyze the information carried in the scanning echo to determine the moving speed of the located target.

[0056] In some embodiments, acquiring a scanning echo generated by the scanning beam reflection, and determining the positioning target and the corresponding moving speed according to the scanning echo, includes:

[0057] Acquire the scanning echo, and perform mixing processing on the scanning echo and the scanning beam to obtain a corresponding intermediate frequency signal;

[0058] Based on fast Fourier transform, a spectrum analysis is performed on the intermediate frequency signal to obtain a target spectrum diagram of the intermediate frequency signal;

[0059] Determine the Doppler frequency of the intermediate frequency signal according to the frequency peak in the target spectrum graph;

[0060] The moving speed of the positioning target is determined according to the product of the Doppler frequency and the scanning wavelength of the scanning beam.

[0061] In this embodiment, due to the movement of the positioning target, there will be a certain frequency difference between the scanning echo and the scanning beam. The received scanning echo is obtained, and the scanning echo is input into a low-pass filter for filtering and amplification processing, and high-frequency noise is removed to improve the signal-to-noise ratio. The scanning echo after filtering is mixed with the scanning beam to obtain an intermediate frequency signal. The scanning beam used for mixing here can be a preset local reference beam, and the local reference beam has the same frequency as the transmitted scanning beam. After obtaining the intermediate frequency signal, the intermediate frequency signal is subjected to spectrum analysis based on the fast Fourier transform (FFT) to obtain a target spectrum diagram of the intermediate frequency signal.

[0062] In this embodiment, the frequency peak in the target spectrum is the Doppler frequency of the positioning target. The Doppler frequency reflects the frequency difference between the scanning beam and the scanning echo. The moving speed of the positioning target can be determined according to the Doppler frequency. where f d is the Doppler frequency of the positioning target, and λ is the scanning wavelength of the scanning beam.

[0063] Step S102: Allocate time slots according to the moving speed and a preset positioning period to obtain a time slot length corresponding to each moving target, wherein the time slot length is positively correlated with the moving speed.

[0064] In this embodiment, the accuracy of the target positioning by the antenna is related to the time interval between two positioning beams sent to the positioning target. The shorter the time interval, the higher the positioning accuracy, and the positioning target with a higher moving speed requires a higher positioning accuracy. Therefore, the multi-target positioning method provided in the embodiment of the present application allocates time slots according to the moving speed in a positioning cycle, so that the positioning target with a higher moving speed occupies a longer time slot length in the positioning cycle, thereby making the interval between the time slots corresponding to the positioning target in the two positioning cycles shorter, so that the time interval between the two positioning beams is adapted to the moving speed of the positioning target, thereby improving the flexibility of multi-target positioning.

[0065] In some implementations, performing time slot allocation according to the moving speed and a preset positioning period to obtain a time slot length corresponding to each moving target includes:

[0066] Calculating the sum of the moving speeds of the positioning targets to obtain a total moving speed;

[0067] Determining a second ratio of the time slot length in the positioning cycle according to a first ratio of the moving speed to the sum of the moving speeds;

[0068] The time slot length is determined according to the second ratio and the positioning period.

[0069] In this embodiment, in order to make the time interval between two positioning beams adapt to the moving speed of the positioning target, the first ratio between the moving speed of the positioning target and the total moving speed is equal to the second ratio between the corresponding time slot length and the positioning period, so that the time slot length of the positioning target can be determined according to the product of the first ratio and the positioning period. Of course, it is not limited to this and is not limited here.

[0070] Step S103: estimating the target position of the positioning target based on the moving speed, and determining the main lobe direction of the positioning beam according to the target position.

[0071] In this embodiment, the track of the positioning target can be estimated based on the moving speed, the initial position when scanning the positioning target in step S101, and the time interval between sending the positioning beam and transmitting the scanning beam in step S101, and the target position of the positioning target when the positioning beam needs to be sent can be determined.

[0072] In this embodiment, there may be a certain difference between the estimated target position and the actual position of the positioning target. Therefore, the positioning beam has a main lobe and a side lobe. Even if the direction of the main lobe cannot accurately point to the position of the positioning target, the relatively weak side lobe in the positioning beam can also be reflected by the positioning target.

[0073] Step S104: Send the positioning beam to each of the positioning targets based on the time slot length and the main lobe direction.

[0074] In this embodiment, within the duration corresponding to the time slot length in each positioning cycle, a positioning beam is sent in the direction of the corresponding main lobe, so as to track the positioning target through the positioning beam.

[0075] In some implementations, the sending the positioning beam to each of the positioning targets based on the time slot length and the main lobe direction includes:

[0076] Determine the arrangement order of each of the time slot lengths in the positioning cycle according to the direction angle of the main lobe direction;

[0077] According to the arrangement order and the time slot length, the positioning beam is sent in sequence to the corresponding main lobe direction.

[0078] In this embodiment, since the time required for the antenna to adjust the transmission direction is related to the size of the adjustment angle, in order to reduce the amplitude of each angle adjustment, the positioning beam is emitted according to the arrangement order of each main lobe direction, thereby reducing the time required for the antenna to adjust the angle and improving the efficiency of multi-target positioning.

[0079] In some implementations, the sending the positioning beam to each of the positioning targets based on the time slot length and the main lobe direction includes:

[0080] When the time slot length is greater than a preset time slot length, dividing the time slot length into a first sub-time slot and a second sub-time slot;

[0081] In the first sub-time slot, sending a first positioning beam in the main lobe direction based on a preset main lobe width;

[0082] Acquire a first positioning echo corresponding to the first positioning beam, and determine a velocity resolution of the first positioning beam according to the first positioning echo;

[0083] The target main lobe width is obtained by adjusting the main lobe width according to the velocity resolution, and a second positioning beam is transmitted in a second sub-time slot based on the target main lobe width.

[0084] In this embodiment, during the movement of the positioning target, there may be a certain error in the estimation of the target position, especially in the scenario of multi-target positioning, in which only a certain time slot length in a positioning cycle is used to locate a specific positioning target among multiple positioning targets, resulting in a certain time difference between two positioning beams for the same positioning target, increasing the error in the target position estimation. Therefore, in order to avoid inaccurate target tracking caused by the error in the target position, when the time slot length is greater than the preset time length, a time slot length can be divided into two or more sub-time slots.

[0085] For example, the time slot length is divided into adjacent first sub-time slots and second sub-time slots, a first positioning beam is transmitted in the first sub-time slot, and the second positioning beam of the second sub-time slot is adjusted according to the first positioning beam, for example, the speed of the positioning target is re-determined according to the first positioning echo of the first positioning beam, and the position of the positioning target is revalued to obtain a more accurate target position, and when the speed resolution is less than a preset resolution threshold, the main lobe width of the first positioning beam is reduced according to the re-estimated target position to obtain the target main lobe width, and the target main lobe width is used as the main lobe width of the second positioning beam transmitted in the second sub-time slot. Of course, it is not limited to this, and the time slot length can also be divided into more sub-time slots, which is not limited here.

[0086] Step S105: performing multi-target positioning on each of the positioning targets according to the positioning echoes generated by the positioning targets based on the reflection of the positioning beams.

[0087] In this embodiment, the antenna determines the distance of the target object by measuring the time difference between the transmitted positioning signal and the reflected positioning echo. When the transmitted positioning signal encounters the positioning target, the reflected positioning echo will have a time delay. This time delay is proportional to the distance of the target object. By measuring this delay, the antenna can calculate the distance of the target object. Specifically, the signal frequency of the antenna signal increases linearly with time. When the signal hits the target and reflects back, the received signal frequency will be different from the transmitted signal frequency. This frequency difference (beat frequency) is proportional to the distance of the positioning target. By calculating this frequency difference, the antenna can determine the distance of the target object.

[0088] In some implementations, performing multi-target positioning on each of the positioning targets based on the positioning echo generated by the positioning target based on the positioning beam reflection includes:

[0089] Determining the real-time speed of the positioning target according to the positioning echo;

[0090] The time slot length corresponding to the moving target is adjusted according to the real-time speed, and multiple targets are positioned based on the adjusted time slot length.

[0091] In this embodiment, since the speed of the positioning target may change at any time, during the process of target positioning, each time a positioning beam is transmitted, the real-time speed of the positioning target needs to be determined based on the Doppler frequency of the positioning echo, so that the time slot length can be adjusted according to the real-time speed in the next positioning cycle.

[0092] Specifically, if there is a positioning target among the multiple positioning targets whose speed change value is greater than the preset difference, the time slots of each positioning target in the positioning cycle are re-allocated, but this is of course not limited to this and is not limited here.

[0093] The multi-target positioning method of the antenna provided in the above-mentioned embodiment obtains at least one positioning target and determines the moving speed of each positioning target; allocates time slots according to the moving speed and a preset positioning period to obtain a time slot length corresponding to each moving target, wherein the time slot length is positively correlated with the moving speed; estimates the target position of the positioning target based on the moving speed, and determines the main lobe direction of the positioning beam according to the target position; sends the positioning beam to each positioning target based on the time slot length and the main lobe direction; and performs multi-target positioning on each positioning target based on the positioning echo generated by the positioning target based on the reflection of the positioning beam. Since one positioning period is divided into time slot lengths corresponding to multiple positioning targets, and positioning beams for positioning different positioning targets are sent in different time slot lengths, positioning of targets in multiple directions by a single antenna device is achieved based on the positioning echo generated by the reflection of each positioning target.

[0094] See also Figure 2 , Figure 2 It is a schematic diagram of a multi-target positioning device for an antenna provided in one embodiment of the present application. The multi-target positioning device for an antenna can be configured in a server or a terminal to execute the aforementioned multi-target positioning method for an antenna.

[0095] like Figure 2 As shown, the multi-target positioning device of the antenna includes: a target acquisition module 110, a time slot allocation module 120, a direction determination module 130, a beam transmission module 140, and a target positioning module 150.

[0096] The target acquisition module 110 is used to acquire at least one positioning target and determine the moving speed of each positioning target;

[0097] The time slot allocation module 120 is used to allocate time slots according to the moving speed and a preset positioning period, and obtain a time slot length corresponding to each moving target, wherein the time slot length is positively correlated with the moving speed;

[0098] A direction determination module 130, configured to estimate the target position of the positioning target based on the moving speed, and determine the main lobe direction of the positioning beam according to the target position;

[0099] A beam transmitting module 140 is used to send the positioning beam to each positioning target based on the time slot length and the main lobe direction;

[0100] The target positioning module 150 is used to perform multi-target positioning on each of the positioning targets according to the positioning echoes generated by the positioning targets based on the reflection of the positioning beams.

[0101] In some implementations, the time slot allocation module 120, in the process of allocating time slots according to the moving speed and the preset positioning period to obtain the time slot length corresponding to each of the moving targets, is used to implement:

[0102] Calculating the sum of the moving speeds of the positioning targets to obtain a total moving speed;

[0103] Determining a second ratio of the time slot length in the positioning cycle according to a first ratio of the moving speed to the sum of the moving speeds;

[0104] The time slot length is determined according to the second ratio and the positioning period.

[0105] In some implementations, the target acquisition module 110, in the process of acquiring at least one positioning target and determining the moving speed of each positioning target, is used to implement:

[0106] Transmitting a scanning beam at a preset scanning angle interval;

[0107] A scanning echo generated by the scanning beam reflection is acquired, and the positioning target and the corresponding moving speed are determined according to the scanning echo.

[0108] In some implementations, the target acquisition module 110, in the process of acquiring the scanning echo generated by the scanning beam reflection and determining the positioning target and the corresponding moving speed according to the scanning echo, is used to implement:

[0109] Acquire the scanning echo, and perform mixing processing on the scanning echo and the scanning beam to obtain a corresponding intermediate frequency signal;

[0110] Based on fast Fourier transform, a spectrum analysis is performed on the intermediate frequency signal to obtain a target spectrum diagram of the intermediate frequency signal;

[0111] Determine the Doppler frequency of the intermediate frequency signal according to the frequency peak in the target spectrum graph;

[0112] The moving speed of the positioning target is determined according to the product of the Doppler frequency and the scanning wavelength of the scanning beam.

[0113] In some implementations, the beam transmitting module 140, in the process of transmitting the positioning beam to each positioning target based on the time slot length and the main lobe direction, is used to implement:

[0114] Determine the arrangement order of each of the time slot lengths in the positioning cycle according to the direction angle of the main lobe direction;

[0115] According to the arrangement order and the time slot length, the positioning beam is sent in sequence to the corresponding main lobe direction.

[0116] In some implementations, the beam transmitting module 140, in the process of transmitting the positioning beam to each positioning target based on the time slot length and the main lobe direction, is used to implement:

[0117] When the time slot length is greater than a preset time slot length, dividing the time slot length into a first sub-time slot and a second sub-time slot;

[0118] In the first sub-time slot, sending a first positioning beam in the main lobe direction based on a preset main lobe width;

[0119] Acquire a first positioning echo corresponding to the first positioning beam, and determine a velocity resolution of the first positioning beam according to the first positioning echo;

[0120] The target main lobe width is obtained by adjusting the main lobe width according to the velocity resolution, and a second positioning beam is transmitted in a second sub-time slot based on the target main lobe width.

[0121] In some implementations, the target positioning module 150, in the process of performing multi-target positioning on each of the positioning targets according to the positioning echo generated by the positioning target based on the positioning beam reflection, is used to implement:

[0122] Determining the real-time speed of the positioning target according to the positioning echo;

[0123] The time slot length corresponding to the moving target is adjusted according to the real-time speed, and multiple targets are positioned based on the adjusted time slot length.

[0124] It should be understood by those skilled in the art that the embodiments of the present invention can be provided as methods, systems or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program codes. Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, referred to as EPROM), programmable read-only memory (Programmable Red-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, disk or optical disk. These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0125] 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 preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An antenna positioning method based on microwave ranging, characterized in that: include: Step S101, obtaining the spatial coordinates of each positioning target and determining the moving speed of each positioning target; Step S102, allocating time slots according to the moving speed and a preset positioning period to obtain a time slot length corresponding to each moving target, wherein the time slot length is positively correlated with the moving speed; Step S103, estimating the target position of the positioning target based on the moving speed, and determining the main lobe direction of the positioning beam according to the target position; Step S104, sending the positioning beam to each of the positioning targets based on the time slot length and the main lobe direction; Step S105: performing multi-target positioning on each of the positioning targets according to the positioning echoes generated by the positioning targets based on the positioning beam reflections.

2. The antenna positioning method based on microwave ranging as claimed in claim 1, characterized in that: The allocating time slots according to the moving speed and the preset positioning period to obtain the time slot length corresponding to each moving target includes: Calculating the sum of the moving speeds of the positioning targets to obtain a total moving speed; Determining a second ratio of the time slot length in the positioning cycle according to a first ratio of the moving speed to the sum of the moving speeds; The time slot length is determined according to the second ratio and the positioning period.

3. The antenna positioning method based on microwave ranging as claimed in claim 1, characterized in that: The acquiring of at least one positioning target and determining the moving speed of each positioning target includes: Transmitting a scanning beam at a preset scanning angle interval; A scanning echo generated by the scanning beam reflection is acquired, and the positioning target and the corresponding moving speed are determined according to the scanning echo.

4. The antenna positioning method based on microwave ranging as claimed in claim 1, characterized in that: The acquiring a scanning echo generated by the scanning beam reflection, and determining the positioning target and the corresponding moving speed according to the scanning echo, comprises: Acquire the scanning echo, and perform mixing processing on the scanning echo and the scanning beam to obtain a corresponding intermediate frequency signal; Based on fast Fourier transform, a spectrum analysis is performed on the intermediate frequency signal to obtain a target spectrum diagram of the intermediate frequency signal; Determine the Doppler frequency of the intermediate frequency signal according to the frequency peak in the target spectrum graph; The moving speed of the positioning target is determined according to the product of the Doppler frequency and the scanning wavelength of the scanning beam.

5. The antenna positioning method based on microwave ranging as claimed in claim 1, characterized in that: The sending the positioning beam to each of the positioning targets based on the time slot length and the main lobe direction includes: Determine the arrangement order of each of the time slot lengths in the positioning cycle according to the direction angle of the main lobe direction; According to the arrangement order and the time slot length, the positioning beam is sent in sequence to the corresponding main lobe direction.

6. The antenna positioning method based on microwave ranging as claimed in claim 1, characterized in that: The sending the positioning beam to each of the positioning targets based on the time slot length and the main lobe direction includes: When the time slot length is greater than a preset time slot length, dividing the time slot length into a first sub-time slot and a second sub-time slot; In the first sub-time slot, sending a first positioning beam in the main lobe direction based on a preset main lobe width; Acquire a first positioning echo corresponding to the first positioning beam, and determine a velocity resolution of the first positioning beam according to the first positioning echo; The target main lobe width is obtained by adjusting the main lobe width according to the velocity resolution, and a second positioning beam is transmitted in a second sub-time slot based on the target main lobe width.

7. The antenna positioning method based on microwave ranging as claimed in claim 1, characterized in that: The performing multi-target positioning on each of the positioning targets according to the positioning echo generated by the positioning target based on the positioning beam reflection includes: Determining the real-time speed of the positioning target according to the positioning echo; The time slot length corresponding to the moving target is adjusted according to the real-time speed, and multiple targets are positioned based on the adjusted time slot length.

8. An antenna positioning device based on microwave ranging, characterized in that: include: A target acquisition module, used to acquire at least one positioning target and determine the moving speed of each positioning target; A time slot allocation module, used to allocate time slots according to the moving speed and a preset positioning period, and obtain a time slot length corresponding to each moving target, wherein the time slot length is positively correlated with the moving speed; A direction determination module, used to estimate the target position of the positioning target based on the moving speed, and determine the main lobe direction of the positioning beam according to the target position; A beam transmitting module, used for transmitting the positioning beam to each positioning target based on the time slot length and the main lobe direction; The target positioning module is used to perform multi-target positioning on each of the positioning targets according to the positioning echoes generated by the positioning targets based on the reflection of the positioning beams.

9. A computer device, characterized in that: The computer device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the antenna positioning method based on microwave ranging as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the antenna positioning method based on microwave ranging as described in any one of claims 1 to 7 are implemented.

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