Millimeter wave radar array antenna

Abstract

The invention discloses a millimeter wave radar array antenna which mainly solves the problems that a traditional millimeter wave radar antenna is large in size, high in cost, low in precision and poor in stability. The antenna array comprises a transmitting antenna array, a receiving antenna array and a mounting platform. The transmitting antenna array comprises a transmitting antenna sub-array and a transmitting control unit, the receiving antenna array comprises five receiving antenna sub-arrays and five receiving control units, and the mounting platform comprises three antenna mounting surfaces which form different included angles with the horizontal plane. The transmitting antenna sub-array and the transmitting control unit are connected through a transmitting circuit, the five receiving antenna sub-arrays and the five receiving control units are connected through a receiving connection circuit, and the transmitting antenna sub-array and the receiving antenna arrays are respectively placed on each mounting surface of the mounting platform after connection. According to the invention, the signal coverage range can be increased, the echo signal receiving efficiency of the receiving antenna is improved, the size of the antenna is reduced, the antenna sidelobe is reduced, and the antenna can be used for unmanned aerial vehicle and automobile collision prevention, adaptive cruise control and blind area detection systems.

Description

Technical Field

[0001] The present invention belongs to the field of antenna technology, and in particular relates to a millimeter wave radar antenna, which can be used in collision prevention, adaptive cruise control ACC, blind spot detection and other systems in the automotive field. Background Art

[0002] Millimeter wave radar has the characteristics of high resolution, wide bandwidth, and strong anti-interference ability. The radar system emits electromagnetic waves that are reflected when encountering obstacles. By capturing the reflected signals, the radar system can determine the distance, speed and angle of the object. Its operating frequency band is 76-81GHz, and the main operating frequency is 77GHz. The wavelength of 77GHz frequency is about 3.9mm. The shorter wavelength makes it more directional and can provide high-resolution target recognition capabilities in complex environments.

[0003] Antenna design plays a vital role in millimeter wave radar. Antennas in the 77GHz band usually require miniaturization, high gain, wide bandwidth, and multi-beam characteristics to meet different application scenarios. The main types of antennas currently used include: microstrip patch antennas, dielectric integrated waveguide antennas SIW, and array antennas, among which:

[0004] Microstrip patch antennas are widely used in millimeter-wave radar antennas because of their simple structure, easy integration and mass production. However, traditional microstrip antennas have limited bandwidth in high frequency bands and low gain.

[0005] The dielectric integrated waveguide antenna SIW achieves higher gain and efficiency by embedding a dielectric waveguide in a PCB, but has a complex structure and high cost.

[0006] Array antennas, which combine multiple units, can form narrow beams in space, provide higher gain and resolution, and are gradually becoming the mainstream for achieving longer detection distances and precise angular resolution in automotive radars. However, the large number of antenna units and complex arrangement increase the cost and design difficulty of the system.

[0007] At present, millimeter-wave radar has the following problems to be solved. The development cost of this type of radar is high and expensive, so it is particularly important to reduce the cost and realize popularization. Since the installation environment of millimeter-wave radar is small, certain requirements are placed on the size of the radar. During the operation of the millimeter-wave radar antenna, the signal-to-noise ratio will usually decrease due to the sidelobe level, affecting the detection distance and detection accuracy. Therefore, low sidelobe design and unit wide beam are issues that need to be paid special attention to in the design of millimeter-wave radar antennas.

[0008] Patent document with application number CN20110175648.9 discloses a multi-beam lens antenna, which is composed of a lens plate, multiple dielectric lenses, a transmitting antenna, multiple receiving antennas and a wireless transceiver module, and is a structure combining an antenna and a lens. The overall design structure of the antenna is complex, the volume is large, and it is not easy to mass produce.

[0009] Patent document with application number CN201610630537.5 discloses a broadband millimeter wave antenna array, which includes a first radiation unit, a second radiation unit, and an excitation port. The overall structure of the antenna is simple, but it does not form an array and has a limited coverage distance.

[0010] Patent document with application number CN201811181719.4 discloses a microstrip array antenna system based on 77GHz millimeter-wave radar. The antenna system adopts a 3-transmit 4-receive vertically polarized microstrip antenna layout scheme, but the beam width of a single antenna is narrow and cannot meet all the difficulties of antenna wide beam scanning. Summary of the invention

[0011] The purpose of the present invention is to address the deficiencies and shortcomings of the prior art and propose a millimeter wave radar array antenna to reduce the size, reduce the cost, increase the gain, expand the beam width and signal coverage, and improve the radar resolution.

[0012] To achieve the above-mentioned purpose, the millimeter wave radar antenna of the present invention includes a transmitting antenna array, a receiving antenna array and a mounting platform, and is characterized in that:

[0013] The transmitting antenna array includes a transmitting antenna subarray and a transmitting control unit, which is used to complete one-dimensional line scanning 77GHz transmitting beam forming and scanning to generate a frequency modulated continuous wave output signal;

[0014] The receiving antenna array includes five receiving antenna subarrays and five receiving control units, which are used to complete parallel five-way one-dimensional line scanning 77GHz receiving beam forming and scanning to receive echo signals;

[0015] The transmitting antenna connection circuit is used to connect the transmitting antenna subarray and the transmitting control unit to form a transmitting signal loop.

[0016] The receiving antenna connection circuit is used to connect five receiving antenna sub-arrays and five receiving control units to form a receiving signal loop.

[0017] The described mounting platform includes three antenna mounting surfaces at different angles to the horizontal plane;

[0018] Furthermore, the angles of the three antenna installation surfaces having different angles with the horizontal plane are set as follows:

[0019] The angle between the first antenna installation surface and the horizontal plane is 18°±3°.

[0020] The angle between the second antenna installation surface and the horizontal is 36°±3°.

[0021] The angle between the third antenna installation surface and the horizontal is 0°±3°.

[0022] The second receiving antenna subarray, the second receiving control unit and the fourth receiving antenna subarray, the fourth receiving control unit are located on the first mounting surface;

[0023] The first receiving antenna subarray, the first receiving control unit and the fifth receiving antenna subarray, the fifth receiving control unit are located on the second mounting surface;

[0024] The third receiving antenna subarray and the third receiving control unit are located near the edge of the third mounting surface;

[0025] The transmitting antenna subarray and the transmitting control unit are located below the third receiving antenna subarray and the third receiving control unit, and are close to the lower edge of the third mounting surface.

[0026] Furthermore, the transmitting antenna subarray includes 16 transmitting units, each of which is a three-patch serial antenna. The specific arrangement of the transmitting units on the circuit board is as follows:

[0027] The first, second and third transmission units are spaced two unit distances apart respectively;

[0028] The distance between the third to fourteenth transmitting units is one unit distance respectively;

[0029] The fourteenth, fifteenth and sixteenth transmitting units are spaced two units apart respectively;

[0030] The spacing between each unit is 2.4mm.

[0031] Furthermore, the transmitting control unit includes 16 configurable transmitting and receiving channels, which correspond to the 16 transmitting units of the transmitting antenna array, and dynamically selects parameters such as operating frequency, transmitting bandwidth, and transmitting gain by configuring the corresponding internal registers using the SPI protocol.

[0032] Furthermore, the five receiving antenna subarrays have the same structure, and each receiving antenna subarray has 16 groups of receiving units, which are arranged at equal intervals on the circuit board and cover 30° of pitch by three-patch resonant series feeding; each receiving antenna subarray has a scanning angle of 18°, and the five groups of receiving subarrays jointly constitute an overall 90° azimuth coverage.

[0033] Furthermore, the five receiving control units have the same structure, and each receiving unit has 16 receiving channels respectively connected to the 16 groups of receiving units of the receiving subarray.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] Firstly, since the antenna subarrays are installed on three installation surfaces with different angles, compared with most coplanar installation structures on the market, the present invention not only increases the signal coverage range so that the antenna can better receive the echo signal, but also reduces the size of the antenna.

[0036] Secondly, the present invention adopts an antenna unit structure of multiple microstrip patches connected in series, which not only improves the antenna beam width, but also the antenna microstrip patch is low in cost, so that the present invention has the advantages of low cost and small size, and can meet the needs of a smaller installation space.

[0037] Thirdly, the antenna units in the transmitting antenna array of the present invention adopt a non-full array layout structure, which effectively reduces the antenna side lobes, improves the antenna directivity, and enhances the transmitting antenna gain.

[0038] Fourthly, the multiple receiving antenna subarrays of the present invention adopt the same structural design, which greatly reduces the design cost of the present invention and can meet the needs of actual scenarios while also being mass-produced. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0040] Figure 2 It is a structural diagram of a transmitting antenna subarray of the present invention;

[0041] Figure 3 is a structural diagram of a receiving antenna subarray of the present invention;

[0042] Figure 4 It is a structural diagram of a control unit of the present invention;

[0043] Figure 5a It is a schematic diagram of the installation of the present invention;

[0044] Figure 5b It is a structural diagram of the installation platform of the present invention;

[0045] Figure 6 It is a schematic diagram of the antenna coverage structure of the present invention;

[0046] Figure 7 is a circuit diagram of a transmitting antenna of the present invention;

[0047] Figure 8 A receiving antenna circuit diagram of the present invention;

[0048] Fig. 9 It is a schematic diagram of the structure of the receiving antenna unit of the present invention;

[0049] Fig.10 It is a simulation diagram of the bandwidth of the receiving antenna unit of the present invention;

[0050] Fig.11 It is a simulation diagram of S parameters of the receiving antenna unit of the present invention;

[0051] Fig.12 This is a simulation diagram of the E-plane beam width of the receiving antenna unit of the present invention;

[0052] Fig.13 It is a simulation diagram of the beam width of the H surface of the receiving antenna unit of the present invention;

[0053] Fig.14 The directional pattern simulation of the receiving antenna of the present invention when the phase is controlled at 0°;

[0054] Fig.15 This is the radiation pattern simulation of the receiving antenna of the present invention when the phase is controlled by 9°. DETAILED DESCRIPTION

[0055] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0056] Reference Figure 1 The present invention comprises a transmitting antenna array 1, a receiving antenna array 2 and a mounting platform 3.

[0057] The transmitting antenna array 1 comprises a transmitting antenna subarray 11 and a transmitting control unit 12, and the transmitting antenna subarray is used to transmit the radio frequency signal generated by the transmitting control unit into space in a specific beam form;

[0058] The receiving antenna array 2 includes five receiving antenna subarrays 21, 22, 23, 24, 25 and five receiving control units 26, 27, 28, 29, 30. The five receiving antenna subarrays are used to receive signals reflected from the target and convert them into electrical signals for subsequent processing; the five receiving control units are used to convert the received radio frequency signals into intermediate frequency signals, and then demodulate and recover the target information;

[0059] The installation platform 3 is used to install the transmitting antenna array 1 and the receiving antenna array 2.

[0060] Reference Figure 2The transmitting antenna subarray 11 includes 16 groups of transmitting antenna units, each group of transmitting units is a parallel structure of two patches. The main function of the patch is to convert the electromagnetic signal into a radiation wave. The electromagnetic wave propagates in space through the patch to form a radar detection signal. These 16 transmitting units use a non-full array to reduce the sidelobe radiation intensity, allowing the array unit to focus the radiation energy in certain directions and suppress or reduce the signal in other directions, thereby improving the anti-interference ability. The specific array structure is as follows:

[0061] The first, second and third emission units are spaced two unit intervals apart, and each unit interval is 2.4 mm.

[0062] The distance between the third to fourteenth transmitting units is one unit distance respectively;

[0063] The fourteenth, fifteenth and sixteenth transmitting units are spaced two units apart respectively;

[0064] Finally, an array structure with unit spacing of 1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, and 20 is formed. When the transmitting unit is simulated at 0°, the maximum sidelobe is -20.3dB, and when it is simulated at ±15°, the maximum sidelobe is -15.8dB. The actual sidelobe suppression is better than that of a full array, and the beamwidth at all angles is less than 4.6°.

[0065] Reference Figure 3 The five receiving antenna subarrays 21, 22, 23, 24, and 25 have the same structure. Each receiving antenna subarray includes 16 receiving antenna units responsible for horizontal scanning. Each receiving unit is a series structure of three patches. The patch material is the same as the transmitting unit material. This example uses but is not limited to the RO3003 patch of Rogers Company, which can be widely used as a high-performance material in the field of radio frequency and microwave and has excellent electrical properties. The five receiving antenna subarrays are arranged in a full array, that is, each receiving unit is separated from the next receiving unit by a unit spacing of 2.4 mm. The beam of each receiving unit covers 30° of pitch, and each receiving antenna subarray covers a scanning angle of 18°.

[0066] Reference Figure 4The transmitting control unit 12 and the five receiving control units 26, 27, 28, 29, and 30 have the same structure. Each unit adopts but is not limited to the integrated millimeter wave radar chip ADT2011. The chip integrates a frequency synthesizer, a transmitting unit, and a receiving unit. It has a total of 16 configurable transmitting and receiving channels for connecting to 16 antenna units of a transmitting antenna subarray or a receiving antenna subarray. The T / R switching time of the transmitting and receiving channels is less than 45ns. The main operating frequency is 76-81GHz, the maximum transmission power of a single channel can reach 10dBm, the maximum intermediate frequency bandwidth can reach 100MHz, and the phase shift accuracy is 5.625°. Users can dynamically select parameters such as operating frequency, transmitting bandwidth, transmitting gain, and receiving gain by configuring the corresponding internal registers using the SPI protocol.

[0067] 5(a), the mounting platform 3 has three antenna mounting surfaces 31, 32, 33 with different angles to the horizontal plane. The five receiving antenna subarrays 21, 22, 23, 24, 25, five receiving control units 26, 27, 28, 29, 30 and the transmitting antenna subarray 11 and the transmitting control unit 12 are mounted on the mounting surface of the mounting platform 3. As an example, the mounting structure is as follows:

[0068] The second receiving antenna subarray 22, the second receiving control unit 27 and the fourth receiving antenna subarray 24, the fourth receiving control unit 29 are mounted on the first antenna mounting surface 31;

[0069] The first receiving antenna subarray 21, the first receiving control unit 26, the fifth receiving antenna subarray 25, and the fifth receiving control unit 30 are mounted on the second antenna mounting surface 32;

[0070] The third receiving antenna subarray 23, the third receiving control unit 28, the transmitting antenna subarray 11 and the transmitting control unit 12 are installed on the third mounting surface 33, wherein the third receiving antenna subarray 23 and the third receiving control unit 28 are installed near the upper edge of the third antenna mounting surface 33, and the transmitting antenna subarray 11 and the transmitting control unit 12 are installed near the lower edge of the third antenna mounting surface 33.

[0071] 5(b), the mounting platform 3, wherein the angle between the first antenna mounting surface 31 and the horizontal plane is but not limited to 18°±3°, the angle between the second antenna mounting surface 32 and the horizontal plane is but not limited to 36°±3°, and the angle between the third antenna mounting surface 33 and the horizontal plane is but not limited to 0°±3°. The angles between the three antenna mounting surfaces and the horizontal plane are set such that the angle between the third antenna mounting surface 33 is smaller than the angle between the first antenna mounting surface 31 and the angle between the first antenna mounting surface 31 is smaller than the angle between the second antenna mounting surface 32. The difference between the two angles is the main lobe beam width of the receiving antenna subarray, 18°, to ensure that the five receiving antenna subarrays form an azimuth coverage with a maximum value of 90°.

[0072] The above non-coplanar mounting structure increases the coverage area of ​​the receiving antenna. Figure 6 As shown. The beam width of the transmitting antenna subarray 11 installed on the third mounting surface 33 is 30°, which is responsible for the pitch angle coverage of -15° to 15°. The beam widths of the five receiving antenna subarrays 21, 22, 23, 24, and 25 are all 18°. The receiving antenna subarray 23 installed on the third antenna mounting surface 33 is responsible for the horizontal azimuth coverage of -9° to 9°. The two receiving antenna subarrays 21 and 25 installed on the second antenna mounting surface 32 are responsible for the azimuth coverage of -45° to -27° and 27° to 45° respectively. The two receiving antenna subarrays 22 and 24 installed on the first antenna mounting surface 31 are responsible for the azimuth coverage of -27° to -9° and 9° to 27° respectively. The five receiving antenna subarrays together constitute the azimuth coverage of -45° to 45°, a total of 90°. The increase in coverage area can improve the reception efficiency of the echo signal. At the same time, the metal aluminum material used in the above-mentioned mounting platform 3 can also effectively reduce the weight of the system.

[0073] Reference Figure 7 The transmitting antenna connection circuit includes a sawtooth wave generator, a PLL frequency synthesizer, a first transmitting amplifier, a transmitting power divider, a transmitting quadrupling frequency, and a second transmitting amplifier connected in series in sequence. The input end of the sawtooth wave generator is connected to the transmitting control unit 12, and the output end of the second transmitting amplifier is connected to the transmitting antenna subarray 11. The transmitting control unit 12 gives a control signal to the sawtooth wave generator, and the sawtooth wave generator generates a linear frequency modulation signal, which enters the PLL frequency synthesizer to perform frequency synthesis on the signal to generate a 20GHz local oscillator signal, and generates two signals through the transmitting power divider. One signal passes through the quadrupling frequency and the amplifier to radiate the radio frequency signal through the antenna, and the other signal enters the next transmitting path as input.

[0074] Reference Figure 8The receiving antenna connection circuit includes five groups of circuits with the same structure, each group of circuits includes a first receiving amplifier, a receiving power divider, a receiving quadrupler, an intermediate frequency filter amplifier, a mixer, and a second receiving amplifier; the first receiving amplifier, the receiving power divider, and the receiving quadrupler are connected in series in sequence, the output of the quadrupler is connected to the first input end of the mixer, the output end of the second receiving amplifier is connected to the second input end of the mixer, the output end of the mixer is connected to the input end of the intermediate frequency filter amplifier, and the output of the intermediate frequency filter amplifier is connected to an external signal processing module; the receiving power dividers in the five groups of circuits are connected in parallel, the input ends of the five second receiving amplifiers are respectively connected to the five receiving antenna subarrays 21, 22, 23, 24, and 25, and the input ends of the five first receiving amplifiers are respectively connected to the five receiving control units 26, 27, 28, 29, and 30. The 20GHz signal output by the receiving control unit is amplified by the first receiving amplifier to amplify the signal power, and then enters the receiving power divider to generate two output signals, one of which is mixed with the high-frequency signal received by the receiving antenna through a mixer after quadrupling the frequency to obtain an intermediate frequency signal, which is then filtered and amplified and then handed over to the external signal processing module for processing; the other signal is input as the local oscillator signal source of the next receiving channel.

[0075] The effect of the present invention can be further illustrated by the following simulation results:

[0076] Simulation 1: bandwidth simulation of the receiving antenna unit with different numbers of patches. The results are as follows: Fig.10 , where the blue curve ① is the simulation curve of the four-patch series structure antenna, and the orange curve ② is the simulation curve of the three-patch series structure antenna. Fig.10 It can be seen that when the gain drops by 3db, the simulated beam width of the three-patch antenna is 34.82°, the gain is 11dB, and the simulated beam width of the four-patch antenna is 25.88°, and the gain is 12.86db. The simulation comparison results show that the three-patch series antenna has a significant advantage in beam width. Although the four-patch series antenna has a slight improvement in gain, its beam width is relatively narrow. Considering the requirements of the application scenario for the antenna beam width, the receiving antenna unit of the present invention adopts a three-patch series structure with a wider beam. The thickness of each patch is 0.127mm, the standard dielectric constant is 3, and the loss tangent value is 0.001. The antenna unit formed by it has excellent electrical performance and can meet the requirements of low loss and high stability in modern communication systems.

[0077] Simulation 2, the S parameters of the receiving antenna unit are simulated, and the results are as follows Fig.11 .Depend on Fig.11It can be seen that the working bandwidth of the receiving antenna unit at -10dB gain is close to 6GHz, and the S11 parameter gain value at 77GHz reaches -20dB, indicating that the present invention has good matching. The S parameter is used to describe the scattering characteristics of signals in the network, especially in the RF and microwave bands; the S11 parameter is the input reflection coefficient, which indicates the signal strength reflected from the antenna input end, and is usually used to evaluate the matching of the antenna.

[0078] Simulation 3, the E-plane beam width of the receiving antenna unit is simulated, and the result is as follows Fig.12 ,from Fig.12 It can be seen that the maximum gain of the main lobe of the antenna unit in the E-plane direction reaches 10db. When the radiation gain decreases by 3dB, the radiation power angle coverage range is 23°, indicating that the present invention has the effects of high gain and good directivity.

[0079] Simulation 4, the beam width simulation is performed on the H surface of the receiving antenna unit, and the result is as follows Fig.13 ,from Fig.13 It can be seen that when the antenna radiation gain decreases by 3 dB, the angular range of the radiation power is 86°, indicating that the present invention has a good radiation range in the horizontal direction.

[0080] Simulation 5, the receiving antenna array is phased 0° to perform a directional pattern simulation, and the result is as follows Fig.14 ,from Fig.14 It can be seen that the main lobe gain is 28.12dB, the maximum side lobe gain is 14.05dB, and the beamwidth is 6.28°.

[0081] Simulation 6, the receiving antenna array is phased 9° to perform a directional pattern simulation, and the results are as follows Fig.15 , the main lobe gain is 27.51dB, the maximum side lobe gain is 14.7dB, and the beam width is 6.36°. Simulations 5 and 6 show that the side lobe gain of the receiving antenna of the present invention is much smaller than the main lobe gain, and the antenna has good directivity.

[0082] The above description is only a specific example of the present invention and does not constitute any limitation to the present invention. It is obvious that for professionals in this field, after understanding the content and principles of the present invention, it is possible to make various modifications and changes in form and details without departing from the principles and structures of the present invention. However, these modifications and changes based on the ideas of the present invention are still within the scope of protection of the claims of the present invention.

[0083] It should be noted that in the above examples, the terms first, second, etc. are used in this specification to describe various antenna structures, but they should not be limited by these terms. For example, the first receiving antenna subarray, the first receiving control unit and the second receiving antenna subarray, the second receiving control unit are only used to distinguish one antenna subarray, antenna control unit from another antenna subarray, antenna control unit.

Claims

1. A millimeter wave radar array antenna, comprising a transmitting antenna array (1), a receiving antenna array (2) and a mounting platform (3), characterized in that: The transmitting antenna array (1) comprises a transmitting antenna subarray (11), a transmitting control unit (12) and a transmitting antenna connection circuit (13), and is used to complete one-dimensional line scanning 77 GHz transmitting beam forming and scanning, and generate a frequency modulated continuous wave output signal; The receiving antenna array (2) comprises five receiving antenna subarrays (21, 22, 23, 24, 25), five receiving control units (26, 27, 28, 29, 30) and a receiving antenna connection circuit (34), and is used to complete parallel five-way one-dimensional line scanning 77GHz receiving beam forming and scanning, and receive echo signals; The described installation platform (3) comprises three antenna installation surfaces (31, 32, 33) having different angles with the horizontal plane, and the transmitting antenna array (1) and the receiving antenna array (2) are located on the three antenna installation surfaces having different angles with the horizontal plane.

2. The array antenna according to claim 1, characterized in that: The antenna array (1) and the receiving antenna array (2) are located on the three antenna installation surfaces having different angles with the horizontal plane, and their structural distribution is as follows: The second receiving antenna subarray (22), the second receiving control unit (27), the fourth receiving antenna subarray (24), and the fourth receiving control unit (29) are located on the first antenna installation surface (31); The first receiving antenna subarray (21), the first receiving control unit (26), the fifth receiving antenna subarray (25), and the fifth receiving control unit (30) are located on the second antenna mounting surface (32); The third receiving antenna subarray (23) and the third receiving control unit (28) are located near the upper edge of the third antenna mounting surface (33); The transmitting antenna subarray (11) and the transmitting control unit (12) are located below the third receiving antenna subarray (23) and the third receiving control unit (28), and close to the lower edge of the third antenna installation surface (33).

3. The array antenna according to claim 1, characterized in that: The transmitting antenna subarray (11) comprises 16 transmitting units, each transmitting unit is a two-patch parallel structure, and the specific arrangement of the transmitting units on the circuit board is as follows: The first, second and third transmission units are spaced two unit distances apart respectively; The distance between the third to fourteenth transmitting units is one unit distance respectively; The fourteenth, fifteenth and sixteenth transmitting units are spaced two units apart respectively; The unit spacing is 2.4mm.

4. The array antenna according to claim 1, characterized in that: The transmitting control unit (12) includes 16 configurable transmitting and receiving channels, which correspond to the 16 transmitting units of the transmitting antenna array, and dynamically select parameters such as operating frequency, transmitting bandwidth, transmitting gain, etc. by configuring the corresponding internal registers using the SPI protocol.

5. The array antenna according to claim 1, characterized in that: The five receiving antenna subarrays (21, 22, 23, 24, 25) have the same structure, and each receiving antenna subarray has 16 groups of receiving units, which are arranged at equal intervals on the circuit board and cover 30° of pitch in a three-patch resonant series feeding mode; each receiving antenna subarray has a scanning angle of 18°, and the five groups of receiving subarrays jointly constitute an overall 90° azimuth coverage.

6. The array antenna according to claim 1, characterized in that: The five receiving control units (26, 27, 28, 29, 30) have the same structure, and each receiving unit has 16 receiving channels respectively connected to the 16 groups of receiving units of the receiving subarray.

7. The array antenna according to claim 1, characterized in that: The angles of the three antenna installation surfaces (31, 32, 33) having different angles with the horizontal plane are set as follows: The angle between the first antenna installation surface (31) and the horizontal plane is 18°±3°, The second antenna installation surface (32) has an angle of 36°±3° with the horizontal. The angle between the third antenna installation surface (33) and the horizontal is 0°±3°.

8. The array antenna according to claim 1, characterized in that: The second receiving antenna subarray (22), the second receiving control unit (27), the fourth receiving antenna subarray (24), and the fourth receiving control unit (29) are located on the first antenna mounting surface (31), and the specific positions are distributed as follows: The second receiving control unit (27) is located at the center of the first mounting surface (31) with the mounting normal pointing to -18°; The second receiving antenna subarray (22) is located around the control unit (27) and connected to the control unit via a receiving antenna connection circuit (34); The fourth receiving control unit (29) is located at the center of the first mounting surface (31) with the mounting normal pointing to 18°; The fourth receiving antenna subarray (24) is located around the control unit (29) and is connected to the control unit via a receiving antenna connection circuit (34).

9. The array antenna according to claim 1, characterized in that: The first receiving antenna subarray (21), the first receiving control unit (26), the fifth receiving antenna subarray (25), and the fifth receiving control unit (30) are located on the second mounting surface (32), and the specific positions are distributed as follows: The first receiving control unit (26) is located at the center of the second mounting surface (32) with the mounting normal pointing to -36°; The first receiving antenna subarray (21) is located around the control unit (26) and is connected to the control unit via a receiving antenna connection circuit (34). The fifth receiving control unit (30) is located at the center of the second mounting surface (32) with the mounting normal pointing to 36°; The fifth receiving antenna subarray (25) is located around the control unit (30) and is connected to the control unit via a receiving antenna connection circuit (34).

10. The array antenna according to claim 1, characterized in that: The third receiving antenna subarray (23) and the third receiving control unit (28) are located on the third mounting surface (33), and their specific positions are distributed as follows: The third receiving control unit (28) is located at a position close to the upper edge of the third mounting surface (33) where the mounting normal points to 0°; The third receiving antenna subarray (23) is located around the control unit (28) and is connected to the control unit via a receiving antenna connection circuit (34).

11. The array antenna according to claim 1, characterized in that: The transmitting antenna subarray (11) and the transmitting control unit (12) are located on the third mounting surface (33), and the specific positions are distributed as follows: The emission control unit (12) is located at a position close to the lower edge of the third mounting surface (33) where the mounting normal points to 0°; The transmitting antenna subarray (11) is located around a transmitting control unit (12) and is connected to the control unit via a transmitting antenna connection circuit (13).

12. The array antenna according to claim 1, characterized in that: The transmitting antenna connection circuit (13) comprises a sawtooth wave generator, a PLL frequency synthesizer, a first transmitting amplifier, a transmitting power divider, a transmitting quadruple frequency, and a second transmitting amplifier which are sequentially connected in series, wherein the input end of the sawtooth wave generator is connected to the transmitting control unit (12), and the output end of the second transmitting amplifier is connected to the transmitting antenna subarray (11).

13. The array antenna according to claim 1, characterized in that: The receiving antenna connection circuit (34) comprises: five groups of circuits with the same structure, each group of circuits comprises a first receiving amplifier, a receiving power divider, a receiving quadrupler, an intermediate frequency filter amplifier, a mixer, and a second receiving amplifier; the first receiving amplifier, the receiving power divider, and the receiving quadrupler are connected in series in sequence, the output of the quadrupler is connected to the first input end of the mixer, the output end of the second receiving amplifier is connected to the second input end of the mixer, the output end of the mixer is connected to the input end of the intermediate frequency filter amplifier, and the output of the intermediate frequency filter amplifier is connected to an external signal processing module; the receiving power dividers in the five groups of circuits are connected in parallel, the input ends of the five second receiving amplifiers are respectively connected to the five receiving antenna subarrays (21, 22, 23, 24, 25), and the input ends of the five first receiving amplifiers are respectively connected to the five receiving control units (26, 27, 28, 29, 30).

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