Method, device and equipment for measuring multi-dimensional information of near-field target using vortex electromagnetic waves

Abstract

The present invention relates to a method, device and equipment for measuring multi-dimensional information of a near-field target using a vortex electromagnetic wave. The method comprises: irradiating a target with a vortex electromagnetic wave to obtain echo signals of two or more adjacent integer modes; performing pulse compression on the echo signal, and then detecting the peak position of the pulse compression to obtain a target distance measurement value; extracting echo unit data of the target under the corresponding integer mode to obtain echo complex data; processing the echo complex data using a modal phase comparison interference method to obtain an azimuth measurement value; processing the echo complex data using a modal amplitude comparison method to obtain a modal angle discrimination ratio; based on a pitch angle measurement equation, calculating in combination with the azimuth measurement value and the modal angle discrimination ratio to obtain a pitch angle measurement value; obtaining a multi-dimensional information measurement value of the target according to the target distance measurement value, the azimuth measurement value and the pitch angle measurement value. The present invention can take into account both the detection field of view and the detection accuracy of the radar.

Description

Technical Field

[0001] The present invention relates to the field of radar detection technology, and in particular to a method, device and equipment for measuring multi-dimensional information of a vortex electromagnetic wave near-field target. Background Art

[0002] Radar detection technology is less restricted by the natural environment and is an important means of acquiring target information that can be transmitted around the clock, in all weather conditions, and over long distances. It performs high-precision measurements of multi-dimensional information parameters such as the target's distance, azimuth, and pitch angle, which is of great significance for autonomous obstacle avoidance.

[0003] Traditional plane wave radar angle measurement technology is usually implemented using a single pulse method. In actual operation, a narrow beam is emitted to perform high-precision angle measurement on the target, thereby achieving stable tracking of the target. However, the narrow beam of the traditional method cannot take into account the detection field of view. For targets at a close distance, due to the large change in target angle, cross-beam loss is easy to occur. This greatly reduces the stability of the radar during the detection process and limits the application of radar parameter measurement. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device and equipment for measuring multi-dimensional information of near-field targets using vortex electromagnetic waves, which can solve the problem that traditional radar pencil beams cannot take into account the detection field of view.

[0005] A method for measuring multi-dimensional information of a near-field target using a vortex electromagnetic wave, the method comprising:

[0006] Irradiating the target with the vortex electromagnetic wave to obtain echo signals of two or more adjacent integer modes;

[0007] Performing pulse compression on the echo signal, and then detecting the peak position of the pulse compression to obtain a target distance measurement value;

[0008] Extracting echo unit data of the target under the corresponding integer mode to obtain echo complex data; processing the echo complex data by using the modal phase comparison interferometry method to obtain the azimuth angle measurement value;

[0009] The echo complex data is processed by a modal amplitude ratio method to obtain a modal angle discrimination ratio; based on a pitch angle measurement equation, the azimuth angle measurement value and the modal angle discrimination ratio are combined for calculation to obtain a pitch angle measurement value;

[0010] The multi-dimensional information measurement value of the target is obtained according to the target distance measurement value, the azimuth angle measurement value, and the pitch angle measurement value.

[0011] A vortex electromagnetic wave near-field target multi-dimensional information measurement device, the device comprising:

[0012] An echo signal acquisition module is used to irradiate the target with vortex electromagnetic waves to acquire echo signals of two or more adjacent integer modes;

[0013] A target distance measurement value acquisition module is used to perform pulse compression on the echo signal and then detect the peak position of the pulse compression to obtain a target distance measurement value;

[0014] The azimuth angle measurement value acquisition module is used to extract the echo unit data of the target under the corresponding integer mode to obtain the echo complex data; the modal phase comparison interference method is used to process the echo complex data to obtain the azimuth angle measurement value;

[0015] A pitch angle measurement value acquisition module is used to process the echo complex data using a modal amplitude ratio method to obtain a modal angle discrimination ratio; based on a pitch angle measurement equation, the azimuth angle measurement value and the modal angle discrimination ratio are combined for calculation to obtain a pitch angle measurement value;

[0016] The multi-dimensional information measurement value acquisition module is used to obtain the multi-dimensional information measurement value of the target according to the target distance measurement value, the azimuth measurement value, and the pitch angle measurement value.

[0017] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method for measuring multi-dimensional information of a near-field target of a vortex electromagnetic wave when executing the computer program.

[0018] The above-mentioned vortex electromagnetic wave near-field target multi-dimensional information measurement method, device and equipment obtain echo signals of two or more adjacent integer modes by irradiating the target with vortex electromagnetic waves; pulse compress the echo signal, and then detect the peak position of the pulse compression to obtain the target distance measurement value; extract the echo unit data of the target in the corresponding integer mode to obtain echo complex data; use the modal phase ratio interference method to process the echo complex data to obtain the azimuth measurement value; use the modal amplitude ratio method to process the echo complex data to obtain the modal angle discrimination ratio; based on the pitch angle measurement equation, the azimuth measurement value and the modal angle discrimination ratio are combined for calculation to obtain the pitch angle measurement value; according to the target distance measurement value, the azimuth measurement value and the pitch angle measurement value, the multi-dimensional information measurement value of the target is obtained.

[0019] The present invention obtains the distance, azimuth and pitch angle measurement values ​​of the target only through the multi-modal vortex electromagnetic wave of a single receiving channel, realizes the multi-dimensional information measurement of the target, and can more comprehensively and accurately locate the specific position of the target in space, reducing the positioning error. In addition, it can also illuminate and detect multiple targets in the airspace with a 360° azimuth range at one time, realize the acquisition of target information at different positions under a large field of view, and take into account the detection field of view and detection accuracy of the radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 the structures shown in these drawings without paying creative work.

[0021] Figure 1 Schematic diagram of the process of measuring multi-dimensional information of a near-field target using vortex electromagnetic waves in Example 1;

[0022] Figure 2 It is a schematic diagram of the structure of the uniform circular ring array generating multi-mode vortex electromagnetic waves in Example 1;

[0023] Figure 3 Schematic diagram of the root mean square error curve of two-dimensional angle measurement in scene 1 using the traditional method in Example 1; wherein, Figure 3 (a) is a schematic diagram of the root mean square error of the pitch angle measurement. Figure 3 (b) is a schematic diagram of the root mean square error of azimuth measurement;

[0024] Figure 4 Schematic diagram of the root mean square error curve of two-dimensional angle measurement in scene 1 using the method of the present invention in Example 1; wherein, Figure 4 (a) is a schematic diagram of the root mean square error of pitch angle measurement. Figure 4 (b) is a schematic diagram of the root mean square error of azimuth measurement;

[0025] Figure 5 Schematic diagram of the root mean square error curve of the two-dimensional angle measurement of target 1 in scene 2 using the traditional method in Example 1; wherein, Figure 5 (a) is a schematic diagram of the root mean square error of angle measurement. Figure 5 (b) is a schematic diagram of the root mean square error of azimuth measurement;

[0026] Figure 6 Schematic diagram of the root mean square error curve of the two-dimensional angle measurement of target 2 in scene 2 using the traditional method in Example 1; wherein, Figure 6 (a) is a schematic diagram of the root mean square error of angle measurement. Figure 6 (b) is a schematic diagram of the root mean square error of azimuth measurement;

[0027] Figure 7 Schematic diagram of the root mean square error curve of the two-dimensional angle measurement of target 1 in scene 2 using the method of the present invention in Example 1; wherein, Figure 7 (a) is a schematic diagram of the root mean square error of angle measurement. Figure 7 (b) is a schematic diagram of the root mean square error of azimuth measurement;

[0028] Figure 8 Schematic diagram of the root mean square error curve of the two-dimensional angle measurement of target 2 in scene 2 using the method of the present invention in Example 1; wherein, Figure 8 (a) is a schematic diagram of the root mean square error of angle measurement. Figure 8 (b) is a schematic diagram of the root mean square error of azimuth measurement;

[0029] Fig. 9 It is a structural block diagram of a device for measuring multi-dimensional information of a near-field target of a vortex electromagnetic wave in one embodiment;

[0030] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment.

[0031] 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

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] It can be understood that the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0034] The following will describe the implementation of the present invention in detail with reference to the accompanying drawings in the embodiment diagram of the present invention.

[0035] Example 1

[0036] The present embodiment discloses a method for measuring multi-dimensional information of near-field targets using vortex electromagnetic waves. First, a uniform circular array is used to generate beams of different orbital angular momentum modes; then, pulse compression is performed on the echoes of each mode, and the distance of the target is estimated by the peak position; then, the azimuth and pitch angle information is extracted according to the amplitude and phase differences between the echoes of different modes. The present invention obtains the distance, azimuth and pitch angle measurement values ​​of the target only through the multi-modal vortex electromagnetic waves of a single receiving channel, thereby realizing the multi-dimensional information measurement of the target, and can also more comprehensively and accurately locate the specific position of the target in space, reducing the positioning error. In addition, multiple targets in an airspace with a 360° azimuth range can be detected at one time, so as to realize the acquisition of target information at different positions under a large field of view, taking into account the detection field of view and detection accuracy of the radar.

[0037] like Figure 1 As shown, a method for measuring multi-dimensional information of a near-field target using a vortex electromagnetic wave is provided, comprising the following steps:

[0038] Step 201 , irradiate a target with a vortex electromagnetic wave to obtain echo signals of two or more adjacent integer modes.

[0039] Step 202: perform pulse compression on the echo signal, and then detect the peak position of the pulse compression to obtain a target distance measurement value.

[0040] Step 203, extracting echo unit data of the target in the corresponding integer mode to obtain echo complex data; using the modal phase comparison interferometry method to process the echo complex data to obtain the azimuth angle measurement value.

[0041] Step 204, using the modal amplitude ratio method to process the echo complex data to obtain the modal angle discrimination ratio; based on the pitch angle measurement equation, the azimuth angle measurement value and the modal angle discrimination ratio are combined for calculation to obtain the pitch angle measurement value.

[0042] Step 205, obtaining a multi-dimensional information measurement value of the target according to the target distance measurement value, the azimuth measurement value, and the pitch angle measurement value.

[0043] It can be understood that the vortex electromagnetic waves carrying orbital angular momentum have a unique spiral phase structure. This spatial phase distribution is equivalent to multiple plane waves irradiating the target from different angles at the same time, and can represent different target information differently, providing a theoretical basis for measuring the azimuth angle of the target within the beam.

[0044] Based on this, in this embodiment, if Figure 2As shown in the figure, a uniform circular array is used to generate beams of different orbital angular momentum modes to illuminate the target, and then the echoes of each mode are pulse compressed, and the distance to the target is estimated by the peak position. When the vortex electromagnetic wave illuminates the target, since the orbital angular momentum mode number in the radar echo signal is approximately dual to the target azimuth, it has the ability to perform rapid interference processing directly in the modal domain and realize azimuth estimation.

[0045] Since the pitch pointing directions of vortex electromagnetic wave beams of different modes are inconsistent, the pitch angle information can be extracted according to the energy difference between echoes of different modes to achieve pitch angle estimation.

[0046] In addition, the annular beam of the vortex electromagnetic wave can illuminate a larger range of airspace, and can obtain target information at different positions under a large field of view.

[0047] In one of the embodiments, a vortex electromagnetic wave is irradiated on a target to obtain echo signals of two or more adjacent integer modes, including: irradiating the target with a vortex electromagnetic wave of two or more integer modes using uniform circular array modulation emission or sub-pulse mode-by-mode emission or waveform diversity simultaneous multi-mode emission or positive and negative dual-mode multiplexing emission to obtain echo signals of two or more adjacent integer modes.

[0048] It can be understood that the vortex electromagnetic waves of more than two integer modes are transmitted by uniform circular array modulation transmission or sub-pulse mode-by-mode transmission or waveform diversity simultaneous multi-mode transmission or positive and negative dual-mode multiplexing transmission, which can be transmitted according to the needs of more than two and adjacent integer modes of vortex electromagnetic waves; or it can be transmitted vortex electromagnetic waves of multiple integer modes, and then more than two adjacent integer modes are selected to calculate the echo signal. This method of using adjacent integer modes can achieve the effect of simultaneous measurement of azimuth and pitch angles with a relatively small number of modes.

[0049] In one embodiment, the expression of the echo signal is:

[0050] ;

[0051] In the formula, Indicates integer modulus; Indicates the center frequency of the transmitted signal; Indicates pulse width; represents an imaginary unit; Indicates Additional phase terms for integer mode echoes; Indicates time; Indicates the radius of the ring array; Indicates the distance to the target; Indicates the pitch angle of the target point; Indicates the azimuth of the target point; Indicates the signal modulation frequency; represents the scattering coefficient, represents the speed of light; represents the wave number; Indicates the first category Bessel function of order.

[0052] Specifically, in this embodiment, a uniform circular array is used as the transmitting source, and the number of array elements is The radius is , emitting three adjacent integer modulos The vortex electromagnetic wave , the center frequency of the transmitted signal is , the pulse width is , the bandwidth is Linear frequency modulation signal. When the target point distance, pitch angle, and azimuth are respectively When the scattered echo is processed by the radar receiver with zero intermediate frequency, the echo signals of the three modes are expressed as:

[0053] ;

[0054] The signal modulation frequency , Indicates the bandwidth of the transmitted signal; wave number It is worth noting that, in order to facilitate understanding, three adjacent integer modes are used for illustration in this embodiment, but this is not intended to limit the method proposed in the present invention.

[0055] In one embodiment, the echo signal is pulse compressed, and then the peak position of the pulse compression is detected to obtain the target distance measurement value, including: the echo signal is pulse compressed through a matched filter to obtain a pulse compression signal, and the expression of the pulse compression signal is:

[0056] ;

[0057] Then, based on the peak position detection of the pulse compression of the pulse pressure signal, the target distance measurement value is obtained. .

[0058] Specifically, when three adjacent integer modes are used for calculation, the pulse compression signal expressions obtained after the three integer modes are subjected to pulse compression processing are:

[0059] .

[0060] In one embodiment, extracting echo unit data of the target in the corresponding integer mode to obtain echo complex data includes: extracting echo unit data of the target in the corresponding integer mode based on prior information of the pitch angle range of the target to obtain echo complex data; the expression of the echo complex data is:

[0061] ;

[0062] In the formula, Indicates Integer mode echo complex data; Represents the amplitude of the echo of a single target point after matched filtering; represents an imaginary unit; Indicates Additional phase terms for integer mode echoes; represents the wave number; Indicates the radius of the ring array; Indicates the pitch angle of the target point; Indicates the azimuth of the target point; Indicates integer modulus; Indicates the first category Bessel function of order.

[0063] Specifically, after obtaining the target distance measurement value Then, extract the three adjacent integer modes within the main lobe of the beam. Measured value at target distance Then calculate the echo data of three adjacent integer modes at the target distance measurement value The complex data below , and , the calculation expressions are:

[0064] ;

[0065] In one embodiment, the modal phase comparison interferometry method is used to process the echo complex data to obtain an azimuth angle measurement value, including: using the modal phase comparison interferometry method to perform azimuth measurement, using a pair of modes with the largest modal interval to perform high-precision angle measurement to obtain a first azimuth angle measurement value; using a pair of modes with the smallest modal interval to perform deambiguation to obtain a second azimuth angle measurement value.

[0066] Compare the first azimuth measurement value with the second azimuth measurement value to determine whether there is angle measurement ambiguity. If so, combine the second azimuth measurement value with the first azimuth measurement value to perform ambiguity correction and output the final azimuth measurement value. .

[0067] Specifically, a pair of integer modes with the largest modal interval is used High-precision angle measurement using a pair of integer modes with the smallest modal interval After deambiguation, two sets of azimuth measurements are obtained:

[0068] ;

[0069] In the formula, Indicates the operation of taking a complex angle, the superscript represents conjugate treatment, Indicates the first azimuth measurement that may be ambiguous. is the unambiguous second azimuth measurement.

[0070] Then set the blur threshold, compare the difference between the first azimuth measurement value and the second azimuth measurement value to see if it is greater than the blur threshold. If so, it means there is blur. The first azimuth measurement value is deblurred by combining it with the second azimuth measurement value, that is, the numerator in the first azimuth measurement formula is subtracted by 180° blur correction to obtain a blur-free high-precision azimuth measurement value. ; If not, directly use the first azimuth measurement value as the final azimuth measurement value It is worth noting that the blur threshold is set according to the requirements, and in this embodiment, it is preferably set to 90°.

[0071] In one embodiment, the modal amplitude ratio method is used to process the echo complex data to obtain the modal angle ratio, and the calculation expression is:

[0072] ;

[0073] In the formula, It represents the modal angle ratio; represents the real part operation; Indicates The conjugate of the additional phase produced by the transmitted mode; Indicates The echo complex data of integer modes.

[0074] In one embodiment, the pitch angle measurement equation is expressed as:

[0075] ;

[0076] Based on the pitch angle measurement equation, the pitch angle measurement value is calculated by combining the azimuth angle measurement value and the modal angle ratio. The calculation expression is:

[0077] ;

[0078] In the formula, Indicates the first category Bessel functions of order; represents any independent variable; Indicates the pitch angle measurement value; Indicates the radius of the ring array; represents the wave number; Represents an azimuth measurement.

[0079] Specifically, the target distance measurement value Down , and The complex data of three adjacent integer mode echoes are used to measure the angle using the modal amplitude ratio method. The sum of the two integer mode echo complex data is used as the numerator, and the integer mode The echo complex data is used as the denominator, and the real part is taken to obtain the modal angle ratio. ,for:

[0080] .

[0081] The pitch angle measurement equation is:

[0082] ;

[0083] Get the pitch angle measurement value, the calculation expression is:

[0084] .

[0085] After the above operations, the target's distance, pitch, azimuth and other multi-dimensional information measurement values ​​can be obtained, that is, the target distance measurement value , Pitch angle measurement value , azimuth measurement value .

[0086] In one of the embodiments, the effect of the method of the present invention is further illustrated by simulation experiments. Set scene one as a single target scene, and scene two as a multi-target scene. The specific settings are as follows: scene one: the target is located at a distance of 100m, a pitch angle of 10°, and an azimuth of 0°; scene two: target 1 is located at a distance of 120m, a pitch angle of 8°, and an azimuth of 170°, and target 2 is located at a distance of 100m, a pitch angle of 10°, and an azimuth of 10°. The radar parameters are set as follows: the radius of the circular array is 9cm, the number of array elements is 16, the center frequency of the transmitted signal is 10GHz, the pulse width is 0.1us, the bandwidth is 300MHz, and the transmitting OAM modes are 1, 2, and 3. The angle measurement is performed using a single-pulse angle measurement method of a traditional subarray method and the angle measurement method of the present invention. The traditional subarray method uses an omnidirectional antenna for transmission, and the receiving end forms a receiving beam through a digital beam. The azimuth and elevation beam widths of the receiving beam are both approximately 9.5°. The main lobe width of the vortex electromagnetic wave transmission beam is approximately 9.5°, and the azimuth covers 360°, using a single antenna for reception. In scenario 1, the beam of the traditional method points to 6° in pitch and 7° in azimuth, and the vortex electromagnetic wave points to 6° in pitch. In scenario 2, the beam of the traditional method points to 6° in pitch and 10° in azimuth, and the vortex electromagnetic wave points to 6° in pitch. The root mean square error curve results of the two methods in scenario 1 are shown in the figure below. Figure 3 and Figure 4 In scenario 2, the root mean square error curves of the two methods are shown in Figure 5 , Figure 6 and Figure 7 , Figure 8 .

[0087] in, Figure 3 This is the angle measurement result of the traditional method where the main lobe range of the beam points to the target area. It can be seen that the traditional method can perform two-dimensional angle estimation well, and the accuracy continues to improve with the increase of signal-to-noise ratio. Figure 4 The angle measurement accuracy of the method proposed in this invention is demonstrated, and the accuracy increases with the increase of signal-to-noise ratio. Figure 3 and Figure 4 By comparison, it can be found that the pitch angle measurement accuracy of the method of the present invention is slightly worse than that of the traditional method in the single target scene (Scene 1) and low signal-to-noise ratio conditions, but the azimuth angle accuracy is better than that of the traditional method; in the single target scene and high signal-to-noise ratio conditions, the azimuth and pitch angle measurement accuracy of the present invention are better than that of the traditional method. In the multi-target scene (Scene 2), the angle measurement accuracy results of the traditional method are shown in Figure 5 , Figure 6 It can be seen that due to the narrow beam range, the traditional method can only effectively measure the two-dimensional angle of target 2 located in the main lobe of the beam. For target 1 located outside the main lobe, the angle measurement method fails. The angle measurement method of the present invention is still effective for measuring the position information of two targets (such as Figure 7 and Figure 8As shown in the figure, it can effectively measure targets at different distances with large differences in azimuth and elevation angles at the same time, and in the case of dual targets, the estimation accuracy of azimuth and elevation is better than that of traditional methods.

[0088] Although this embodiment Figure 1 The steps in the process are shown in sequence as indicated by the arrows, but the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of the steps, and the steps can be executed in other orders. Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0089] Example 2

[0090] Based on the method for measuring multi-dimensional information of a near-field target using vortex electromagnetic waves in Example 1, this embodiment discloses a device for measuring multi-dimensional information of a near-field target using vortex electromagnetic waves, such as Fig. 9 As shown, the vortex electromagnetic wave near-field target multi-dimensional information measurement device includes: an echo signal acquisition module 401, a target distance measurement value acquisition module 402, an azimuth angle measurement value acquisition module 403 and a pitch angle measurement value acquisition module 404, wherein:

[0091] The echo signal acquisition module 401 is used to irradiate the target with vortex electromagnetic waves to acquire echo signals of two or more adjacent integer modes.

[0092] The target distance measurement value acquisition module 402 is used to perform pulse compression on the echo signal and then detect the peak position of the pulse compression to obtain the target distance measurement value.

[0093] The azimuth angle measurement value acquisition module 403 is used to extract the echo unit data of the target under the corresponding integer mode to obtain the echo complex data; and use the modal phase comparison interference method to process the echo complex data to obtain the azimuth angle measurement value.

[0094] The pitch angle measurement value acquisition module 404 is used to process the echo complex data using the modal amplitude ratio method to obtain the modal angle discrimination ratio; based on the pitch angle measurement equation, the azimuth angle measurement value and the modal angle discrimination ratio are combined for calculation to obtain the pitch angle measurement value.

[0095] In this embodiment, the specific working process and working principle of the echo signal acquisition module 401, the target distance measurement value acquisition module 402, the azimuth measurement value acquisition module 403 and the pitch angle measurement value acquisition module 404 are the same as those in the method of Embodiment 1, so they are not described in detail in this embodiment. Each unit module can be implemented in whole or in part by software, hardware and a combination thereof, and each unit module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above unit modules.

[0096] Example 3

[0097] like Fig.10 The terminal device disclosed in this embodiment includes a transmitter, a receiver, a memory, and a processor. The transmitter is used to send instructions and data, the receiver is used to receive instructions and data, the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions stored in the memory to implement the method in the above-mentioned embodiment 1.

[0098] It should be noted that the above memory can be independent or integrated with the processor. When the memory is independently provided, the terminal device further includes a bus for connecting the memory and the processor.

[0099] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0100] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0101] The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A method for measuring multi-dimensional information of a near-field target using vortex electromagnetic waves, characterized in that: The method comprises: Irradiating the target with the vortex electromagnetic wave to obtain echo signals of two or more adjacent integer modes; Performing pulse compression on the echo signal, and then detecting the peak position of the pulse compression to obtain a target distance measurement value; Extracting echo unit data of the target under the corresponding integer mode to obtain echo complex data; processing the echo complex data by using the modal phase comparison interferometry method to obtain the azimuth angle measurement value; The echo complex data is processed by a modal amplitude ratio method to obtain a modal angle discrimination ratio; based on a pitch angle measurement equation, the azimuth angle measurement value and the modal angle discrimination ratio are combined for calculation to obtain a pitch angle measurement value; Obtaining a multi-dimensional information measurement value of the target according to the target distance measurement value, the azimuth measurement value, and the pitch angle measurement value; The echo complex data is processed by using the modal phase comparison interferometry method to obtain the azimuth angle measurement value, including: The modal phase interference method is used for azimuth measurement. A pair of modes with the largest modal interval is used for high-precision angle measurement to obtain the first azimuth measurement value. A pair of modes with the smallest modal interval is used for deambiguation to obtain the second azimuth measurement value. Compare the first azimuth measurement value with the second azimuth measurement value to determine whether there is angle measurement ambiguity. If so, perform ambiguity correction by combining the second azimuth measurement value with the first azimuth measurement value to output the final azimuth measurement value. ; The echo complex data is processed by the modal amplitude ratio method to obtain the modal angle ratio, and the calculation expression is: ； In the formula, It represents the modal angle ratio; represents the real part operation; Indicates The conjugate of the additional phase produced by the transmitted mode; Indicates The echo complex data of integer modes.

2. The method for measuring multi-dimensional information of a near-field target using vortex electromagnetic waves according to claim 1, characterized in that: Irradiate the target with vortex electromagnetic waves to obtain echo signals of two or more adjacent integer modes, including: The target is irradiated with vortex electromagnetic waves of two or more integer modes by using uniform circular array modulation transmission, sub-pulse mode-by-mode transmission, waveform diversity simultaneous multi-mode transmission, or positive and negative dual-mode multiplexing transmission to obtain echo signals of two or more adjacent integer modes.

3. The method for measuring multi-dimensional information of a vortex electromagnetic wave near-field target according to claim 2, characterized in that: The expression of the echo signal is: ； In the formula, Indicates integer modulus; Indicates the center frequency of the transmitted signal; Indicates pulse width; represents an imaginary unit; Indicates Additional phase terms for integer mode echoes; Indicates time; Indicates the radius of the ring array; Indicates the distance to the target; Indicates the pitch angle of the target point; Indicates the azimuth of the target point; Indicates the signal modulation frequency; represents the scattering coefficient, represents the speed of light; represents the wave number; Indicates the first category Bessel function of order.

4. The method for measuring multi-dimensional information of a near-field target of vortex electromagnetic waves according to claim 3, characterized in that: The echo signal is pulse compressed, and then the peak position of the pulse compression is detected to obtain a target distance measurement value, including: The echo signal is processed by a matched filter and pulse compression to obtain a pulse pressure signal. The expression of the pulse pressure signal is: ； In the formula, Indicates the bandwidth of the transmitted signal; Then, based on the peak position detection of the pulse compression of the pulse pressure signal, the target distance measurement value is obtained. .

5. The method for measuring multi-dimensional information of a near-field target of a vortex electromagnetic wave according to any one of claims 1 to 4, characterized in that: Extract the echo unit data of the target in the corresponding integer mode to obtain the echo complex data, including: Based on the prior information of the pitch angle range of the target, the echo unit data of the target in the corresponding integer mode is extracted to obtain the echo complex data; The expression of the echo complex data is: ； In the formula, Indicates Integer mode echo complex data; Represents the amplitude of the echo of a single target point after matched filtering; represents an imaginary unit; Indicates Additional phase terms for integer mode echoes; represents the wave number; Indicates the radius of the ring array; Indicates the pitch angle of the target point; Indicates the azimuth of the target point; Indicates integer modulus; Indicates the first category Bessel function of order.

6. The method for measuring multi-dimensional information of a near-field target of a vortex electromagnetic wave according to any one of claims 1 to 4, characterized in that: The pitch angle measurement equation is: ； Based on the pitch angle measurement equation, the pitch angle measurement value is calculated in combination with the azimuth angle measurement value and the modal angle ratio, and the pitch angle measurement value is obtained. The calculation expression is: ； In the formula, Indicates the first category order Bessel function; represents any independent variable; Indicates the pitch angle measurement value; Indicates the radius of the ring array; represents the wave number; Represents an azimuth measurement.

7. A vortex electromagnetic wave near-field target multi-dimensional information measurement device, characterized in that: The method for measuring multi-dimensional information of a near-field target using vortex electromagnetic waves according to any one of claims 1 to 6 is adopted, wherein the device comprises: An echo signal acquisition module is used to irradiate the target with vortex electromagnetic waves to acquire echo signals of two or more adjacent integer modes; A target distance measurement value acquisition module is used to perform pulse compression on the echo signal and then detect the peak position of the pulse compression to obtain a target distance measurement value; The azimuth angle measurement value acquisition module is used to extract the echo unit data of the target under the corresponding integer mode to obtain the echo complex data; the modal phase comparison interference method is used to process the echo complex data to obtain the azimuth angle measurement value; A pitch angle measurement value acquisition module is used to process the echo complex data using a modal amplitude ratio method to obtain a modal angle discrimination ratio; based on a pitch angle measurement equation, the azimuth angle measurement value and the modal angle discrimination ratio are combined for calculation to obtain a pitch angle measurement value; The multi-dimensional information measurement value acquisition module is used to obtain the multi-dimensional information measurement value of the target according to the target distance measurement value, the azimuth measurement value, and the pitch angle measurement value.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method for measuring multi-dimensional information of a vortex electromagnetic wave near-field target as described in any one of claims 1 to 6 are implemented.

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