Radar cross scanning method and system

Abstract

The invention discloses a radar cross scanning method and system. The method comprises the following steps: S101, acquiring preset initial frequency data; s102, electromagnetic wave positioning work of a first frequency sequence is carried out according to a first frequency emission model and the initial frequency data, the first frequency sequence is [f1,..., fn], fn is the nth emission frequency data of the first frequency sequence, and n is larger than 1; s103, electromagnetic wave positioning work of a second frequency sequence is carried out according to a second frequency emission model and the first frequency sequence, the second frequency sequence is [F1,..., Fn], and Fn is the nth emission frequency data of the second frequency sequence; s104, circularly carrying out the cross scanning work in the step S102 and the step S103; wherein the first frequency sequence and the second frequency sequence are sequentially arranged according to the size sequence. According to the invention, the detection effect of the detection target between the beams can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of frequency-scanning radars, and in particular to a radar cross-scanning method and system. Background Art

[0002] In the field of highway monitoring, radar is generally used to scan the area in front of it to identify vehicles and other objects. Current radars generally implement scanning and detection functions through orderly frequency scanning, such as setting the frequency step amplitude as an incremental increase to generate a gradually increasing frequency sequence [f1, ..., f n ]; use the frequencies in the frequency sequence as the transmitting signal frequencies, and emit electromagnetic waves of corresponding frequencies in sequence for radar scanning.

[0003] However, this scanning method will cause the electromagnetic radiation beam to be strong in the middle and weak on both sides. Therefore, when the radar scans the target, the boundary signal between the beams will be weak, resulting in poor detection of the target between the beams; when the vehicle's driving trajectory is at the boundary of the two sweep centers, the target is easily lost. If the frequency step amplitude is reduced and the number of scans is increased, the full-angle scanning time will be increased, resulting in a longer time between two frames, a larger offset of the vehicle coordinates between two frames, and a discrete target point, which reduces the clustering effect and finally leads to poor radar detection effect. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a radar cross-scanning method and system, which can improve the detection effect of detecting targets between beams.

[0005] In order to solve the above technical problems, the present invention provides a radar cross-scanning method, comprising: S101, obtaining preset initial frequency data; S102, performing electromagnetic wave positioning work of a first frequency sequence according to a first frequency transmission model and the initial frequency data, wherein the first frequency sequence is [f1, ..., f n ],f n is the nth transmission frequency data of the first frequency sequence, n>1; S103, performing electromagnetic wave positioning of the second frequency sequence according to the second frequency transmission model and the first frequency sequence, wherein the second frequency sequence is [F1, ..., F n ], F n is the nth transmission frequency data of the second frequency sequence; S104, looping the cross scanning work of steps S102 and S103; wherein the first frequency sequence and the second frequency sequence are arranged in order of size, and the mth transmission frequency data in the second frequency sequence satisfies: when m≤n-1, f m+1 >F m >f m , when m = n, Fm >f m， Both n and m are positive integers.

[0006] As an improvement of the above scheme, the step of performing electromagnetic wave positioning of the first frequency sequence according to the first frequency transmission model and the initial frequency data includes: S201, initializing data, wherein during initialization, m=1; S202, calculating the current transmission frequency data according to the first frequency transmission algorithm: f m =f0+(m-1)*q1, where f m is the mth transmitting frequency data of the first frequency sequence, f0 is the initial frequency data, q1 is the first preset frequency step data; S203, perform electromagnetic wave positioning of the current transmitting frequency data, and m=m+1; S204, determine whether data m is less than or equal to data n, if it is determined to be yes, return to step S202.

[0007] As an improvement of the above scheme, the step of performing electromagnetic wave positioning of the second frequency sequence according to the second frequency transmission model and the first frequency sequence includes: S301, initializing data, wherein, during initialization, m=1; S302, calculating the current transmission frequency data according to the second frequency transmission algorithm: F m =f m +q2, where F m is the mth transmission frequency data of the second frequency sequence, f m is the mth transmitting frequency data of the first frequency sequence, q2 is the second preset frequency step data; S303, perform electromagnetic wave positioning work on the current transmitting frequency data, and m=m+1; S304, determine whether data m is less than or equal to data n, if it is determined to be yes, return to step S302.

[0008] As an improvement of the above scheme, the steps of performing the electromagnetic wave positioning work of the current transmission frequency data include: transmitting a first electromagnetic wave of the transmission frequency data; receiving a second electromagnetic wave reflected by the target object; performing signal difference frequency calculation based on the first electromagnetic wave and the second electromagnetic wave to obtain the current difference frequency signal; performing position analysis processing on the difference frequency signal to infer the position information of the target object.

[0009] As an improvement of the above solution, the size of the second preset frequency step data is half the size of the first preset frequency step data.

[0010] The present invention also provides a radar cross-scanning system, comprising: an acquisition module, used to acquire preset initial frequency data; a first frequency sequence scanning module, used to perform electromagnetic wave positioning of a first frequency sequence according to a first frequency emission model and the initial frequency data, wherein the first frequency sequence is [f1, ..., f n ],f n is the nth transmission frequency data of the first frequency sequence, n>1; a second frequency sequence scanning module is used to perform electromagnetic wave positioning of the second frequency sequence according to the second frequency transmission model and the first frequency sequence, wherein the second frequency sequence is [F1, ..., F n ], F n is the nth transmission frequency data of the second frequency sequence; a cross scanning module, used to cyclically perform the cross scanning work of the first frequency sequence scanning module and the second frequency sequence scanning module; wherein the first frequency sequence and the second frequency sequence are arranged in order of size, and the mth transmission frequency data in the second frequency sequence satisfies: when m≤n-1, f m+1 >F m >f m , when m = n, F m >f m， Both n and m are positive integers.

[0011] As an improvement of the above solution, the first frequency sequence scanning module includes: a first initialization unit, used to initialize data, wherein during initialization, m=1; a first frequency calculation unit, used to calculate the current transmission frequency data according to a first frequency transmission algorithm: f m =f0+(m-1)*q1, where f m is the mth transmitting frequency data of the first frequency sequence, f0 is the initial frequency data, q1 is the first preset frequency step data; a positioning processing unit is used to perform electromagnetic wave positioning of the current transmitting frequency data, and m=m+1; a first judgment processing unit is used to judge whether the data m is less than or equal to the data n, and when the judgment is yes, the first frequency calculation unit and the positioning processing unit are controlled to work.

[0012] As an improvement of the above solution, the second frequency sequence scanning module includes: a second initialization unit, used to initialize data, wherein during initialization, m=1; a second frequency calculation unit, used to calculate the current transmission frequency data according to the second frequency transmission algorithm: F m =f m +q2, where F m is the mth transmission frequency data of the second frequency sequence, f mis the mth transmitting frequency data of the first frequency sequence, q2 is the second preset frequency step data; a positioning processing unit is used to perform electromagnetic wave positioning of the current transmitting frequency data, and m=m+1; a second judgment processing unit is used to judge whether the data m is less than or equal to the data n, and when the judgment is yes, the second frequency calculation unit and the positioning processing unit are controlled to work.

[0013] As an improvement of the above-mentioned scheme, the positioning processing unit includes: a transmitting subunit, used to transmit the first electromagnetic wave of the transmitting frequency data; a receiving subunit, used to receive the second electromagnetic wave reflected by the target object; a difference frequency processing subunit, used to perform signal difference frequency calculation based on the first electromagnetic wave and the second electromagnetic wave to obtain a current difference frequency signal; a positioning processing subunit, used to perform position analysis processing on the difference frequency signal to infer the position information of the target object.

[0014] As an improvement of the above solution, the size of the second preset frequency step data is half the size of the first preset frequency step data.

[0015] The beneficial effects of implementing the present invention are:

[0016] The present invention uses two sets of frequency sequences for cross scanning, so as to superimpose the radiation beam pattern in the second frequency sequence on the radiation beam pattern in the first frequency sequence, so as to shorten the distance between the beams, that is, shorten the distance between the centers of two adjacent beams, enhance the boundary signal between the beams, and increase the gain, thereby improving the detection effect of detecting targets between beams. When the vehicle's driving track is at the boundary of two scanning frequency centers, the enhanced beam boundary signal can easily detect the target, greatly reducing the risk of target loss and improving the target detection effect of the radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of the radar cross scanning method of the present invention;

[0018] Figure 2 It is a schematic structural diagram of the radar cross scanning system of the present invention;

[0019] Figure 3 is a structural schematic diagram of the first frequency sequence scanning module of the present invention;

[0020] Figure 4 is a structural schematic diagram of the second frequency sequence scanning module of the present invention;

[0021] Figure 5 It is a structural schematic diagram of the positioning processing unit of the present invention;

[0022] Figure 6 is the far-field pattern of the electromagnetic wave of the first frequency sequence of the present invention;

[0023] Figure 7 is the far-field pattern of the electromagnetic wave of the second frequency sequence of the present invention;

[0024] Figure 8 It is the far-field radiation pattern of the electromagnetic waves of the first frequency sequence and the second frequency sequence of the present invention. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0026] like Figure 1 As shown, a specific embodiment of the present invention provides a radar cross scanning method, including:

[0027] S101, obtaining preset initial frequency data;

[0028] It should be noted that when performing radar scanning, the initial frequency data should be determined first so that the radar system can perform scanning in the required frequency band to meet the actual needs of users.

[0029] S102, performing electromagnetic wave positioning of a first frequency sequence according to the first frequency transmission model and the initial frequency data, wherein the first frequency sequence is [f1, ..., f n ],f n is the nth transmission frequency data of the first frequency sequence, n>1;

[0030] Specifically, the step of performing electromagnetic wave positioning of the first frequency sequence according to the first frequency emission model and the initial frequency data includes:

[0031] Step 1, initializing data, wherein, during initialization, m=1;

[0032] It should be noted that, during initialization, the data m is initialized to: m=1.

[0033] Step 2: Calculate the current transmission frequency data according to the first frequency transmission algorithm: m =f0+(m-1)*q1, where f m is the mth transmission frequency data of the first frequency sequence, f0 is the initial frequency data, and q1 is the first preset frequency step data;

[0034] Step 3, performing electromagnetic wave positioning of the current transmission frequency data, and m=m+1;

[0035] Step 4: Determine whether data m is less than or equal to data n. If so, return to step 2.

[0036] It should be noted that the first frequency transmission algorithm calculates the gradually increasing transmission frequency data in sequence, and transmits the electromagnetic waves of the transmission frequency data in sequence to perform target positioning and detection. When the data m is greater than the data n, the n transmission frequency data [f1, ..., f2] in the first frequency sequence have been calculated. n ] and complete the electromagnetic wave positioning work, and then carry out the electromagnetic wave positioning work of the second frequency sequence.

[0037] S103, performing electromagnetic wave positioning of a second frequency sequence according to a second frequency transmission model and the first frequency sequence, wherein the second frequency sequence is [F1, ..., F n ],F n is the nth transmission frequency data of the second frequency sequence;

[0038] Specifically, the step of performing electromagnetic wave positioning of the second frequency sequence according to the second frequency emission model and the initial frequency data includes:

[0039] Step 1, initializing data, wherein, during initialization, m=1;

[0040] It should be noted that, during initialization, the data m is initialized to: m=1, so as to recalculate the number of transmissions.

[0041] Step 2: Calculate the current transmission frequency data according to the second frequency transmission algorithm: F m =f m +q2, where F m is the mth transmission frequency data of the second frequency sequence, f m is the mth transmission frequency data of the first frequency sequence, and q2 is the second preset frequency step data;

[0042] Step 3, performing electromagnetic wave positioning of the current transmission frequency data, and m=m+1;

[0043] Step 4: Determine whether data m is less than or equal to data n. If so, return to step 2.

[0044] It should be noted that the second frequency transmission algorithm calculates the gradually increasing transmission frequency data in sequence, and transmits the electromagnetic waves of the transmission frequency data in sequence to perform target positioning and detection. When the data m is greater than the data n, the n transmission frequency data [F1, ..., F n ] and complete the electromagnetic wave positioning work; through the above steps, the electromagnetic wave positioning work of the first frequency sequence and the second frequency sequence is completed once.

[0045] Preferably, the size of the second preset frequency step data is preferably half of the size of the first preset frequency step data, that is, q2=q1 / 2, but it is not limited to this and can be adjusted according to actual needs to satisfy q2<q1.

[0046] The first frequency sequence and the second frequency sequence are arranged in order of magnitude, and the mth transmission frequency data in the second frequency sequence satisfies: when m≤n-1, f m+1 >F m >f m , when m = n, F m >f m， Both n and m are positive integers.

[0047] It should be noted that the first frequency sequence and the second frequency sequence are arranged in order of magnitude, and the order of magnitude between the two is as follows: 1、 F1, f 2、 F2……、f n、 F n . By in the first frequency sequence [f1, ..., f n ] in the radiation beam pattern in which the second frequency sequence [F1, ..., F n ], so that the distance between beams is shortened, that is, the distance between two adjacent beam centers is shortened, the boundary signal between beams is enhanced, and the gain is increased, thereby improving the detection effect of inter-beam detection targets. When the vehicle's driving trajectory is at the boundary of two sweep frequency centers, the enhanced beam boundary signal can easily detect the target, greatly reducing the risk of target loss and improving the target detection effect of the radar.

[0048] For example, the number of frequencies n in this embodiment is 4, the initial frequency data f0 = 79.3 GHZ, the first preset frequency step data q1 = 0.4, and the second preset frequency step data q2 = 0.2. Then the first frequency sequence calculated by the first frequency transmission algorithm is [f1, f2, f 3、 f4] = [79.3, 79.7, 80.1, 80.5], and the second frequency sequence calculated by the second frequency transmission algorithm is [F1, f2, f 3、 f4] = [79.5, 79.9, 80.3, 80.7], the order of the two is f 1、 F1, f 2、 F2……、f n、 F n =79.3, 79.5, 79.7, 79.9, 80.1, 80.3, 80.5, 80.7.

[0049] Among them, the far-field pattern of the electromagnetic wave of the first frequency sequence is as follows: Figure 6As shown, the far-field pattern of the electromagnetic wave of the second frequency sequence is as follows Figure 7 As shown, the far-field directivity diagrams of the electromagnetic waves of the first frequency sequence and the second frequency sequence are as follows Figure 8 As shown, from Figures 6 to 8 It can be clearly seen from the far-field radiation pattern that: 1. When the input electromagnetic wave frequency is different, the radiation pattern of the antenna will deflect accordingly; 2. The gain shows the characteristics of strong central angle and gradually weakening angles on both sides. The present invention uses two sets of frequency sequences to achieve cross scanning, and can superimpose the radiation beam pattern in the second frequency sequence on the radiation beam pattern of the first frequency sequence (such as Figure 8 As shown in the figure), the distance between beams can be shortened, that is, the distance between two adjacent beam centers is shortened, the boundary signal between beams is enhanced, and the gain is increased, thereby improving the detection effect of detecting targets between beams. Therefore, the present invention can effectively reduce the risk of target loss when the vehicle's driving trajectory is at the boundary of two scanning centers through the cross-scanning of two sets of frequency sequences, and greatly improve the target detection effect of the radar.

[0050] S104, looping through the cross scanning process of steps S102 and S103;

[0051] It should be noted that the radar system cyclically performs the cross-scanning work of steps S102 and S103 to cyclically perform the cross-scanning work of the above two sets of frequency sequences to ensure good detection effect during radar operation and avoid the problem of target loss.

[0052] Preferably, the step of performing electromagnetic wave positioning of the current transmission frequency data includes: transmitting a first electromagnetic wave of the transmission frequency data; receiving a second electromagnetic wave reflected by a target object; performing signal difference frequency calculation based on the first electromagnetic wave and the second electromagnetic wave to obtain a current difference frequency signal; performing position analysis processing on the difference frequency signal to infer the position information of the target object and realize the target detection function of the radar.

[0053] like Figure 2 As shown, the present invention also provides a radar cross scanning system, comprising:

[0054] Acquisition module 1, used to acquire preset initial frequency data;

[0055] It should be noted that when performing radar scanning, the initial frequency data should be determined first so that the radar system can perform scanning in the required frequency band to meet the actual needs of users.

[0056] The first frequency sequence scanning module 2 is used to perform electromagnetic wave positioning of the first frequency sequence according to the first frequency transmission model and the initial frequency data, wherein the first frequency sequence is [f1, ..., f n ],f nis the nth transmission frequency data of the first frequency sequence, n>1;

[0057] Specifically, Figure 3 As shown, the first frequency sequence scanning module includes:

[0058] A first initialization unit 21 is used to initialize data, wherein during initialization, m=1;

[0059] It should be noted that, during initialization, the data m is initialized to: m=1.

[0060] The first frequency calculation unit 22 is used to calculate the current transmission frequency data according to the first frequency transmission algorithm: m =f0+(m-1)*q1, where f m is the mth transmission frequency data of the first frequency sequence, f0 is the initial frequency data, and q1 is the first preset frequency step data;

[0061] A positioning processing unit 23, used for performing electromagnetic wave positioning of the current transmission frequency data, and m=m+1;

[0062] The first judgment processing unit 24 is used to judge whether the data m is less than or equal to the data n, and if the judgment is yes, the first frequency calculation unit 22 and the positioning processing unit 23 are controlled to work.

[0063] It should be noted that the first frequency transmission algorithm calculates the gradually increasing transmission frequency data in sequence, and transmits the electromagnetic waves of the transmission frequency data in sequence to perform target positioning and detection. When the data m is greater than the data n, the n transmission frequency data [f1, ..., f2] in the first frequency sequence have been calculated. n ] and complete the electromagnetic wave positioning work, and then carry out the electromagnetic wave positioning work of the second frequency sequence.

[0064] The second frequency sequence scanning module 3 is used to perform electromagnetic wave positioning of the second frequency sequence according to the second frequency transmission model and the first frequency sequence, wherein the second frequency sequence is [F1, ..., F n ],F n is the nth transmission frequency data of the second frequency sequence;

[0065] Specifically, Figure 4 As shown, the second frequency sequence scanning module includes:

[0066] A second initialization unit 31 is used to initialize data, wherein during initialization, m=1;

[0067] It should be noted that, during initialization, the data m is initialized to: m=1, so as to recalculate the number of transmissions.

[0068] The second frequency calculation unit 32 is used to calculate the current transmission frequency data according to the second frequency transmission algorithm: m =f m +q2, where F m is the mth transmission frequency data of the second frequency sequence, f m is the mth transmission frequency data of the first frequency sequence, and q2 is the second preset frequency step data;

[0069] A positioning processing unit 23, used for performing electromagnetic wave positioning of the current transmission frequency data, and m=m+1;

[0070] The second judgment processing unit 33 is used to judge whether the data m is less than or equal to the data n. If the judgment is yes, the second frequency calculation unit 32 and the positioning processing unit 23 are controlled to work.

[0071] It should be noted that the second frequency transmission algorithm calculates the gradually increasing transmission frequency data in sequence, and transmits the electromagnetic waves of the transmission frequency data in sequence to perform target positioning and detection. When the data m is greater than the data n, the n transmission frequency data [F1, ..., F n ] and complete the electromagnetic wave positioning work; through the above steps, the electromagnetic wave positioning work of the first frequency sequence and the second frequency sequence is completed once.

[0072] Preferably, the size of the second preset frequency step data is preferably half of the size of the first preset frequency step data, that is, q2=q1 / 2, but it is not limited to this and can be adjusted according to actual needs to satisfy q2<q1.

[0073] The first frequency sequence and the second frequency sequence are arranged in order of magnitude, and the mth transmission frequency data in the second frequency sequence satisfies: when m≤n-1, f m+1 >F m >f m , when m = n, F m >f m， Both n and m are positive integers.

[0074] It should be noted that the first frequency sequence and the second frequency sequence are arranged in order of magnitude, and the order of magnitude between the two is as follows: 1、 F1, f 2、 F2……、f n、 F n. By in the first frequency sequence [f1, ..., f n ] in the radiation beam pattern in which the second frequency sequence [F1, ..., F n ], so that the distance between beams is shortened, that is, the distance between two adjacent beam centers is shortened, the boundary signal between beams is enhanced, and the gain is increased, thereby improving the detection effect of inter-beam detection targets. When the vehicle's driving trajectory is at the boundary of two sweep frequency centers, the enhanced beam boundary signal can easily detect the target, greatly reducing the risk of target loss and improving the target detection effect of the radar.

[0075] For example, the number of frequencies n in this embodiment is 4, the initial frequency data f0 = 79.3 GHZ, the first preset frequency step data q1 = 0.4, and the second preset frequency step data q2 = 0.2. Then the first frequency sequence calculated by the first frequency transmission algorithm is [f1, f2, f 3、 f4] = [79.3, 79.7, 80.1, 80.5], and the second frequency sequence calculated by the second frequency transmission algorithm is [F1, f2, f 3、 f4] = [79.5, 79.9, 80.3, 80.7], the order of the two is f 1、 F1, f 2、 F2……、f n、 F n =79.3, 79.5, 79.7, 79.9, 80.1, 80.3, 80.5, 80.7.

[0076] Among them, the far-field pattern of the electromagnetic wave of the first frequency sequence is as follows: Figure 6 As shown, the far-field pattern of the electromagnetic wave of the second frequency sequence is as follows Figure 7 As shown, the far-field directivity diagrams of the electromagnetic waves of the first frequency sequence and the second frequency sequence are as follows Figure 8 As shown, from Figures 6 to 8 It can be clearly seen from the far-field radiation pattern that: 1. When the input electromagnetic wave frequency is different, the radiation pattern of the antenna will deflect accordingly; 2. The gain shows the characteristics of strong central angle and gradually weakening angles on both sides. The present invention uses two sets of frequency sequences to achieve cross scanning, and can superimpose the radiation beam pattern in the second frequency sequence on the radiation beam pattern of the first frequency sequence (such as Figure 8 As shown in the figure), the distance between beams can be shortened, that is, the distance between two adjacent beam centers is shortened, the boundary signal between beams is enhanced, and the gain is increased, thereby improving the detection effect of detecting targets between beams. Therefore, the present invention can effectively reduce the risk of target loss when the vehicle's driving trajectory is at the boundary of two scanning centers through the cross-scanning of two sets of frequency sequences, and greatly improve the target detection effect of the radar.

[0077] A cross scanning module 4, used for cyclically performing the cross scanning work of the first frequency sequence scanning module and the second frequency sequence scanning module;

[0078] It should be noted that the radar system cyclically performs the above two sets of frequency sequence cross-scanning operations to ensure good detection effect during radar operation and avoid the problem of target loss.

[0079] Preferably, if Figure 5 As shown, the positioning processing unit 23 includes: a transmitting subunit 231, used to transmit the first electromagnetic wave of the transmitting frequency data; a receiving subunit 232, used to receive the second electromagnetic wave reflected by the target object; a difference frequency processing subunit 233, used to perform signal difference frequency calculation based on the first electromagnetic wave and the second electromagnetic wave to obtain the current difference frequency signal; a positioning processing subunit 234, used to perform position analysis processing on the difference frequency signal to infer the position information of the target object and realize the target detection function of the radar.

[0080] In summary, the present invention uses two sets of frequency sequences for cross scanning, so as to superimpose the radiation beam pattern in the second frequency sequence on the radiation beam pattern in the first frequency sequence, so that the distance between the beams is shortened, that is, the distance between the centers of two adjacent beams is shortened, the boundary signal between the beams is enhanced, and the gain is increased, thereby improving the detection effect of detecting targets between beams. When the vehicle's driving trajectory is at the boundary of two scanning frequency centers, the target can be easily detected through the enhanced beam boundary signal, which greatly reduces the risk of target loss and improves the target detection effect of the radar.

[0081] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A radar cross scanning method, characterized in that: include: S101, obtaining preset initial frequency data; S102, performing electromagnetic wave positioning of a first frequency sequence according to the first frequency transmission model and the initial frequency data, wherein the first frequency sequence is [f1, ..., f n ],f n is the nth transmission frequency data of the first frequency sequence, n>1; S103, performing electromagnetic wave positioning of a second frequency sequence according to a second frequency transmission model and the first frequency sequence, wherein the second frequency sequence is [F1, ..., F n ],F n is the nth transmission frequency data of the second frequency sequence; S104, looping through the cross scanning process of steps S102 and S103; The first frequency sequence and the second frequency sequence are arranged in order of magnitude, and the mth transmission frequency data in the second frequency sequence satisfies: when m≤n-1, f m+1 >F m >f m , when m = n, F m >f m， Both n and m are positive integers.

2. The radar cross scanning method according to claim 1, characterized in that: The step of performing electromagnetic wave positioning of the first frequency sequence according to the first frequency transmission model and the initial frequency data comprises: S201, initializing data, wherein, during initialization, m=1; S202, calculating the current transmission frequency data according to the first frequency transmission algorithm: m =f0+(m-1)*q1, where f m is the mth transmission frequency data of the first frequency sequence, f0 is the initial frequency data, and q1 is the first preset frequency step data; S203, performing electromagnetic wave positioning of the current transmission frequency data, and m=m+1; S204, determine whether the data m is less than or equal to the data n, if it is yes, return to step S202.

3. The radar cross scanning method according to claim 2, characterized in that: The step of performing electromagnetic wave positioning of the second frequency sequence according to the second frequency emission model and the first frequency sequence comprises: S301, initializing data, wherein, during initialization, m=1; S302, calculating the current transmission frequency data according to the second frequency transmission algorithm: F m =f m +q2, where F m is the mth transmission frequency data of the second frequency sequence, f m is the mth transmission frequency data of the first frequency sequence, and q2 is the second preset frequency step data; S303, performing electromagnetic wave positioning of the current transmission frequency data, and m=m+1; S304, determine whether the data m is less than or equal to the data n, if it is determined to be yes, return to step S302.

4. The radar cross scanning method according to claim 2 or 3, characterized in that: The steps of performing electromagnetic wave positioning of the current transmission frequency data include: Transmitting a first electromagnetic wave of the transmission frequency data; receiving a second electromagnetic wave reflected by the target object; Performing signal difference frequency calculation according to the first electromagnetic wave and the second electromagnetic wave to obtain a current difference frequency signal; The difference frequency signal is subjected to position analysis processing to deduce the position information of the target object.

5. A radar cross scanning method according to claim 3, characterized in that: The size of the second preset frequency step data is half of the size of the first preset frequency step data.

6. A radar cross-scanning system, characterized in that: include: An acquisition module, used for acquiring preset initial frequency data; The first frequency sequence scanning module is used to perform electromagnetic wave positioning of the first frequency sequence according to the first frequency transmission model and the initial frequency data, wherein the first frequency sequence is [f1, ..., f n ],f n is the nth transmission frequency data of the first frequency sequence, n>1; The second frequency sequence scanning module is used to perform electromagnetic wave positioning of the second frequency sequence according to the second frequency transmission model and the first frequency sequence, wherein the second frequency sequence is [F1, ..., F n ], F n is the nth transmission frequency data of the second frequency sequence; A cross scanning module, used for cyclically performing the cross scanning work of the first frequency sequence scanning module and the second frequency sequence scanning module; The first frequency sequence and the second frequency sequence are arranged in order of magnitude, and the mth transmission frequency data in the second frequency sequence satisfies: when m≤n-1, f m+1 >F m >f m , when m = n, F m >f m， Both n and m are positive integers.

7. The radar cross-scanning system according to claim 6, characterized in that: The first frequency sequence scanning module includes: A first initialization unit, used for initializing data, wherein during initialization, m=1; The first frequency calculation unit is used to calculate the current transmission frequency data according to the first frequency transmission algorithm: m =f0+(m-1)*q1, where f m is the mth transmission frequency data of the first frequency sequence, f0 is the initial frequency data, and q1 is the first preset frequency step data; A positioning processing unit, used for performing electromagnetic wave positioning of the current transmission frequency data, and m=m+1; The first judgment processing unit is used to judge whether the data m is less than or equal to the data n, and when the judgment is yes, the first frequency calculation unit and the positioning processing unit are controlled to work.

8. The radar cross-scanning system according to claim 7, characterized in that: The second frequency sequence scanning module includes: A second initialization unit is used to initialize data, wherein during initialization, m=1; The second frequency calculation unit calculates the current transmission frequency data according to the second frequency transmission algorithm: F m =f m +q2, where F m is the mth transmission frequency data of the second frequency sequence, f m is the mth transmission frequency data of the first frequency sequence, and q2 is the second preset frequency step data; A positioning processing unit, used for performing electromagnetic wave positioning of the current transmission frequency data, and m=m+1; The second judgment processing unit is used to judge whether the data m is less than or equal to the data n, and if the judgment is yes, the second frequency calculation unit and the positioning processing unit are controlled to work.

9. The radar cross-scanning system according to claim 7 or 8, characterized in that: The positioning processing unit comprises: A transmitting subunit, configured to transmit a first electromagnetic wave of the transmitting frequency data; A receiving subunit, configured to receive a second electromagnetic wave reflected by a target object; a difference frequency processing subunit, configured to perform signal difference frequency calculation according to the first electromagnetic wave and the second electromagnetic wave to obtain a current difference frequency signal; The positioning processing subunit is used to perform position analysis processing on the difference frequency signal to calculate the position information of the target object.

10. The radar cross-scanning system according to claim 8, characterized in that: The size of the second preset frequency step data is half of the size of the first preset frequency step data.

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