Radar detection device and method

Abstract

The invention provides a radar detection device and method. The radar detection device provided by the invention comprises a reconfigurable intelligent surface, a radar sensing array surface and an electromagnetic wave processing circuit which are connected in sequence, the reconfigurable intelligent surface is made of a material with adjustable refraction characteristics, the reconfigurable intelligent surface is aligned with a to-be-detected target, an active regulation and control device is arranged on the reconfigurable intelligent surface, and the active regulation and control device is used for changing the refraction angle of the reconfigurable intelligent surface; an electromagnetic wave signal reflected on the to-be-detected target passes through the reconfigurable intelligent surface to reach the central position of the radar sensing array surface; each receiving antenna in the radar sensing array plane is used for receiving an electromagnetic wave signal penetrating through the reconfigurable intelligent surface in the corresponding direction; the electromagnetic wave processing circuit is used for extracting electromagnetic wave power characteristics of different frequencies according to electromagnetic wave signals received by the radar sensing array plane. According to the device and the method provided by the invention, the real-time performance and the applicability of the radar for target detection are improved.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a radar detection device and method. Background Art

[0002] Due to the many unique advantages of radar, the use of radar for target detection in the fields of autonomous driving, aerospace, military, meteorological detection, etc. has gradually become mainstream. For example, radar is not limited by lighting conditions and can work in daytime, night, haze, rain, snow, dust and other adverse weather conditions. Radar has the ability to penetrate and can penetrate materials or obstacles of a certain thickness to detect hidden or obscured targets. Radar has high-speed measurement and real-time performance, and can measure the speed, distance and direction of the target in real time, which is essential for many applications that require fast response.

[0003] Most existing radars use FMCW architecture and MIMO array to detect target distance and azimuth information. The basic principle is to extract the frequency shift and phase information of the target echo and the original signal through signal down-conversion, and solve the distance and azimuth of the target in the radar coordinate system.

[0004] Since the distance perception accuracy of existing millimeter-wave radars mainly depends on the modulation bandwidth of the signal, in order to improve the distance resolution of the radar, the requirements for the sampling frequency of the analog-to-digital converter are getting higher and higher. In addition, the spatial azimuth resolution of millimeter-wave radars mainly depends on the physical aperture of the radar array, and multi-target analysis is performed through digital domain beamforming or other DOA estimation algorithms. With the complexity of target scenes, the multi-target recognition performance and real-time performance of millimeter-wave radars are gradually facing challenges from complex requirements. Therefore, there is an urgent need for a radar detection device to solve the problems of high spatial resolution and high real-time perception encountered by existing millimeter-wave radars, and to improve the real-time and applicability of radars for target detection. Summary of the invention

[0005] In view of this, the present application provides a radar detection device and method to solve the problems of high spatial resolution and high real-time perception encountered by existing millimeter-wave radars, and to improve the real-time and applicability of radars for target detection.

[0006] Specifically, the present application is implemented through the following technical solutions:

[0007] In a first aspect, the present application provides a radar detection device, the device comprising a reconfigurable smart surface, a radar sensing array and an electromagnetic wave processing circuit connected in sequence; wherein:

[0008] The reconfigurable smart surface is made of a material with adjustable refractive properties. The reconfigurable smart surface is aimed at a target to be detected. An active control device is provided on the reconfigurable smart surface. The active control device is used to change the refraction angle of the reconfigurable smart surface. The electromagnetic wave signal reflected from the target to be detected passes through the reconfigurable smart surface and reaches the center position of the radar sensing array after being refracted.

[0009] The reconfigurable smart surface adjusts the initial refraction angle with a first unit to determine the azimuth range of the target to be detected, adjusts the refraction angle within the refraction angle corresponding to the azimuth range with a second unit to determine the azimuth of the target to be detected, and aligns the target to be detected based on the determined azimuth;

[0010] The radar sensing array includes a plurality of receiving antennas, each receiving antenna being used to receive an electromagnetic wave signal passing through the reconfigurable smart surface in a corresponding direction;

[0011] The electromagnetic wave processing circuit is used to extract electromagnetic wave power characteristics of different frequencies according to the electromagnetic wave signals received by the radar sensing array.

[0012] A second aspect of the present application provides a radar detection method, which is applied to any one of the radar detection devices provided in the first aspect of the present application, and the method includes:

[0013] The active control device in the reconfigurable smart surface changes the refraction angle of the reconfigurable smart surface, and the electromagnetic wave signal reflected from the target to be detected passes through the reconfigurable smart surface and is refracted to reach the center position of the radar sensing array surface;

[0014] The reconfigurable smart surface adjusts the initial refraction angle with a first unit to determine the azimuth range of the target to be detected, adjusts the refraction angle within the refraction angle corresponding to the azimuth range with a second unit to determine the azimuth of the target to be detected, and aligns the target to be detected based on the determined azimuth;

[0015] Each receiving antenna of the radar sensing array receives an electromagnetic wave signal passing through the reconfigurable smart surface in a corresponding direction;

[0016] The electromagnetic wave processing circuit extracts electromagnetic wave power characteristics of different frequencies according to the electromagnetic wave signals received by the radar sensing array.

[0017] The radar detection device and method provided by the present application utilize the adjustable refractive characteristics of the reconfigurable smart surface to change the refraction angle of the reconfigurable smart surface, thereby accurately controlling the electromagnetic wave signal reflected on the target to be detected to pass through the reconfigurable smart surface to reach the center position of the radar sensing array. On the one hand, by adjusting the refraction angle of the reconfigurable smart surface, the electromagnetic wave signal reflected on the target to be detected can be accurately guided to the center position of the radar sensing array. This helps to reduce the loss and interference in the propagation process of the electromagnetic wave signal, so that the radar sensing array can receive a stronger signal, thereby improving the accuracy of target detection. In addition, due to the improved focusing accuracy of the electromagnetic wave signal, the radar sensing array can more accurately capture the position information of the target to be detected, and then accurately determine the direction and distance of the target to be detected. Especially in a multi-target environment, accurate signal guidance can effectively avoid confusion of target signals and improve the spatial resolution of the radar. On the other hand, in a complex or changing environment (such as a dynamically moving target or a changing obstacle), the reconfigurable smart surface can adjust its refraction angle in real time to cope with changes in the environment. Through this dynamic adjustment, the radar detection device can adapt to different targets or environments without changing the hardware structure. Moreover, in multi-target scenarios, by precisely controlling the propagation path and direction of electromagnetic wave signals, the reconfigurable smart surface can effectively guide electromagnetic wave signals to multiple targets, thereby improving the multi-target tracking capability of the radar detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of a radar detection device according to a first embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of an electromagnetic wave processing circuit shown in an exemplary embodiment of the present application;

[0020] Figure 3 A flowchart of Embodiment 1 of the radar detection method provided in this application;

[0021] Figure 4 This is a schematic diagram of a first offset angle according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0022] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0023] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0024] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0025] Specific embodiments are given below to introduce the technical solution of the present application in detail.

[0026] Figure 1 This is a schematic diagram of the structure of the radar detection device embodiment 1 provided in this application. Figure 1 , the device provided in this embodiment comprises a reconfigurable intelligent surface, a radar sensing array and an electromagnetic wave processing circuit connected in sequence; wherein,

[0027] The reconfigurable smart surface is made of a material with adjustable refractive properties. The reconfigurable smart surface is aimed at a target to be detected. An active control device is provided on the reconfigurable smart surface. The active control device is used to change the refraction angle of the reconfigurable smart surface. The electromagnetic wave signal reflected from the target to be detected passes through the reconfigurable smart surface and reaches the center position of the radar sensing array after being refracted.

[0028] The reconfigurable smart surface adjusts the initial refraction angle with a first unit to determine the azimuth range of the target to be detected, adjusts the refraction angle within the refraction angle corresponding to the azimuth range with a second unit to determine the azimuth of the target to be detected, and aligns the target to be detected based on the determined azimuth;

[0029] The radar sensing array includes a plurality of receiving antennas, each receiving antenna being used to receive an electromagnetic wave signal passing through the reconfigurable smart surface in a corresponding direction;

[0030] The electromagnetic wave processing circuit is used to extract electromagnetic wave power characteristics of different frequencies according to the electromagnetic wave signals received by the radar sensing array.

[0031] Specifically, the radar detection device transmits electromagnetic wave signals to the target to be detected and receives the echo signal reflected by the target to be detected, thereby determining the position, speed, direction and other information of the target to be detected, thereby realizing the detection and identification of the target to be detected. Figure 1 The radar detection device includes a reconfigurable intelligent surface, a radar sensing array and an electromagnetic wave processing circuit which are connected in sequence.

[0032] Furthermore, the reconfigurable smart surface reflects the electromagnetic wave signal reflected from the target to be detected back through a set refraction angle, so that the electromagnetic wave signal reflected from the target to be detected passes through the reconfigurable smart surface to reach the center position of the radar sensing array.

[0033] It should be noted that the reconfigurable intelligent surface adjusts the initial refraction angle with a first unit to determine the azimuth range of the target to be detected, adjusts the refraction angle within the refraction angle corresponding to the azimuth range with a second unit to determine the azimuth of the target to be detected, and aligns the target to be detected based on the determined azimuth.

[0034] In the specific implementation, the center position of the reconfigurable smart surface is determined. Since the center position is the reference point for calculating the refraction angle, the center position is used as a reference point to calculate the relevant angles and target orientation. The center position is connected to the outermost side of the reconfigurable smart surface to obtain the first connecting line between the center position and the outermost side of the reconfigurable smart surface. The angle between the first connecting line and the normal of the reconfigurable smart surface is calculated and recorded as the reference angle. The reference angle defines the geometric characteristics of the reconfigurable smart surface. Further, the specific position of the target to be detected in space is determined, and the specific position is connected to the outermost point of the reconfigurable smart surface to obtain the second connecting line between the target to be detected and the outermost point of the reconfigurable smart surface. The angle between the second connecting line and the normal of the reconfigurable smart surface is calculated and recorded as the target angle. The target angle reflects the specific orientation of the target to be detected relative to the reconfigurable smart surface. Finally, the refraction angle is calculated using the relevant formula through the refraction characteristic model of the reconfigurable smart surface, combined with the reference angle and the target angle. The refraction characteristic model includes the physical parameters of the reconfigurable smart surface (such as the refractive index and geometric shape of the material), the incident angle characteristics of the ambient light or signal, and the vector relationship between the refraction light path and the target direction. The refraction angle is calculated using the following formula:

[0035] θ r =f(θ b ,θ t ,n,λ)

[0036] Among them, the θ r is the refraction angle; the θ b is the reference angle; the θ t is the target angle; n is the refractive index; λ is the signal wavelength.

[0037] The device provided in this embodiment provides significant improvements in accuracy, dynamic adaptability, resource optimization, and system robustness when calculating and adjusting the refraction angle. Through the step-by-step calculation of the reference angle and the target angle, the azimuth range of the target can be accurately located, and the refraction angle can be accurately adjusted in combination with the refraction characteristic model of the reconfigurable smart surface. This design avoids the signal energy loss caused by rough estimation, can maximize the focus of the signal or light, and improve the capture ability of the target to be detected. Since the calculation process is based on the real-time position of the target to be detected and the physical properties of the reconfigurable smart surface, the whole process can adapt to the change of the target position, especially in the scene of moving target or multi-target tracking, it shows strong adaptability. At the same time, considering factors such as refractive index and environmental parameters, the transmission path of the signal is optimized, multipath interference and energy scattering are significantly reduced, and the system efficiency is improved. In addition, this method is applicable to various complex scenarios, including irregular surfaces or non-standard target positions. Through the step-by-step calculation of the reference angle and the target angle, even in the face of complex geometric shapes and dynamic environments, it can be flexibly responded to, not limited to specific geometric assumptions, and significantly improves the versatility of the algorithm. In the collaborative optimization of multiple service providers, this high-precision refraction angle control can also be combined with resource allocation and service quality goals, providing technical support for achieving multi-objective optimization.

[0038] The radar sensing array is used to receive electromagnetic wave signals reflected from the target to be detected, that is, to receive electromagnetic wave signals passing through the reconfigurable smart surface, and these electromagnetic wave signals are electromagnetic wave signals in multiple directions.

[0039] The electromagnetic wave processing circuit is used to extract features based on the electromagnetic wave signals received by the radar sensing array, extract the electromagnetic wave power characteristics of different frequencies, analyze and integrate the electromagnetic wave power characteristics, determine the spatial electromagnetic spectrum corresponding to the electromagnetic wave signals, and determine the position, speed, direction and other information of the target to be detected based on the spatial electromagnetic spectrum.

[0040] The reconfigurable smart surface, radar sensing array and electromagnetic wave processing circuit will be introduced in turn below.

[0041] For details, please continue to refer to Figure 1The reconfigurable smart surface is an active metasurface transmission array, which is made of special materials with adjustable reflection or refraction characteristics. The reconfigurable smart surface is composed of many adjustable active control devices (such as PIN diodes and Varactor diodes). The active control devices are used to control the refraction or reflection characteristics of the reconfigurable smart surface. The active control devices can dynamically change the physical properties of the active control devices (such as conductivity, dielectric constant, etc.) according to different control signals, and then adjust the refraction or reflection angle of the reconfigurable smart surface, so that the electromagnetic wave signal reflected on the target to be detected can pass through the reconfigurable smart surface through the adjusted refraction angle to reach the center of the radar sensing array (different refraction angles result in different positions of the electromagnetic wave signal arriving at the radar sensing array).

[0042] It should be noted that the position of the reconfigurable smart surface is aligned with the target to be detected, ensuring that the propagation direction of the electromagnetic wave is consistent with the orientation of the target to be detected, so that the electromagnetic wave signal reflected by the target to be detected can be concentrated and reflected to the center of the radar sensing array.

[0043] For further information, please refer to Figure 1 The radar sensing array is composed of a group of receiving antennas arranged in two dimensions, including multiple receiving antennas. The receiving antennas that make up the radar sensing array include circularly polarized antennas, dual-linear polarized antennas, and linear antennas. Among them, the circularly polarized antenna transmits and receives circularly polarized electromagnetic wave signals, the dual-linear polarized antenna receives electromagnetic wave signals in the horizontal and vertical directions at the same time, and the linear antenna receives electromagnetic wave signals in a specific direction (horizontal or vertical direction).

[0044] It should be noted that each receiving antenna is distributed in a different channel. Each receiving antenna receives the electromagnetic wave signal reflected by the target to be detected in the corresponding direction according to the antenna type and channel. The radar sensing array receives electromagnetic wave signals in multiple directions.

[0045] Furthermore, the electromagnetic wave processing circuit includes a dispersion device; the dispersion device is connected to the radar sensing array;

[0046] The dispersion device is used to decompose the electromagnetic wave signals in the corresponding direction received by each receiving antenna of the radar sensing array according to the frequency based on the different propagation speeds of electromagnetic wave signals of different frequencies, so as to obtain electromagnetic wave signals of multiple frequencies in each direction.

[0047] Specifically, Figure 2 This is a schematic diagram of the structure of an electromagnetic wave processing circuit shown in an exemplary embodiment of the present application. Figure 2The electromagnetic wave processing circuit includes a dispersive device, which is connected to the radar sensing array. The dispersive device is an electronic device that processes electromagnetic wave signals using the principle of dispersion. The principle of dispersion refers to the fact that the speed at which electromagnetic wave signals propagate in a medium at different frequencies is different. Generally, the higher the frequency of the electromagnetic wave signal, the slower its propagation speed. The lower the frequency of the electromagnetic wave signal, the faster its propagation speed. The dispersive device uses the principle of dispersion to make different frequency components in the electromagnetic wave signal in the same direction propagate at different speeds, thereby achieving separation of the electromagnetic wave signal.

[0048] In specific implementation, the electromagnetic wave signal received by each receiving antenna is transmitted to the dispersive device. The dispersive device causes electromagnetic wave signals of different frequencies to produce different phase changes through its inherent material properties or design (such as transmission lines, filters, etc.). Electromagnetic wave signals of different frequencies are shunted into different branches, and each branch carries an electromagnetic wave signal of different frequencies. The electromagnetic wave signal received by each receiving antenna is decomposed into signals of different frequencies by the dispersive device. These signals carry different frequency information after branch processing and point to a specific radiation direction through beamforming.

[0049] Furthermore, the electromagnetic wave processing circuit further includes a radio frequency power detector, which is connected to the dispersion device; the number of the radio frequency power detectors is the same as the number of electromagnetic wave signals of multiple frequencies in each direction;

[0050] The radio frequency power detector is used to perform power detection on electromagnetic wave signals of multiple frequencies in each direction to obtain electromagnetic wave power characteristics of multiple frequencies in each direction.

[0051] For details, please continue to refer to Figure 2 The electromagnetic wave processing circuit also includes a radio frequency power detector, which is connected to the dispersion device. The radio frequency power detector is used to detect the power of the electromagnetic wave signal to obtain the electromagnetic wave power characteristics of the electromagnetic wave signal. The radio frequency power detector can be an RMS detector or an envelope detector. Among them, the RMS detector calculates the root mean square value of the electromagnetic wave signal after rectifying and filtering the electromagnetic wave signal, and determines the electromagnetic wave power characteristics based on the root mean square value. The envelope detector determines the electromagnetic wave power characteristics by extracting the change amplitude of the electromagnetic wave signal.

[0052] In specific implementation, the RF power detector detects the power of the electromagnetic wave signal through the rectification principle or the thermal principle. When the rectification principle is used for power detection, when the electromagnetic wave signal passes through the RF power detector, it will interact with a diode, semiconductor or other rectifier device to generate a DC voltage, which is proportional to the power of the electromagnetic wave signal. By measuring the DC voltage, the power of the electromagnetic wave signal can be calculated using the proportional relationship. When the thermal principle is used for power detection, when the electromagnetic wave signal passes through certain materials, a thermal effect will be generated. The temperature change of this material is proportional to the power of the electromagnetic wave signal. By measuring the temperature change, the power of the electromagnetic wave signal can be calculated. The RF power detector can measure the power characteristics of each electromagnetic wave signal.

[0053] Furthermore, the RF power detector performs power detection on multiple frequency signals in each direction to obtain electromagnetic wave power characteristics of multiple frequencies in each direction. Perform correlation analysis on the electromagnetic wave power characteristics of multiple frequencies in each direction, calculate the correlation coefficients between different electromagnetic wave power characteristics, and perform correlation verification between frequencies based on the changing trend of the correlation coefficients. Calculate the electromagnetic wave power ratio between different frequency signals, and perform direction consistency verification by comparing the difference in the electromagnetic wave power ratio between the same pair of frequency signals in different directions to ensure the consistency of power characteristics. According to the known attenuation model, verify whether the electromagnetic wave power characteristics of different frequencies conform to the theoretical attenuation law, and check whether there is attenuation anomaly. Compare the electromagnetic wave power characteristics in different directions to ensure that the electromagnetic wave power characteristics in each direction meet the system design requirements and verify the consistency between directions. If the electromagnetic wave power characteristics are abnormal or deviated, start the automatic correction mechanism, adjust the working state of the dispersion device or the RF power detector, and perform multiple verifications on the power characteristics of each direction and each frequency signal to ensure that the electromagnetic wave power characteristics meet expectations.

[0054] In specific implementation, the power characteristics of electromagnetic wave signals of different frequencies in the same direction should have a certain degree of correlation. The purpose of verifying the power characteristics of electromagnetic wave signals of different frequencies is to confirm the accuracy of the system by detecting the expected relationship between the power characteristics. Generally, the frequency characteristics of electromagnetic wave signals have a specific physical connection in the same direction, and any abnormal power value may indicate a system failure or error. By calculating the correlation coefficient between the power value of each frequency and the power value of other frequencies, in theory, they should maintain a certain ratio or pattern, especially in the signal processing process in the same direction. For example, for an ideal beamforming system, the power between frequencies should have a consistent distribution trend. If the power value of a certain frequency deviates far from the expected range, it means that there may be interference or error.

[0055] For multiple frequency signals in each direction, their consistency can be verified by calculating the power ratio between different frequencies. For example, the power ratio under two frequencies is calculated. Ideally, this ratio should be stable. If the ratio fluctuates too much in a certain direction, it may indicate that the signal in that direction is interfered or damaged, and further analysis or adjustment is required. In addition, in actual environments, electromagnetic wave signals may have frequency-dependent attenuation effects depending on the propagation distance and medium. By analyzing the attenuation characteristics of signals with different frequencies, the power characteristics in each direction can be further verified. The power of the signal will be affected by the medium during propagation, and may have different attenuation rates at different frequencies. According to the known attenuation model, the measured power characteristics can be corrected to check whether the actual measured power conforms to the expected attenuation law. For example, low-frequency signals may decay more slowly in some environments, while high-frequency signals may be more strongly attenuated. By comparing the attenuation trends of signals with different frequencies, it is possible to verify whether the measurement system is working properly. The above content is mainly aimed at the verification of frequency power characteristics in the same direction, but by comparing the power characteristics in different directions horizontally, the stability and reliability of the system can also be further verified. For example, if the system design requires that the power characteristics in a certain direction should be significantly greater than those in other directions, the power characteristics in different directions can be compared to ensure that the system can effectively distinguish directions and provide correct signal power information. If the power value in a certain direction is found to be abnormally high or low, the signal processing process in that direction may need to be checked.

[0056] The device provided in this embodiment can effectively improve the accuracy, stability and robustness of the system by performing power detection and mutual verification on electromagnetic wave signals of multiple frequencies in each direction through a radio frequency power detector. First, by using a radio frequency power detector to detect the power of electromagnetic wave signals of different frequencies, accurate signal strength information can be provided to the system, so that the system can reflect the performance of each frequency in different directions in real time. This mechanism ensures that the signal strength in each direction is fully mastered, thereby providing a reliable basis for subsequent signal processing, target positioning and optimization. Secondly, the mutual verification of the power characteristics of multiple frequency signals can identify potential errors and inconsistencies. If there are abnormal fluctuations or inconsistent with the expected rules between the power characteristics of the signal, the system can detect and adjust in time to avoid signal loss or system instability caused by errors. In addition, through the power ratio and attenuation characteristic verification, the power attenuation caused by factors such as propagation environment and medium changes can be effectively identified and compensated, ensuring the robustness and adaptability of the system under different conditions. Directional consistency verification can ensure the signal accuracy of the system in multiple directions and multiple frequencies, and reduce uneven signal coverage or directional errors caused by directional deviations. Finally, the automatic correction mechanism can automatically adjust system parameters according to the real-time monitored power characteristics to ensure high efficiency and accuracy during long-term operation. This comprehensive verification and adjustment design not only improves the accuracy and stability of the system, but also enhances its adaptability to complex environmental changes.

[0057] It should be noted that since the dispersion device decomposes the electromagnetic wave signals of multiple frequencies in multiple directions, an RF power detector is required in this step to detect the electromagnetic wave signals of each frequency in each direction. For the electromagnetic wave signals in each direction, the number of RF power detectors is the same as the number of electromagnetic wave signals of multiple frequencies in that direction. For example, please continue to refer to Figure 2 ,exist Figure 2 In the example shown, there are electromagnetic wave signals of n frequencies in total. In this step, the number of radio frequency power detectors is also n.

[0058] Furthermore, the electromagnetic wave processing circuit further includes a signal processing unit, and the signal processing unit is connected to the radio frequency power detector;

[0059] The signal processing unit is used to determine the electromagnetic wave spectrum characteristics in each direction based on the electromagnetic wave power characteristics of multiple frequencies in each direction; the electromagnetic wave spectrum characteristics represent the electromagnetic wave power characteristics at different frequencies;

[0060] The signal processing unit is also used to perform spatial synthesis on the electromagnetic wave spectrum characteristics in each direction to obtain a spatial electromagnetic spectrum corresponding to the electromagnetic wave signal; the spatial information of the spatial electromagnetic spectrum corresponds to the azimuth information of the target to be detected, and the spectrum characteristics of the spatial electromagnetic spectrum correspond to the distance information of the target to be detected.

[0061] For details, please continue to refer to Figure 2 The electromagnetic wave processing circuit also includes a signal processing unit, which is connected to the radio frequency power detector. The signal processing unit is used to integrate and analyze the electromagnetic wave power characteristics of multiple frequencies in each direction, determine the electromagnetic wave spectrum characteristics in each direction, and further, spatially integrate the electromagnetic wave spectrum characteristics in all directions to obtain the spatial electromagnetic spectrum corresponding to the electromagnetic wave signal. The signal processing unit can be FPGA (Field-Programmable Gate Array), DSP (Digital Signal Processor), etc.

[0062] In a specific implementation, the signal processing unit signal is connected to the RF power detector to perform spectrum feature extraction and spatial integration. First, based on the electromagnetic wave power characteristics of multiple frequencies received from the RF power detector, the signal processing unit extracts the electromagnetic wave spectrum characteristics in each direction. The electromagnetic wave spectrum characteristics represent the power distribution of different frequencies in each direction. It reflects the frequency component of the electromagnetic wave signal and can help determine the nature of the electromagnetic wave signal (such as the change in target distance). Furthermore, the signal processing unit spatially integrates the electromagnetic wave spectrum characteristics from different directions, and integrates the electromagnetic wave spectrum characteristics in each direction according to the spatial position to form a comprehensive spectrum containing spatial information and frequency domain information, thereby generating a spatial electromagnetic spectrum.

[0063] Further, the signal processing unit extracts spectrum features from multiple frequency signals in each direction to obtain the electromagnetic wave spectrum features in each direction. Perform spectrum consistency check on the electromagnetic wave spectrum features, check the consistency between the electromagnetic wave power features of multiple frequencies in each direction, calculate their standard deviation or rate of change, and determine the spectrum consistency of the electromagnetic wave spectrum features in each direction based on the standard deviation or rate of change. Perform directional consistency check on the electromagnetic wave spectrum features, compare the spectrum features in different directions, compare the electromagnetic wave power features of multiple frequencies in each direction, and verify the logical consistency between the electromagnetic wave spectrum features in different directions. Compare the electromagnetic wave spectrum features with the known attenuation model to check whether the attenuation of different frequencies conforms to the expected law. Perform time stability check on the electromagnetic wave spectrum features, analyze the spectrum features in the same direction in different time periods, and check the stability of the spectrum. Perform spatial integration on the electromagnetic wave spectrum features in each direction to form a spatial electromagnetic spectrum, and check whether the spectrum features in the spatial electromagnetic spectrum are consistent with the azimuth and distance information of the target. If the spectrum features are found to be inconsistent or abnormal, the signal processing unit automatically adjusts the spectrum features through a preset algorithm and regenerates the spatial electromagnetic spectrum.

[0064] In specific implementation, the signal processing unit extracts the spectrum characteristics by analyzing the power characteristics of multiple frequencies in each direction. Ideally, the spectrum characteristics should reflect a relatively consistent power distribution pattern. For example, for multiple frequencies in the same direction, the change in power value should conform to a certain rule (such as the higher the frequency, the greater the power attenuation). The signal processing unit determines whether these spectrum characteristics meet expectations by calculating the standard deviation or rate of change of the spectrum characteristics. If the power distribution of a certain frequency is very different from that of other frequencies, it may indicate a signal anomaly or a system error. By detecting the spectrum characteristics in each direction, the signal processing unit can detect inconsistent power changes or abnormal patterns and trigger a warning. The signal processing unit integrates the electromagnetic wave spectrum characteristics of multiple frequencies to ensure that there is a matching relationship between the spectrum characteristics in the same direction. For example, the spectrum characteristics of multiple frequency signals in the same direction should show a certain spatial and frequency domain correlation. If it is found that there is a large deviation between the spectra, it may indicate that the signal is interfered or there is an error in the system.

[0065] The signal processing unit can also compare the spectrum features from different directions horizontally to verify whether the spectrum features in different directions meet the expected spatial distribution pattern. In particular, for targets with specific spatial distribution patterns (e.g., stationary targets or evenly distributed multiple targets), the spectrum features should show similar spatial distribution trends. The signal processing unit can perform time stability analysis on the spectrum features to check the changes in the spectrum features in the same direction in different time periods. If the spectrum features have obvious fluctuations or instability, it may indicate that the system has failed or the signal measurement is affected by environmental interference. The signal processing unit can also verify whether each frequency component meets the expected spectrum distribution pattern through frequency response analysis. For example, the measured spectrum should maintain a smooth transition within a certain range, and the power change between frequencies should not fluctuate violently unless there are obvious changes caused by environmental or target factors. The signal processing unit checks whether the attenuation pattern of the frequency components is consistent by comparing the spectrum features with the known signal attenuation model. Generally, the attenuation degree of the signal at different frequencies should have a certain regularity, especially in a certain propagation distance or medium. By comparing with the theoretical model, the signal processing unit can identify the spectrum with inconsistent attenuation and further determine whether there is a system problem or interference. Furthermore, the signal processing unit spatially integrates the electromagnetic wave spectrum characteristics in each direction to form a spatial electromagnetic spectrum. By verifying the performance of the spectrum characteristics in the spatial spectrum, the signal processing unit can confirm whether the spectrum characteristics reasonably reflect the orientation and distance information of the target. The frequency domain characteristics of the spatial spectrum should be consistent with the physical characteristics of the target (such as distance, speed, and reflection characteristics). If the spectrum characteristics do not match the spatial electromagnetic spectrum, it may indicate a problem with the signal processing or the presence of unexpected interference sources.

[0066] The device provided in this embodiment can significantly improve the accuracy and robustness of the system by verifying, analyzing and spatially integrating the electromagnetic wave spectrum characteristics in multiple directions. First, the signal processing unit extracts and verifies the electromagnetic wave spectrum characteristics in each direction to ensure the consistency and correlation of the spectrum, thereby improving the accurate description of the electromagnetic wave signal characteristics and avoiding system instability caused by signal errors or interference. This verification mechanism can timely discover the inconsistency between the spectrum characteristics, and then automatically correct them, reducing the impact of external interference and system failures on the measurement accuracy. Secondly, the generation of the spatial electromagnetic spectrum not only integrates the frequency domain information, but also combines the spatial information with the spectrum characteristics, so that the system can be more accurate in locating and detecting targets, especially in dynamic environments, and can reflect the changes in the azimuth and distance of the target in real time, thereby improving the ability to detect and track targets. Through the verification of attenuation mode and time stability, the system can effectively identify abnormal attenuation or fluctuations in the propagation process, and make timely adjustments to ensure the reliability of the signal. Finally, through these comprehensive verification and adjustment steps, the system can not only provide high-precision signal processing results, but also remain stable and adaptive in complex environments and long-term operation, greatly enhancing the anti-interference ability and adaptability of the system.

[0067] The radar detection device provided in this embodiment, on the one hand, by adjusting the refraction angle of the reconfigurable smart surface, the electromagnetic wave signal reflected on the target to be detected can be accurately guided to the center position of the radar sensing array. This helps to reduce the loss and interference in the propagation process of the electromagnetic wave signal, so that the radar sensing array can receive a stronger signal, thereby improving the accuracy of target detection. In addition, due to the improved focusing accuracy of the electromagnetic wave signal, the radar sensing array can more accurately capture the position information of the target to be detected, and then accurately determine the direction and distance of the target to be detected. Especially in a multi-target environment, accurate signal guidance can effectively avoid the confusion of target signals and improve the spatial resolution of the radar. On the other hand, in a complex or changing environment (such as a dynamically moving target or a changing obstacle), the reconfigurable smart surface can adjust its refraction angle in real time to cope with changes in the environment. Through this dynamic adjustment, the radar detection device can adapt to different targets or environments without changing the hardware structure. In addition, in a multi-target scenario, by accurately controlling the propagation path and direction of the electromagnetic wave signal, the reconfigurable smart surface can effectively guide the electromagnetic wave signal to multiple targets, thereby improving the multi-target tracking capability of the radar detection device. Thirdly, when it is detected that the electromagnetic wave signal received by the radar sensing array is not at the center of the radar sensing array or the first offset angle with the center of the radar sensing array is too large, by adjusting the refraction angle of the reconfigurable smart surface, it can be ensured that the electromagnetic wave signal reflected from the target to be detected reaches the center of the radar sensing array more accurately. This helps to optimize the quality of the received electromagnetic wave signal, reduce the impact of signal offset or interference, and thus improve the accuracy of target detection. In addition, the adjustment of the first offset angle can accurately correct the positioning of the radar detection device for the target to be detected, especially in a multi-target and complex environment, to avoid measurement errors caused by the offset angle, and ensure that the radar detection system can more accurately determine the direction and distance of the target. Fourthly, when the radar sensing array detects the offset of the electromagnetic wave signal, the reconfigurable smart surface is adjusted immediately. This automatic adjustment (focusing) function helps the radar detection system respond to changes in the target or environment in real time, ensuring that high accuracy and high response speed can be maintained in dynamic scenes (such as moving targets). By timely adjusting the first offset angle, the electromagnetic wave signal can reach the center of the radar array more quickly, avoiding excessive deviation of the electromagnetic wave signal and reducing signal processing delay, thereby improving the real-time performance of radar detection and adapting to the detection needs of high-speed dynamic targets.

[0068] Corresponding to the aforementioned embodiment of a radar detection device, the present application also provides an embodiment of a radar detection method.

[0069] Figure 3 This is a flow chart of the radar detection method embodiment 1 provided in this application. Please refer to Figure 3The method provided in this embodiment is applied to the radar detection device provided in the first aspect of the present application, and the method includes:

[0070] S301, the active control device in the reconfigurable smart surface changes the refraction angle of the reconfigurable smart surface, and the electromagnetic wave signal reflected on the target to be detected passes through the reconfigurable smart surface and is refracted to reach the center position of the radar sensing array;

[0071] The reconfigurable smart surface adjusts the initial refraction angle with a first unit to determine the azimuth range of the target to be detected, adjusts the refraction angle within the refraction angle corresponding to the azimuth range with a second unit to determine the azimuth of the target to be detected, and aligns the target to be detected based on the determined azimuth.

[0072] S302. Each receiving antenna of the radar sensing array receives an electromagnetic wave signal passing through the reconfigurable smart surface in a corresponding direction.

[0073] S303: The electromagnetic wave processing circuit extracts electromagnetic wave power characteristics of different frequencies according to the electromagnetic wave signal received by the radar sensing array.

[0074] Specifically, the specific implementation process and implementation principle of steps S301-S303 can be found in the description of the above embodiment, which will not be repeated here.

[0075] In the specific implementation, the center position of the reconfigurable smart surface is determined. Since the center position is the reference point for calculating the refraction angle, the center position is used as a reference point to calculate the relevant angles and target orientation. The center position is connected to the outermost side of the reconfigurable smart surface to obtain the first connecting line between the center position and the outermost side of the reconfigurable smart surface. The angle between the first connecting line and the normal of the reconfigurable smart surface is calculated and recorded as the reference angle. The reference angle defines the geometric characteristics of the reconfigurable smart surface. Further, the specific position of the target to be detected in space is determined, and the specific position is connected to the outermost point of the reconfigurable smart surface to obtain the second connecting line between the target to be detected and the outermost point of the reconfigurable smart surface. The angle between the second connecting line and the normal of the reconfigurable smart surface is calculated and recorded as the target angle. The target angle reflects the specific orientation of the target to be detected relative to the reconfigurable smart surface. Finally, the refraction angle is calculated using the relevant formula through the refraction characteristic model of the reconfigurable smart surface, combined with the reference angle and the target angle.

[0076] Optionally, after each receiving antenna of the radar sensing array receives the electromagnetic wave signal passing through the reconfigurable smart surface in a corresponding direction, the method also includes: the radar sensing array detects a first offset angle between the received electromagnetic wave signal and the center position of the radar sensing array; when the first offset angle is greater than a preset value, the reconfigurable smart surface determines an adjustment parameter of the active control device based on the first offset angle; the adjustment parameter is used to control the active control device; based on a characteristic curve between the adjustment parameter of the active control device and the control signal, the adjustment parameter is converted into a control signal of the active control device; based on the control signal, the active control device is controlled to adjust the state of the active control device and change the refraction angle of the reconfigurable smart surface.

[0077] Specifically, the preset value is set according to actual needs, and this is not limited in this embodiment. The adjustment parameter includes the phase change amount to be adjusted, which is usually determined by the propagation characteristics and application scenarios of the electromagnetic wave signal. The characteristic curve characterizes the dependency between the adjustment parameter and the control signal. The horizontal axis of the characteristic curve represents the adjustment parameter (such as input current, temperature, etc.), and the vertical axis represents the control signal (such as output voltage, gain, etc.). The shape of the characteristic curve can be linear (such as a straight line relationship) or nonlinear (such as an exponential relationship, a logarithmic relationship, etc.), depending on the design and working principle of the active control device. The characteristic curve can be derived experimentally or theoretically, and the response of the active control device under different adjustment parameters is measured experimentally to draw a characteristic curve between the adjustment parameter and the control signal. Or according to the physical model and working principle of the active control device, the relationship between the adjustment parameter and the control signal or curve is obtained by theoretical derivation or numerical simulation.

[0078] In specific implementation, each receiving antenna in the radar sensing array will receive an electromagnetic wave signal. After receiving the electromagnetic wave signal, the radar sensing array calculates the first offset angle between each electromagnetic wave signal and the center position of the radar sensing array. The first offset angle is used to determine whether the electromagnetic wave signal is within a predetermined detection range. When the first offset angle is greater than the preset value, that is, the electromagnetic wave signal deviates far from the center position of the radar sensing array, the reconfigurable smart surface calculates the adjustment parameter (usually the phase change) of the active control device based on the first offset angle, and calculates the control signal corresponding to the adjustment parameter by the interpolation method based on the characteristic curve of the active control device, and converts the adjustment parameter into a control signal. For example, when the active control device includes a PIN diode, the PIN diode changes the conduction state by applying different forward or reverse pressures, adjusts the phase of the electromagnetic wave signal, and changes the refraction angle of the reconfigurable smart surface. When the active control device includes a Varactor varactor diode, the Varactor varactor diode adjusts the capacitance value by changing the applied voltage, adjusts the phase of the electromagnetic wave signal, and changes the refraction angle of the reconfigurable smart surface.

[0079] Optionally, each receiving antenna in the radar sensing array detects a first offset angle between a received electromagnetic wave signal and a center position of the radar sensing array, including: calculating a second offset angle between the electromagnetic wave signal and the refraction angle based on the electromagnetic wave signal received by each receiving antenna and the refraction angle of the reconfigurable smart surface; determining a second phase based on the sum of the second offset angle and the refraction angle, and the distance from the target to be detected to the reconfigurable smart surface; determining a first phase based on the first offset angle and the distance from the target to be detected to the reconfigurable smart surface; and calculating the first offset angle based on the first phase, the second phase, and a third phase corresponding to the refraction angle.

[0080] Specifically, Figure 4 This is a schematic diagram of a first offset angle shown in an exemplary embodiment of the present application. Figure 4 ,exist Figure 4 In the example shown, θ is the refraction angle of the reconfigurable smart surface, Δθ is the second offset angle between the electromagnetic wave signal and the refraction angle, and Δα is the first offset angle between the electromagnetic wave signal and the center position of the radar sensing array. In this step, it is necessary to determine the first offset angle to change the refraction angle of the reconfigurable smart surface. Since Δθ is proportional to Δα, the mapping relationship between the two offset angles can be calculated by classical optical principles:

[0081] d·sin(θ+Δθ)-P adj =d·sin(Δα)

[0082] P adj =d·sin(θ)

[0083] Wherein, d is the distance from the target to be detected to the reconfigurable smart surface; θ is the refraction angle; Δθ is the second offset angle; Δα is the first offset angle; P adj is the third phase corresponding to the refraction angle; d·sin(θ+Δθ) is the second phase; and d·sin(Δα) is the first phase.

[0084] Furthermore, by combining the above formulas, the first offset angle Δα can be obtained:

[0085] Δα=asin(sin(θ+Δθ)-sin(θ))

[0086] Wherein, the θ is the refraction angle; the Δθ is the second offset angle; and the Δα is the first offset angle.

[0087] Optionally, the electromagnetic wave processing circuit extracts electromagnetic wave power characteristics of different frequencies based on the electromagnetic wave signal received by the radar sensing array, including: the dispersion device in the electromagnetic wave processing circuit decomposes the electromagnetic wave signal received by the radar sensing array based on the dispersion characteristics of the electromagnetic wave signal at different frequencies to obtain electromagnetic wave signals of multiple frequencies in each direction; the radio frequency power detector in the electromagnetic wave processing circuit performs power detection on the electromagnetic wave signals of multiple frequencies in each direction to obtain electromagnetic wave power characteristics of multiple frequencies in each direction.

[0088] Optionally, after the radio frequency power detector in the electromagnetic wave processing circuit performs power detection on electromagnetic wave signals of multiple frequencies in each direction and obtains electromagnetic wave power characteristics of multiple frequencies in each direction, the method further includes: a signal processing unit determines the electromagnetic wave spectrum characteristics in each direction based on the electromagnetic wave power characteristics of multiple frequencies in each direction; the electromagnetic wave spectrum characteristics characterize the electromagnetic wave power characteristics at different frequencies; the signal processing unit performs spatial integration on the electromagnetic wave spectrum characteristics in each direction to obtain a spatial electromagnetic spectrum corresponding to the electromagnetic wave signal; the spatial information of the spatial electromagnetic spectrum corresponds to the azimuth information of the target to be detected, and the spectrum characteristics of the spatial electromagnetic spectrum correspond to the distance information of the target to be detected.

[0089] Optionally, the signal processing unit spatially integrates the electromagnetic wave spectrum characteristics in each direction to obtain a spatial electromagnetic spectrum corresponding to the electromagnetic wave signal, including: the signal processing unit determines the weight of the electromagnetic wave signal in each direction based on the signal quality and signal-to-noise ratio of the electromagnetic wave signal in each direction; performs weighted combination of the electromagnetic wave spectrum characteristics in each direction based on the weight of the electromagnetic wave signal in each direction to obtain combined spectrum characteristics; generates a spatial electromagnetic spectrum based on the combined spectrum characteristics; locates the target to be detected based on the spatial electromagnetic spectrum, and determines the direction and distance of the target to be detected.

[0090] Specifically, signal quality is used to measure the clarity and accuracy of electromagnetic wave signals in a specific direction. Signal-to-noise ratio refers to the ratio of signal power to noise. The higher the signal-to-noise ratio, the clearer the electromagnetic wave signal and the less interference. The signal quality and signal-to-noise ratio of electromagnetic wave signals in different directions are different. Within a certain range, the higher the signal quality and signal-to-noise ratio, the greater the weight of the corresponding electromagnetic wave signal. The lower the signal quality and signal-to-noise ratio, the smaller the weight of the corresponding electromagnetic wave signal. In this step, the signal processing unit determines the weight based on the signal quality and signal-to-noise ratio of the electromagnetic wave signal in each direction, and performs weighted averaging according to the weights of the electromagnetic wave signals in each direction to obtain a more accurate and reliable spectrum feature.

[0091] Using the spatial electromagnetic spectrum, the signal processing unit can locate the target to be detected. Based on the spatial information in the spatial electromagnetic spectrum, the signal processing unit can estimate the azimuth of the target to be detected, that is, the position of the target to be detected relative to the radar sensing array. Through the spectrum characteristics, the signal processing unit can calculate the distance between the target to be detected and the radar sensing array. Finally, the signal processing unit can determine the azimuth and distance of the target to be detected and achieve accurate positioning of the target to be detected.

[0092] The method of this embodiment can be used to execute Figure 1 The steps, specific implementation principles and implementation processes of the device embodiment shown are similar and will not be repeated here.

[0093] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0094] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0095] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A radar detection device, characterized in that: The device comprises a reconfigurable intelligent surface, a radar sensing array and an electromagnetic wave processing circuit connected in sequence; wherein, The reconfigurable smart surface is made of a material with adjustable refractive properties. The reconfigurable smart surface is aimed at a target to be detected. An active control device is provided on the reconfigurable smart surface. The active control device is used to change the refraction angle of the reconfigurable smart surface. The electromagnetic wave signal reflected from the target to be detected passes through the reconfigurable smart surface and reaches the center position of the radar sensing array after being refracted. The reconfigurable smart surface adjusts the initial refraction angle with a first unit to determine the azimuth range of the target to be detected, adjusts the refraction angle within the refraction angle corresponding to the azimuth range with a second unit to determine the azimuth of the target to be detected, and aligns the target to be detected based on the determined azimuth; The radar sensing array includes a plurality of receiving antennas, each receiving antenna being used to receive an electromagnetic wave signal passing through the reconfigurable smart surface in a corresponding direction; The electromagnetic wave processing circuit is used to extract electromagnetic wave power characteristics of different frequencies according to the electromagnetic wave signals received by the radar sensing array.

2. The device according to claim 1, characterized in that The electromagnetic wave processing circuit includes a dispersion device; the dispersion device is connected to the radar sensing array; The dispersion device is used to decompose the electromagnetic wave signals in the corresponding direction received by each receiving antenna of the radar sensing array according to the frequency based on the different propagation speeds of electromagnetic wave signals of different frequencies, so as to obtain electromagnetic wave signals of multiple frequencies in each direction.

3. The device according to claim 2, characterized in that The electromagnetic wave processing circuit further includes a radio frequency power detector, which is connected to the dispersion device; the number of the radio frequency power detectors is the same as the number of electromagnetic wave signals of multiple frequencies in each direction; The radio frequency power detector is used to perform power detection on electromagnetic wave signals of multiple frequencies in each direction to obtain electromagnetic wave power characteristics of multiple frequencies in each direction.

4. The device according to claim 3, characterized in that The electromagnetic wave processing circuit further comprises a signal processing unit, and the signal processing unit is connected to the radio frequency power detector; The signal processing unit is used to determine the electromagnetic wave spectrum characteristics in each direction based on the electromagnetic wave power characteristics of multiple frequencies in each direction; The electromagnetic wave spectrum characteristics represent the electromagnetic wave power characteristics at different frequencies; The signal processing unit is also used to perform spatial synthesis on the electromagnetic wave spectrum characteristics in each direction to obtain a spatial electromagnetic spectrum corresponding to the electromagnetic wave signal; the spatial information of the spatial electromagnetic spectrum corresponds to the azimuth information of the target to be detected, and the spectrum characteristics of the spatial electromagnetic spectrum correspond to the distance information of the target to be detected.

5. A radar detection method, characterized in that: The method is applied to the radar detection device according to any one of claims 1 to 4, and the method comprises: The active control device in the reconfigurable smart surface changes the refraction angle of the reconfigurable smart surface, and the electromagnetic wave signal reflected from the target to be detected passes through the reconfigurable smart surface and is refracted to reach the center position of the radar sensing array surface; The reconfigurable smart surface adjusts the initial refraction angle with a first unit to determine the azimuth range of the target to be detected, adjusts the refraction angle within the refraction angle corresponding to the azimuth range with a second unit to determine the azimuth of the target to be detected, and aligns the target to be detected based on the determined azimuth; Each receiving antenna of the radar sensing array receives an electromagnetic wave signal passing through the reconfigurable smart surface in a corresponding direction; The electromagnetic wave processing circuit extracts electromagnetic wave power characteristics of different frequencies according to the electromagnetic wave signals received by the radar sensing array.

6. The method according to claim 5, characterized in that After each receiving antenna of the radar sensing array receives an electromagnetic wave signal passing through the reconfigurable smart surface in a corresponding direction, the method further includes: The radar sensing array detects a first offset angle between the electromagnetic wave signal received and the center position of the radar sensing array; When the first offset angle is greater than a preset value, the reconfigurable smart surface determines an adjustment parameter of the active control device based on the first offset angle; the adjustment parameter is used to control the active control device; Based on a characteristic curve between an adjustment parameter of the active control device and a control signal, converting the adjustment parameter into a control signal of the active control device; The active control device is controlled based on the control signal, the state of the active control device is adjusted, and the refraction angle of the reconfigurable smart surface is changed.

7. The method according to claim 6, characterized in that Each receiving antenna in the radar sensing array detects a first offset angle between a received electromagnetic wave signal and a center position of the radar sensing array, including: Based on the electromagnetic wave signal received by each receiving antenna and the refraction angle of the reconfigurable smart surface, calculating a second offset angle between the electromagnetic wave signal and the refraction angle; Determine a second phase based on the sum of the second offset angle and the refraction angle and the distance from the target to be detected to the reconfigurable smart surface; Determine a first phase based on the first offset angle and the distance from the target to be detected to the reconfigurable smart surface; A first offset angle is calculated based on the first phase, the second phase, and a third phase corresponding to the refraction angle.

8. The method according to claim 5, characterized in that The electromagnetic wave processing circuit extracts electromagnetic wave power characteristics of different frequencies according to the electromagnetic wave signal received by the radar sensing array, including: The dispersion device in the electromagnetic wave processing circuit decomposes the electromagnetic wave signal received by the radar sensing array based on the dispersion characteristics of the electromagnetic wave signal at different frequencies to obtain electromagnetic wave signals of multiple frequencies in each direction; The radio frequency power detector in the electromagnetic wave processing circuit performs power detection on electromagnetic wave signals of multiple frequencies in each direction to obtain electromagnetic wave power characteristics of multiple frequencies in each direction.

9. The method according to claim 8, characterized in that After the radio frequency power detector in the electromagnetic wave processing circuit performs power detection on electromagnetic wave signals of multiple frequencies in each direction and obtains electromagnetic wave power characteristics of multiple frequencies in each direction, the method further includes: The signal processing unit determines the electromagnetic wave spectrum characteristics in each direction based on the electromagnetic wave power characteristics of multiple frequencies in each direction; the electromagnetic wave spectrum characteristics represent the electromagnetic wave power characteristics at different frequencies; The signal processing unit spatially integrates the electromagnetic wave spectrum characteristics in each direction to obtain a spatial electromagnetic spectrum corresponding to the electromagnetic wave signal; the spatial information of the spatial electromagnetic spectrum corresponds to the azimuth information of the target to be detected, and the spectrum characteristics of the spatial electromagnetic spectrum correspond to the distance information of the target to be detected.

10. The method according to claim 9, characterized in that The signal processing unit performs spatial synthesis on the electromagnetic wave spectrum characteristics in each direction to obtain a spatial electromagnetic spectrum corresponding to the electromagnetic wave signal, including: The signal processing unit determines the weight of the electromagnetic wave signal in each direction based on the signal quality and signal-to-noise ratio of the electromagnetic wave signal in each direction; Based on the weight of the electromagnetic wave signal in each direction, the electromagnetic wave spectrum characteristics in each direction are weighted and combined to obtain the combined spectrum characteristics; Generate a spatial electromagnetic spectrum based on the combined spectral features; The target to be detected is located based on the spatial electromagnetic spectrum, and the direction and distance of the target to be detected are determined.

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