Angle information determination method and device, radar, electronic equipment and storage medium

Abstract

The invention provides an angle information determination method and device, radar, electronic equipment and a storage medium, and relates to the technical field of radars, and the method comprises the steps: for each transmitting antenna of the radar, obtaining an echo signal of a target received by a virtual antenna corresponding to the transmitting antenna, and determining the space trace point information of the target based on the echo signal; performing angle compensation on angle information in the space trace point information based on the angle compensation parameter of the virtual antenna to obtain target angle information of the target; wherein the angle compensation parameter is determined based on the phase additional signal of the virtual antenna. According to the technical scheme provided by the invention, the compensation of the radar angle measurement error can be realized while the computing power and memory requirements are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar, and in particular, to a method and device for determining angle information, a radar, an electronic device, and a storage medium. Background Art

[0002] A radar is an electronic device that uses electromagnetic waves to detect targets. In order to improve the angle resolution of the radar, Multiple Input Multiple Output (MIMO) technology is applied to the radar. Among them, Time Division Multiplexing MIMO (TDM-MIMO) radar is applied to a large number of radar products due to its advantages such as simple waveform generation, convenient processing, and high waveform orthogonality.

[0003] However, since the transmitting antennas of the TDM-MIMO radar do not transmit radar signals simultaneously, there is a certain phase difference between the virtual antennas corresponding to different transmitting antennas, which affects the angle estimation of the target. In the related art, in order to compensate for the error of angle measurement, it is necessary to determine the corresponding compensation value after Doppler estimation, and use this compensation value to compensate the antenna data in the radar data cube, and re-estimate the angle of the target using the compensated data, which will consume a large amount of computing power and memory. Summary of the Invention

[0004] The present invention provides a method and device for determining angle information, a radar, an electronic device, and a storage medium, so as to compensate for the radar angle measurement error while saving computing power and memory requirements.

[0005] The present invention provides a method for determining angle information, including:

[0006] For each transmitting antenna of the radar, obtain the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna, and determine the spatial track information of the target based on the echo signal;

[0007] Perform angle compensation on the angle information in the spatial track information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target;

[0008] Wherein, the angle compensation parameter is determined based on the phase additional signal of the virtual antenna.

[0009] According to a method for determining angle information provided by the present invention, performing angle compensation on the angle information in the spatial track information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target includes:

[0010] Obtain the target Doppler frequency in the spatial track information;

[0011] Determine the angle information compensation amount based on the angle compensation parameter of the virtual antenna and the target Doppler frequency;

[0012] Perform angle compensation on the angle information in the spatial point track information based on the angle information compensation amount to obtain the target angle information of the target.

[0013] According to an angle information determination method provided by the present invention, the angle information compensation amount includes a μ-domain compensation amount and a ν-domain compensation amount, and the angle information in the spatial point track information includes a μ-domain value and a ν-domain value; wherein, the μ-domain represents the sine of the elevation angle, and the ν-domain represents the product of the cosine of the elevation angle and the sine of the azimuth angle;

[0014] The performing angle compensation on the angle information in the spatial point track information based on the angle information compensation amount to obtain the target angle information of the target includes:

[0015] Compensate the μ-domain value based on the μ-domain compensation amount to obtain a target μ-domain value;

[0016] Compensate the ν-domain value based on the ν-domain compensation amount to obtain a target ν-domain value;

[0017] Determine the target angle information of the target according to the target μ-domain value and the target ν-domain value.

[0018] According to an angle information determination method provided by the present invention, for each transmitting antenna of the radar, the transmitting antenna and a receiving antenna of the radar form a virtual antenna corresponding to the transmitting antenna.

[0019] According to an angle information determination method provided by the present invention, the determining the spatial point track information of the target based on the echo signal includes:

[0020] Determine the range-azimuth angle map of the echo signal, and perform constant false alarm rate detection on the range-azimuth angle map to obtain the range information and azimuth angle information of the target;

[0021] Obtain the time-elevation antenna data of the target based on the range information and the azimuth angle information, and perform beamforming on the time-elevation antenna data to obtain the elevation angle information of the target;

[0022] Based on the elevation angle information, the range information and the azimuth angle information, determine the time information of the target;

[0023] Perform Doppler processing on the time information to obtain the target Doppler frequency of the target;

[0024] Determine the distance information, the azimuth information, the elevation angle information, and the target Doppler frequency as the spatial track information of the target.

[0025] A method for determining angle information provided by the present invention further includes:

[0026] Obtain the signal transmission time interval, and determine the phase additional signal of the virtual antenna based on the signal transmission time interval;

[0027] Obtain the two-dimensional spatial spectrum of the phase additional signal;

[0028] Determine the maximum value of the two-dimensional spatial spectrum, and determine the coordinate information of the maximum value as the angle compensation parameter.

[0029] According to a method for determining angle information provided by the present invention, the obtaining of the two-dimensional spatial spectrum of the phase additional signal includes:

[0030] Perform two-dimensional beamforming on the phase additional signal to obtain the two-dimensional spatial spectrum of the phase additional signal.

[0031] The present invention also provides an angle information determination device, including:

[0032] An echo signal acquisition module, configured to acquire, for each transmitting antenna of the radar, the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna;

[0033] A track information determination module, configured to determine the spatial track information of the target based on the echo signal;

[0034] An angle compensation module, configured to perform angle compensation on the angle information in the spatial track information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target; wherein, the angle compensation parameter is determined based on the phase additional signal of the virtual antenna.

[0035] The present invention also provides a radar, including a first memory, a first processor, at least two transmitting antennas, and at least two receiving antennas;

[0036] When the first processor executes the computer program stored in the first memory, the method for determining angle information as described in any one of the above is implemented.

[0037] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method for determining angle information as described in any one of the above is implemented.

[0038] The present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the angle information determination method described in any one of the above is implemented.

[0039] The present invention also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the angle information determination method described in any one of the above is implemented.

[0040] The angle information determination method, device, radar, electronic device, and storage medium provided by the present invention, for each transmitting antenna of the radar, first obtain the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna, and determine the spatial track information of the target based on the echo signal, and then perform angle compensation on the angle information in the spatial track information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target. Among them, the angle compensation parameter is determined based on the phase additional signal of the virtual antenna. In this way, the corresponding angle compensation parameter can be determined by using the phase information introduced by the signal transmission time interval, and angle compensation can be directly performed on the measured spatial track information of the target, realizing the compensation of the radar angle measurement error, and omitting the process of re-estimating the angle of the target for the compensated data in the radar data cube, greatly saving the computing power and memory requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 It is a schematic diagram of the point cloud measured when the human body is in a moving state without angle compensation in the embodiment of the present invention;

[0043] Figure 2 It is a schematic diagram of the principle of angle error compensation for the target by using the RA diagram detection method in the related art;

[0044] Figure 3 It is a schematic flowchart of the angle information determination method provided by the embodiment of the present invention;

[0045] Figure 4 It is a schematic diagram of the radar coordinate system in the embodiment of the present invention;

[0046] Figure 5 It is a schematic diagram of the principle of the angle information determination method provided by the embodiment of the present invention;

[0047] Figure 6It is a schematic diagram of the human body point cloud after angle compensation using the angle information determination method provided by the embodiment of the present invention;

[0048] Figure 7 It is a schematic structural diagram of the angle information determination device provided by the embodiment of the present invention;

[0049] Figure 8 It is a schematic structural diagram of the radar provided by the embodiment of the present invention;

[0050] Figure 9 It is a schematic structural diagram of the electronic device provided by the embodiment of the present invention. Detailed implementation manners

[0051] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0052] It should be noted that the serial numbers assigned to the objects described in the present invention itself, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings.

[0053] The transmitting antennas of the TDM-MIMO radar do not transmit radar signals simultaneously, resulting in a certain phase difference between the virtual antennas corresponding to different transmitting antennas, which affects the angle estimation of the target. Moreover, in the indoor application of the radar, the human body is usually detected and tracked. Since the human body is a moving object and the motion state is relatively complex, it will cause an increase in the angle measurement error, thereby affecting the accuracy of human target detection and positioning. For example, Figure 1 It is a schematic diagram of the point cloud measured when the human body is in a moving state without angle compensation. From Figure 1 it can be seen that the height of the human body exceeds the normal height and the measurement has errors.

[0054] In outdoor applications of TDM-MIMO radar, such as vehicle-mounted radar and traffic radar, etc., the method of detecting based on the Range-Doppler (RD) map can be used to compensate for the error in the estimation of the Direction Of Arrival (DOA) of the target in the TDM-MIMO radar mode. After processing the collected echo signals for range and Doppler, the obtained range-Doppler-antenna data is stored in the Radar cube. Then, non-coherent integration is performed on the data of different antennas to obtain the RD map. Next, Constant False-Alarm Rate (CFAR) detection is performed on the RD map to obtain the range and Doppler information of the detection points. Furthermore, the corresponding antenna dimension data is searched from the Radar cube using the range and Doppler information, Doppler compensation is performed on the antenna dimension data according to the speed of the target, and DOA estimation is performed based on the compensation result to obtain the angle of the target.

[0055] However, this method is usually applicable to outdoor radar applications and only applicable to the angle compensation of rigid targets. In indoor applications of radar, human targets are usually detected and tracked. Since the human body is a moving target and its movement is relatively complex, it cannot be simply regarded as having the same speed at all points, that is, it cannot be treated as a point target like a rigid target. When the human body is running or falling at a relatively fast speed, it will cause an increase in the angle measurement error. Based on this, in related technologies, the method of detecting based on the Range-Angle (RA) map can be used to compensate for the error in the DOA estimation of the target in the TDM-MIMO radar mode.

[0056] For example, Figure 2 An exemplary schematic diagram of the principle of using the RA map detection method to compensate for the angle error of the target in related technologies is shown. Referring to Figure 2 As shown, in order to compensate for the angle measurement error caused by the phase difference between virtual antennas and target movement in the TDM-MIMO radar mode, the corresponding phase compensation value can be calculated after Doppler estimation, and the phase in the Radar cube is compensated using the phase compensation value. Then, the angle estimation of the target is re-performed on the compensated antenna data. Among them, the dotted box part is the Doppler compensation process additionally introduced to compensate for the phase deviation caused by Doppler movement when performing DOA estimation based on the RA map. This results in the need to consume a large amount of computing power and memory, and additionally occupy a large amount of system resources, especially in an embedded system with limited resources, which is unacceptable and even unable to execute the compensation process.

[0057] Based on this, an embodiment of the present invention provides a new method for determining angle information. By using the phase information introduced by the signal emission time interval, the corresponding angle compensation parameter is determined, and angle compensation is directly performed on the measured spatial point trace information of the target, so that fast angle compensation can be achieved without phase compensation, greatly saving the computational amount and memory requirements.

[0058] The following combines Figures 3 - 6 to describe the method for determining angle information of the present invention. The method for determining angle information can be applied to a radar or an electronic device communicatively connected to the radar, and the electronic device can include a terminal device or a server, etc. Among them, the terminal device can include a mobile phone, a computer, a vehicle-mounted device, a tablet computer, a wearable device, a smart home device, etc.; the server can include an independent server, a cluster server or a cloud server, etc. The method for determining angle information can also be applied to an angle information determination device provided in a radar or an electronic device, and the angle information determination device can be implemented by software, hardware or a combination of both.

[0059] Figure 3 An exemplary flow diagram of the method for determining angle information provided by an embodiment of the present invention is shown. Referring to Figure 3 as shown, the method for determining angle information can include the following steps 310 to step 320.

[0060] Step 310: For each transmitting antenna of the radar, obtain the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna, and determine the spatial point trace information of the target based on the echo signal.

[0061] A MIMO radar has multiple transmitting antennas and multiple receiving antennas. For each transmitting antenna of the radar, the transmitting antenna and a receiving antenna of the radar can form a virtual antenna corresponding to the transmitting antenna, that is, a transmitting antenna and a receiving antenna can determine a virtual antenna. For example, assume that the MIMO radar includes M transmitting antennas and N receiving antennas. The m-th transmitting antenna and the n-th receiving antenna can determine a virtual antenna, then a total of M×N virtual antennas can be formed, and each transmitting antenna can correspond to N virtual antennas.

[0062] After the echo signal of the target received by the virtual antenna corresponding to each transmitting antenna, based on the echo signal, the spatial point trace information of the target can be determined by using a radar target detection algorithm, such as determining the spatial point trace information by using a CFAR detection algorithm based on an RA map. Among them, the spatial point trace information can be the point cloud data of the target, which can characterize the position and speed of the target in space.

[0063] Step 320: Perform angle compensation on the angle information in the spatial point trace information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target.

[0064] Among them, the angle compensation parameter is determined based on the phase additional signal of the virtual antenna, and the phase additional signal is used to characterize the phase information introduced by the signal transmission time interval when each transmitting antenna transmits the radar signal in sequence. In this way, the angle compensation parameter corresponding to the virtual antenna can be determined based on the phase information introduced by the signal transmission time interval, and then the angle information in the spatial track information determined based on the echo signal received by the virtual antenna can be angle-compensated based on the angle compensation parameter of the virtual antenna, which can compensate for the error of angle estimation caused by phase deviation, improve the accuracy of target angle estimation, and further improve the accuracy of target measurement and positioning.

[0065] In an exemplary embodiment, the angle information determination method may further include a step of obtaining the angle compensation parameter. Specifically, it may include: obtaining the signal transmission time interval, and determining the phase additional signal of the virtual antenna based on the signal transmission time interval; obtaining the two-dimensional spatial spectrum of the phase additional signal; determining the maximum value of the two-dimensional spatial spectrum, and determining the coordinate information of the maximum value as the angle compensation parameter.

[0066] Exemplarily, based on the signal transmission time interval and the array position where the transmitting antenna is located, the time difference between the transmitting antenna and the first transmitting antenna for transmitting the radar signal can be determined, and then the phase difference can be determined based on the time difference, and the phase difference is determined as the phase information introduced by the signal transmission time interval. This phase information is the introduced additional phase, and then this phase information is converted into a phase signal to obtain the phase additional signal of the virtual antenna corresponding to the transmitting antenna. For example, the formed phase additional signal can be expressed as exp(j2πT 0 m), where T 0 represents the signal transmission time interval, m represents the m-th transmitting antenna, and m can characterize the array position of the transmitting antenna.

[0067] For example, taking a TDM-MIMO radar as an example, assume that the TDM-MIMO radar includes M transmitting antennas and N receiving antennas. The position of the m-th transmitting antenna is p m = [x m , y m , the position of the n-th receiving antenna is q n = [x n , y n , and every two transmitting antennas transmit signals at an interval of T 0 , that is, the signal transmission time interval when each transmitting antenna of the radar transmits the radar signal in sequence is T 0 . Then the position of the virtual antenna determined by the m-th transmitting antenna and the n-th receiving antenna is r mn = p m + q n, a total of M×N, that is, M×N virtual antennas are formed.

[0068] Exemplarily, obtaining the two-dimensional spatial spectrum of the phase-added signal may include: performing two-dimensional beamforming on the phase-added signal to obtain the two-dimensional spatial spectrum of the phase-added signal.

[0069] Exemplarily, a two-dimensional fast Fourier transform (FFT) algorithm may be used to perform two-dimensional beamforming on the phase-added signal.

[0070] Figure 4 An exemplary schematic diagram of the radar coordinate system is shown. Referring to Figure 4 as shown, the X-Y plane of the coordinate system is parallel to the ground, and the phase center of the radar antenna is placed at the origin O. If the type of the radar antenna is a one-dimensional linear array, the antenna elements are distributed along the X-axis; if the type of the radar antenna is a planar array, that is, a two-dimensional array, the antenna elements are distributed in the X-Z plane. Drawing an auxiliary line perpendicular to the X-Y plane from the target A, the angle between the projection of the target A on the X-Y plane and the Y-axis can be defined as the azimuth angle, that is Figure 4 the included angle in the angle between the line connecting the target A and the origin O and the X-Y plane can be defined as the elevation angle, that is Figure 4 the included angle θ in. According to Figure 4 the radar coordinate system, the azimuth angle and the elevation angle θ can be converted into the spatial frequency domain μ-ν domain, and it is defined that and ν = sinθ, (μ, ν) and the angle can be converted to each other.

[0071] In the embodiments of the present invention, the azimuth angle and the elevation angle θ can be converted to the ν-μ domain for description, that is, (ν, μ) characterizes the angle which can be regarded as the angle information of the target. Based on this, it can be defined that the target is in the radar space ν-μ domain and μ 0 = sinθ 0 and has a Doppler frequency where V represents the radial velocity of the target relative to the radar, and λ represents the frequency of the radar transmitted signal.

[0072] Then, the echo signal s(m, n, t) received by the virtual antenna (m, n) determined by the m-th transmitting antenna and the n-th receiving antenna at time t can be expressed as:

[0073]

[0074] Where The phase introduced by the target's relative radar angle; (2πf d T 0 m) is the phase introduced by the signal transmission time interval when different transmitting antennas of the radar sequentially transmit radar signals; (2πf d t) is the phase introduced by the Doppler information of the target.

[0075] According to the above expression (1), if the radar does not adopt the TDM-MIMO mode, there is no second term exp(j2πf d T 0 m) in formula (1). At this time, the spatial sampling position of the antenna is related to the spatial information of the target, and the temporal sampling position of the antenna is related to the speed of the target. Space and time are separable. However, in the TDM-MIMO mode, after introducing the second term exp(j2πf d T 0 m), the spatial sampling position m can be related to the speed, thus resulting in the coupling of space and time. From the perspective of the spatial sampling points, the second term exp(j2πf d T 0 m) can be regarded as the superposition of the first term, that is, a phase of 2πf d T 0 m is superimposed on the virtual antenna corresponding to the m-th transmitting antenna. At this time, only the first two terms in expression (1) can be concerned, and a spatial signal s(m,n) as shown in expression (2) is formed:

[0076]

[0077] Performing two-dimensional beamforming on the spatial signal s(m,n) can obtain the two-dimensional spatial spectrum of the target. For example, the two-dimensional FFT algorithm can be used for beamforming, and according to the product theorem, it can be obtained that:

[0078] S(v,μ)=G(ν,μ)*H(ν,μ) (3)

[0079] Among them, S(ν,μ) is the two-dimensional spatial spectrum of the spatial signal s(m,n) in expression (2), G(ν,μ) is the two-dimensional spatial spectrum in expression (2) of, and H(ν,μ) is the two-dimensional spatial spectrum of exp(j2πf d T 0 m) in expression (2).

[0080] Therefore, in order to obtain the influence of the two-dimensional spatial spectrum caused by Doppler, H(ν,μ) is obtained. Considering the different antenna arrays and the different orders in which the transmitting antennas transmit radar signals, the additional phases corresponding to different virtual antennas can be determined according to the antenna arrays in actual scenarios and the order in which the transmitting antennas transmit radar signals. After two-dimensional FFT processing, H(ν,μ) can be obtained.

[0081] Based on this, for the mth transmitting antenna, we can calculate exp(j2πf d T 0 m) Substitute into f d =1 and the signal transmission time interval is T 0 , get the phase additional signal exp(j2πT of the virtual antenna corresponding to the mth transmitting antenna 0 m). Then add the phase signal exp(j2πT 0 m) to perform two-dimensional beamforming and obtain the corresponding two-dimensional spatial spectrum H(ν,μ). Then, the coordinates (v m) of the maximum value of H(v,λ) are obtained through two-dimensional search. max ,λ max ), the (ν max ,μ max ) is determined as the angle compensation parameter. Then, (v max ,μ max ) for the angle information (ν 0 ,λ 0 ) to compensate and obtain the target angle information of the target. The target angle information can be expressed in the form of ν-μ domain or in the form of angle expressed in the form of .

[0082] The angle information determination method provided by the embodiment of the present invention first obtains the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna for each transmitting antenna of the radar, and determines the spatial point trace information of the target based on the echo signal, and then performs angle compensation on the angle information in the spatial point trace information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target. Among them, the angle compensation parameter is determined based on the phase additional signal of the virtual antenna, so that the corresponding angle compensation parameter can be determined using the phase information introduced by the signal transmission time interval, and the angle compensation is directly performed in the measured spatial point trace information of the target, thereby realizing the compensation of the radar angle measurement error, and omitting the process of re-estimating the angle of the target for the compensated data in the radar data cube, which greatly saves computing power and memory requirements.

[0083] based on Figure 3For the angle information determination method of the corresponding embodiment, in one exemplary embodiment, determining the spatial point track information of the target based on the echo signal may include: determining the range-azimuth angle map corresponding to the echo signal, performing constant false alarm rate detection on the range-azimuth angle map to obtain the range information and azimuth angle information of the target; obtaining the time-elevation antenna data of the target based on the range information and azimuth angle information, and performing beamforming on the time-elevation antenna data to obtain the elevation angle information of the target; determining the time information of the target based on the elevation angle information, range information, and azimuth angle information; performing Doppler processing on the time information to obtain the target Doppler frequency of the target; and determining the range information, azimuth angle information, elevation angle information, and target Doppler frequency as the spatial point track information of the target.

[0084] For example, Figure 5 Exemplarily shows a schematic diagram of the principle of the angle information determination method provided by the embodiments of the present invention. Referring to Figure 5 As shown, after the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna, the analog-to-digital converter (ADC) can be used to perform analog-to-digital conversion on the echo signal to obtain the digital signal corresponding to the echo signal. Then, distance processing is performed on the digital signal to obtain the four-dimensional radar data of "range-time-azimuth antenna-elevation antenna", and the four-dimensional radar data is stored in the radar data cube. Select the three-dimensional data of the azimuth antenna corresponding to the echo signal from the radar data cube to perform azimuth beamforming to obtain the range-azimuth (RA) map corresponding to the echo signal, and perform CFAR detection on the RA map to obtain the range information and azimuth angle information of the target. For this target, an azimuth steering vector is generated using the azimuth angle information of the target, and then the "time-elevation antenna" matrix of the target is extracted from the radar data cube using the azimuth steering vector and the range information of the target to obtain the time-elevation antenna data. Then, the Capon beamforming algorithm can be used to perform beamforming on the time-elevation antenna data to obtain the elevation angle information of the target. Next, an elevation dimension steering vector can be generated using the elevation angle information of the target, combined with the azimuth steering vector and range information of the target, to search for the matching time dimension information in the radar data cube, and then Doppler estimation is performed on the time dimension information to obtain the target Doppler frequency of the target. The range information, azimuth angle information, elevation angle information, and Doppler frequency can be determined as the spatial point track information of the target, and the spatial point track information can be expressed as (r 0 , f 0 , v 0 , μ 0 ), where r 0 represents the range information, v 0 represents the azimuth angle information, μ 0 represents the elevation angle information, f0 Represents the target Doppler frequency. After obtaining the spatial dot information, the azimuth angle information and elevation angle information in the spatial dot information can be compensated by using the angle compensation parameters of the virtual antenna to update the angle information of the target.

[0085] In one exemplary embodiment, performing angle compensation on the angle information in the spatial dot information based on the angle compensation parameters of the virtual antenna to obtain the target angle information of the target may include: obtaining the target Doppler frequency in the spatial dot information; determining the angle information compensation amount based on the angle compensation parameters of the virtual antenna and the target Doppler frequency; performing angle compensation on the angle information in the spatial dot information based on the angle information compensation amount to obtain the target angle information of the target.

[0086] Exemplarily, the product of the angle compensation parameters of the virtual antenna and the target Doppler frequency can be determined as the angle information compensation amount.

[0087] For example, the elevation angle and azimuth angle of the target can be analyzed in the ν-μ domain. Assume that the target Doppler frequency in the spatial dot information is f 0 , and the angle compensation parameters of the virtual antenna are (v max , λ max ). Then, in the ν-μ domain, v max is the compensation parameter in the ν domain, and λ max is the compensation parameter in the μ domain. Furthermore, the ν domain compensation amount ν add = v max f 0 and the μ domain compensation amount μ add = μ max f 0 can be obtained. v add and μ add are the determined angle information compensation amounts.

[0088] Exemplarily, the angle information compensation amount includes the μ domain compensation amount and the ν domain compensation amount. The angle information in the spatial dot information includes the μ domain value and the ν domain value. Among them, the μ domain represents the sine of the elevation angle, and the ν domain represents the product of the cosine of the elevation angle and the sine of the azimuth angle. Correspondingly, performing angle compensation on the angle information in the spatial dot information based on the angle information compensation amount to obtain the target angle information of the target may include: compensating the μ domain value based on the μ domain compensation amount to obtain the target μ domain value; compensating the ν domain value based on the ν domain compensation amount to obtain the target ν domain value; determining the target angle information of the target according to the target μ domain value and the target ν domain value.

[0089] Exemplarily, determining the target angle information of the target according to the target μ domain value and the target ν domain value may include: performing an arcsine operation on the target μ domain value to obtain the target pitch angle; determining the ratio between the target ν domain value and the cosine of the target pitch angle, and performing an arcsine operation on the ratio to obtain the target azimuth angle; and determining the target pitch angle and the target azimuth angle as the target angle information of the target.

[0090] For example, the determined angle information compensation amount includes a μ domain compensation amount μ add and a ν domain compensation amount v add , and the angle information in the spatial point track information is (ν 0 , μ 0 ). The μ domain value μ 0 in the spatial point track information can be compensated according to the following formula (4) to obtain the target μ domain value μ':

[0091] μ' = μ 0 + μ add (4)

[0092] The ν domain value ν 0 in the spatial point track information can be compensated according to the following formula (5) to obtain the target ν domain value v':

[0093] v' = c 0 + v add (5)

[0094] After obtaining the target μ domain value μ' and the target ν domain value ν', the target pitch angle θ 0 can be determined according to the following formula (6):

[0095] θ 0 = sin -1 (μ') (6)

[0096] The target azimuth angle

[0097]

[0098] can be determined according to the following formula (7). 0 Up to this point, the target angle information of the target can be obtained, that is, the target pitch angle θ

[0099] By comparing the schematic diagram of Figure 5 with Figure 2 , it can be seen that by using the angle information determination method provided in the embodiments of the present invention, Doppler compensation in the TDM-MIMO radar mode can be achieved on the premise of saving computational complexity and memory requirements, so as to achieve the purpose of compensating the pitch angle and azimuth angle of the target.

[0100] After compensating the human body point cloud data of Figure 1 using the angle information determination method provided by the embodiments of the present invention, a schematic diagram of the compensated human body point cloud as shown in Figure 6 can be obtained. It can be seen that the height of the compensated human body is restored from Figure 1 2 meters to a normal value less than 2 meters, improving the accuracy of radar target detection.

[0101] Next, the angle information determination device provided by the present invention will be described. The angle information determination device described below can be correspondingly referred to the angle information determination method described above.

[0102] Figure 7 The structural schematic diagram of the angle information determination device provided by the embodiments of the present invention is exemplarily shown. Referring to Figure 7 as shown, the angle information determination device may include:

[0103] An echo signal acquisition module 710, configured to acquire the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna for each transmitting antenna of the radar;

[0104] A track information determination module 720, configured to determine the spatial track information of the target based on the echo signal;

[0105] An angle compensation module 730, configured to perform angle compensation on the angle information in the spatial track information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target; wherein, the angle compensation parameter is determined based on the phase additional signal of the virtual antenna.

[0106] In an exemplary embodiment, the angle compensation module 730 may include:

[0107] An acquisition unit, configured to acquire the target Doppler frequency in the spatial track information;

[0108] A first determination unit, configured to determine the angle information compensation amount based on the angle compensation parameter of the virtual antenna and the target Doppler frequency;

[0109] A compensation unit, configured to perform angle compensation on the angle information in the spatial track information based on the angle information compensation amount to obtain the target angle information of the target.

[0110] In an exemplary embodiment, the angle information compensation amount includes a μ-domain compensation amount and a ν-domain compensation amount, and the angle information in the spatial point track information includes a μ-domain value and a ν-domain value; wherein, the μ-domain represents the sine of the pitch angle, and the ν-domain represents the product of the cosine of the pitch angle and the sine of the azimuth angle. Correspondingly, the compensation unit is specifically configured to: compensate the μ-domain value based on the μ-domain compensation amount to obtain a target μ-domain value; compensate the ν-domain value based on the ν-domain compensation amount to obtain a target ν-domain value; and determine the target angle information according to the target μ-domain value and the target ν-domain value.

[0111] In an exemplary embodiment, for each transmitting antenna of the radar, the transmitting antenna and a receiving antenna of the radar form a virtual antenna corresponding to the transmitting antenna.

[0112] In an exemplary embodiment, the point track information determination module 720 includes:

[0113] A detection unit, configured to determine a range-azimuth angle map of an echo signal, and perform a constant false alarm rate detection on the range-azimuth angle map to obtain the range information and azimuth angle information of the target;

[0114] A beamforming unit, configured to obtain time-pitch antenna data of the target based on the range information and azimuth angle information, and perform beamforming on the time-pitch antenna data to obtain the pitch angle information of the target;

[0115] A second determination unit, configured to determine the time information of the target based on the pitch angle information, range information, and azimuth angle information;

[0116] A Doppler processing unit, configured to perform Doppler processing on the time information to obtain the target Doppler frequency of the target;

[0117] A third determination unit, configured to determine the range information, azimuth angle information, pitch angle information, and target Doppler frequency as the spatial point track information of the target.

[0118] In an exemplary embodiment, the angle information determination device further includes:

[0119] A phase additional signal determination module, configured to obtain a signal transmission time interval, and determine a phase additional signal of the virtual antenna based on the signal transmission time interval;

[0120] A spatial spectrum acquisition module, configured to acquire a two-dimensional spatial spectrum of the phase additional signal;

[0121] A compensation parameter determination module, configured to determine the maximum value of the two-dimensional spatial spectrum, and determine the coordinate information of the maximum value as an angle compensation parameter.

[0122] In an exemplary embodiment, the spatial spectrum acquisition module is specifically configured to: perform two-dimensional beamforming on the phase additional signal to obtain a two-dimensional spatial spectrum of the phase additional signal.

[0123] Figure 8 Exemplarily shown is a schematic structural diagram of a radar provided by an embodiment of the present invention. The radar may be a TDM-MIMO radar. Referring to Figure 8 as shown, the radar may include a first memory 810, a first processor 820, at least two transmitting antennas, and at least two receiving antennas. For example, in Figure 8 two transmitting antennas and two receiving antennas are exemplified, namely a first transmitting antenna 831 and a second transmitting antenna 832, a first receiving antenna 841 and a second receiving antenna 842.

[0124] Among them, the first processor 820 may call the logical instructions stored in the first memory 810 to execute the angle information determination method provided by any of the above method embodiments. The method may include, for example: for each transmitting antenna of the radar, obtaining the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna, and determining the spatial track information of the target based on the echo signal; performing angle compensation on the angle information in the spatial track information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target; where the angle compensation parameter is determined based on the phase additional signal of the virtual antenna, and the additional signal is used to characterize the phase information introduced by the signal transmission time interval when each transmitting antenna sequentially transmits radar signals.

[0125] Exemplarily, the radar may further include a first communication interface 850 and a first communication bus 860. Each transmitting antenna, each receiving antenna, the first processor 820, the first communication interface 850, and the first memory 810 may complete mutual communication through the first communication bus 860.

[0126] Figure 9 Exemplarily shown is a schematic structural diagram of an electronic device, such as Figure 9As shown in the figure, the electronic device may include: a second processor 910, a second communication interface 920, a second memory 930, and a second communication bus 940. Among them, the second processor 910, the second communication interface 920, and the second memory 930 complete communication with each other through the second communication bus 940. The second processor 910 may call the logical instructions in the second memory 930 to execute the angle information determination method provided in any of the above method embodiments. The method may include, for example: for each transmitting antenna of the radar, obtaining the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna, and determining the spatial track information of the target based on the echo signal; performing angle compensation on the angle information in the spatial track information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target; where the angle compensation parameter is determined based on the phase additional signal of the virtual antenna, and the phase additional signal is used to characterize the phase information introduced by the signal transmission time interval when each transmitting antenna sequentially transmits radar signals.

[0127] In addition, when the logical instructions in the above-mentioned first memory 810 and second memory 930 are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0128] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program. The computer program can be stored on a computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the angle information determination method provided in any of the above method embodiments. The method may include, for example: for each transmitting antenna of the radar, obtaining the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna, and determining the spatial track information of the target based on the echo signal; performing angle compensation on the angle information in the spatial track information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target; where the angle compensation parameter is determined based on the phase additional signal of the virtual antenna, and the phase additional signal is used to characterize the phase information introduced by the signal transmission time interval when each transmitting antenna sequentially transmits radar signals.

[0129] In another aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the angle information determination method provided in any of the above method embodiments. The method may include, for example: for each transmitting antenna of the radar, obtaining the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna, and determining the spatial track information of the target based on the echo signal; performing angle compensation on the angle information in the spatial track information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target; wherein, the angle compensation parameter is determined based on the phase additional signal of the virtual antenna, and the phase additional signal is used to characterize the phase information introduced by the signal transmission time interval when each transmitting antenna sequentially transmits radar signals.

[0130] Exemplarily, the computer-readable storage medium includes a non-transitory computer-readable storage medium.

[0131] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0132] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0133] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. An angle information determination method, characterized in that, comprising: For each transmitting antenna of the radar, obtaining the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna, and determining the spatial track information of the target based on the echo signal; Performing angle compensation on the angle information in the spatial track information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target; wherein, the angle compensation parameter is determined based on the phase additional signal of the virtual antenna.

2. The angle information determination method according to claim 1, characterized in that, The performing angle compensation on the angle information in the spatial track information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target includes: Obtaining the target Doppler frequency in the spatial track information; Determining the angle information compensation amount based on the angle compensation parameter of the virtual antenna and the target Doppler frequency; Performing angle compensation on the angle information in the spatial track information based on the angle information compensation amount to obtain the target angle information of the target.

3. The angle information determination method according to claim 2, characterized in that, The angle information compensation amount includes a μ-domain compensation amount and a ν-domain compensation amount, and the angle information in the spatial track information includes a μ-domain value and a ν-domain value; wherein, the μ-domain represents the sine of the elevation angle, and the ν-domain represents the product of the cosine of the elevation angle and the sine of the azimuth angle; The performing angle compensation on the angle information in the spatial track information based on the angle information compensation amount to obtain the target angle information of the target includes: Compensating the μ-domain value based on the μ-domain compensation amount to obtain the target μ-domain value; Compensating the ν-domain value based on the ν-domain compensation amount to obtain the target ν-domain value; Determining the target angle information of the target according to the target μ-domain value and the target ν-domain value.

4. The angle information determination method according to claim 1, characterized in that, For each transmitting antenna of the radar, the transmitting antenna and a receiving antenna of the radar form a virtual antenna corresponding to the transmitting antenna.

5. The angle information determination method according to any one of claims 1 to 4, characterized in that, further comprising: Obtaining the signal transmission time interval, and determining the phase additional signal of the virtual antenna based on the signal transmission time interval; Obtaining the two-dimensional spatial spectrum of the phase additional signal; Determining the maximum value of the two-dimensional spatial spectrum, and determining the coordinate information of the maximum value as the angle compensation parameter.

6. The angle information determination method according to claim 5, characterized in that, The obtaining the two-dimensional spatial spectrum of the phase additional signal includes: Performing two-dimensional beamforming on the phase additional signal to obtain the two-dimensional spatial spectrum of the phase additional signal.

7. An angle information determination device, characterized in that, comprising: An echo signal acquisition module, configured to obtain, for each transmitting antenna of the radar, the echo signal of the target received by the virtual antenna corresponding to the transmitting antenna; A dot information determination module, configured to determine the spatial dot information of the target based on the echo signal; An angle compensation module, configured to perform angle compensation on the angle information in the spatial dot information based on the angle compensation parameter of the virtual antenna to obtain the target angle information of the target; wherein, the angle compensation parameter is determined based on the phase additional signal of the virtual antenna.

8. A radar, characterized in that it includes a first memory, a first processor, at least two transmitting antennas and at least two receiving antennas; When the first processor executes the computer program stored in the first memory, it implements the angle information determination method according to any one of claims 1 to 6.

9. An electronic device, including a second memory, a second processor, and a computer program stored on the second memory and executable on the second processor, characterized in that when the second processor executes the computer program, it implements the angle information determination method according to any one of claims 1 to 6.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that when the computer program is executed by a processor, it implements the angle information determination method according to any one of claims 1 to 6.

Images