Object positioning method and device, storage medium and electronic equipment

Abstract

The invention discloses an object positioning method and device, a storage medium and electronic equipment. The method comprises the following steps: performing signal processing on a first receiving signal of a reference transmitting antenna to obtain a reference matrix; performing information extraction on second receiving signals corresponding to the M transmitting antennas to obtain N second matrixes; determining target point cloud information corresponding to the object transmitting antenna based on the N second matrixes; p elements matched with the target element are obtained from the N second matrixes, the matching relation between the P elements and the M transmitting antennas is determined by means of the reference matrix, the target characteristic parameters and the target interval configured between the phase increments of the adjacent transmitting antennas in the M transmitting antennas, and P is the product of N and M; and angle information between the target object and the target radar is determined by using the matching relationship and the P elements, and the position of the target object is determined based on the target characteristic parameters and the angle information. The technical problem that more hardware resources are consumed is solved.

Description

Technical Field

[0001] This application relates to the field of radar signal processing, and in particular, to a method and apparatus for positioning an object, a storage medium, and an electronic device. Background Art

[0002] In an advanced driver assistance system, a millimeter-wave radar, as a key sensor, can work stably in complex environments such as rain, fog, and snow compared with cameras and lidars, provide high-resolution images, and has a relatively low cost. In a traditional radar system, due to the use of an equally spaced phase increment configuration, the received signals are evenly distributed on the Doppler spectrum, and it is difficult to distinguish the received signals of different transmitting antennas during positioning, resulting in inaccurate target positioning. To solve the above problems, the current radar system usually adopts a positioning method of increasing the number of phases of the shifter to achieve a non-equally spaced phase increment configuration, so as to generate unevenly distributed received signals on the Doppler spectrum, facilitating the matching of the transmitting antenna and the received signal.

[0003] In other words, adopting the object positioning method provided in the related art requires the number of phases of the shifter to be greater than the number of transmitting antennas, resulting in the technical problem of consuming more hardware resources.

[0004] In response to the above problems, no effective solution has been proposed yet. Summary of the Invention

[0005] Embodiments of this application provide a method and apparatus for positioning an object, a storage medium, and an electronic device to at least solve the technical problem of consuming more hardware resources.

[0006] According to one aspect of the embodiments of the present application, a method for positioning an object is provided, including: performing signal processing on a first received signal corresponding to a reference transmitting antenna to obtain a reference matrix, where the elements in the reference matrix are used to characterize the characteristic parameters of the first received signal; extracting information from second received signals corresponding to M transmitting antennas to obtain N second matrices, where the M transmitting antennas include the reference transmitting antenna, and the j-th second matrix is used to characterize the characteristic parameters of the second received signal received by the j-th receiving channel, j is less than or equal to N, N is a positive integer, and M is a positive integer; determining target point cloud information corresponding to the object transmitting antenna based on the N second matrices, where the target elements in the target point cloud information are used to characterize the target characteristic parameters of the target received signal obtained by the target object reflecting the radar signal transmitted by the object transmitting antenna, and the M transmitting antennas include the object transmitting antenna; obtaining P elements matching the target elements from the N second matrices, and determining the matching relationship between the P elements and the M transmitting antennas by using the reference matrix, the target characteristic parameters, and the target interval configured between the phase increments of adjacent transmitting antennas among the M transmitting antennas, where P is the product of N and M; determining the angle information between the target object and the target radar by using the matching relationship and the P elements, and determining the position where the target object is located based on the target characteristic parameters and the angle information.

[0007] According to another aspect of the embodiments of the present application, a device for positioning an object is further provided, including: a signal processing unit, configured to perform signal processing on a first received signal corresponding to a reference transmitting antenna to obtain a reference matrix, where the elements in the reference matrix are used to characterize the characteristic parameters of the first received signal; an information extraction unit, configured to extract information from second received signals corresponding to M transmitting antennas to obtain N second matrices, where the M transmitting antennas include the reference transmitting antenna, and the j-th second matrix is used to characterize the characteristic parameters of the second received signal received by the j-th receiving channel, j is less than or equal to N, N is a positive integer, and M is a positive integer; a first determination unit, configured to determine target point cloud information corresponding to the object transmitting antenna based on the N second matrices, where the target elements in the target point cloud information are used to characterize the target characteristic parameters of the target received signal obtained by the target object reflecting the radar signal transmitted by the object transmitting antenna, and the M transmitting antennas include the object transmitting antenna; a second determination unit, configured to obtain P elements matching the target elements from the N second matrices, and determine the matching relationship between the P elements and the M transmitting antennas by using the reference matrix, the target characteristic parameters, and the target interval configured between the phase increments of adjacent transmitting antennas among the M transmitting antennas, where P is the product of N and M; a third determination unit, configured to determine the angle information between the target object and the target radar by using the matching relationship and the P elements, and determine the position where the target object is located based on the target characteristic parameters and the angle information.

[0008] According to another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the above object positioning method when running.

[0009] According to another aspect of the embodiments of the present application, there is provided a computer program product or a computer program. The computer program product or the computer program includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to execute the object positioning method as described above.

[0010] According to another aspect of the embodiments of the present application, there is also provided an electronic device including a memory and a processor. A computer program is stored in the memory, and the processor is configured to execute the above object positioning method through the computer program.

[0011] In the embodiments of the present application, signal processing is performed on the first received signal corresponding to the reference transmitting antenna to obtain a reference matrix, where the elements in the reference matrix are used to characterize the characteristic parameters of the first received signal. Then, information extraction is performed on the second received signals corresponding to M transmitting antennas to obtain N second matrices, where the M transmitting antennas include the reference transmitting antenna, and the j-th second matrix is used to characterize the characteristic parameters of the second received signal received by the j-th receiving channel, j is less than or equal to N, N is a positive integer, and M is a positive integer. Furthermore, based on the N second matrices, the target point cloud information corresponding to the target transmitting antenna is determined, where the target elements in the target point cloud information are used to characterize the target characteristic parameters of the target received signal obtained by the target object reflecting the radar signal transmitted by the target transmitting antenna, and the M transmitting antennas include the target transmitting antenna. Next, P elements matching the target elements are obtained from the N second matrices, and the matching relationship between the P elements and the M transmitting antennas is determined by using the reference matrix, the target characteristic parameters, and the target interval configured between the phase increments of adjacent transmitting antennas among the M transmitting antennas, where P is the product of N and M. Thus, the angle information between the target object and the target radar is determined by using the matching relationship and the P elements, and the position where the target object is located is determined based on the target characteristic parameters and the angle information. In other words, by adopting the embodiments of the present application, on the one hand, signal processing is performed on the first signal received by the reference transmitting antenna to generate a reference matrix, and the elements of the reference matrix contain the characteristic parameters of the signal. This step helps to provide an accurate reference point in subsequent signal matching, that is, the signal characteristics of the reference transmitting antenna, so that the signals of other transmitting antennas can be more accurately identified and matched. On the other hand, information is extracted from the second received signals corresponding to M transmitting antennas to generate N second matrices, and these matrices respectively characterize the characteristic parameters of the signals of each receiving channel. This process expands the scope of signal processing to cover the received signals of all transmitting antennas, providing a comprehensive data basis for subsequent point cloud information determination and matching. On the other hand, based on the N second matrices, the target point cloud information corresponding to the target transmitting antenna is determined, where the target elements characterize the target characteristic parameters of the reflected signal. This is the core step of signal processing. By analyzing and matching the signals related to the target transmitting antenna in all second matrices, the signal characteristics of the target reflection can be accurately identified, providing key information for subsequent target positioning. On the other hand, P elements matching the target elements are selected from the N second matrices, and the matching relationship between the P elements and the M transmitting antennas is determined by using the reference matrix, the target characteristic parameters, and the phase increment configuration between the transmitting antennas. By using the configuration information of the phase increment, accurate matching between the transmitting antenna and the received signal is achieved without increasing the number of phases of the shifter, thus avoiding the consumption of hardware resources caused by increasing the number of phases of the shifter.Furthermore, by adopting the embodiment of the present application, it is only necessary to match the point cloud information of one transmitting antenna among the M transmitting antennas with the reference matrix to determine which transmitting antenna the received signal reflected by the target object corresponds to at the receiving antenna. That is to say, by adopting the embodiment of the present application, it is only necessary to calculate and save the point cloud information of one transmitting antenna, thus greatly saving the memory space and computing resources of the system. On the other hand, by adopting the embodiment of the present application, the angle information between the target object and the target radar is determined based on the matching relationship and P elements, and the specific position of the target object is determined in combination with the target feature parameters. The P elements and angle information obtained through the matching algorithm can accurately locate the target object, improving the accuracy and efficiency of positioning. In summary, by adopting the embodiment of the present application, through optimizing the signal processing flow, accurate target positioning is achieved without increasing the hardware cost, effectively overcoming the technical problem that the traditional positioning method requires a large amount of hardware resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments and descriptions thereof of the present application are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0013] Figure 1 is a flowchart of an optional object positioning method according to an embodiment of the present application;

[0014] Figure 2 is a schematic diagram of an optional object positioning method according to an embodiment of the present application;

[0015] Figure 3 is a schematic diagram of another optional object positioning method according to an embodiment of the present application;

[0016] Figure 4 is a schematic diagram of yet another optional object positioning method according to an embodiment of the present application;

[0017] Figure 5 is a schematic diagram of yet another optional object positioning method according to an embodiment of the present application;

[0018] Figure 6 is a schematic diagram of yet another optional object positioning method according to an embodiment of the present application;

[0019] Figure 7 is a schematic diagram of yet another optional object positioning method according to an embodiment of the present application;

[0020] Figure 8 is a schematic diagram of yet another optional object positioning method according to an embodiment of the present application;

[0021] Figure 9 It is a schematic diagram of another optional object positioning method according to an embodiment of the present application;

[0022] Figure 10 It is a schematic diagram of another optional object positioning method according to an embodiment of the present application;

[0023] Figure 11 It is a flowchart of an optional object positioning method according to an embodiment of the present application;

[0024] Figure 12 It is a flowchart of an optional object positioning method according to an embodiment of the present application;

[0025] Figure 13 It is a schematic diagram of another optional object positioning method according to an embodiment of the present application;

[0026] Figure 14 It is a schematic diagram of another optional object positioning method according to an embodiment of the present application;

[0027] Figure 15 It is a schematic diagram of another optional object positioning method according to an embodiment of the present application;

[0028] Figure 16 It is a schematic diagram of another optional object positioning method according to an embodiment of the present application;

[0029] Figure 17 It is a schematic diagram of another optional object positioning method according to an embodiment of the present application;

[0030] Figure 18 It is a schematic diagram of another optional object positioning method according to an embodiment of the present application;

[0031] Figure 19 It is a schematic structural diagram of an optional object positioning device according to an embodiment of the present application;

[0032] Figure 20 It is a schematic structural diagram of an optional electronic device according to an embodiment of the present application. Detailed implementation manners

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0034] It should be noted that the terms "first", "second", etc. in the specification, claims and the above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0035] Optionally, as an alternative solution, as Figure 1 shown, the positioning method of the above object includes:

[0036] S102, perform signal processing on the first received signal corresponding to the reference transmitting antenna to obtain a reference matrix, where the elements in the reference matrix are used to characterize the characteristic parameters of the first received signal.

[0037] Optionally, the above reference matrix is a real matrix, and each element in the matrix is a real number, and the size of the real number characterizes the target emission intensity.

[0038] It should be noted that the above object positioning method can be but is not limited to being applied to a radar system for positioning a target object. The specific application scenario can be in an automotive advanced driver assistance system, used to monitor the surrounding environment in real time, identify potential obstacles and pedestrians, and ensure driving safety.

[0039] Furthermore, for the matrix obtained by processing the first received signal, its elements are used to characterize the characteristic parameters of the first received signal, such as intensity, distance, and Doppler position. The reference matrix is the key information for target detection and positioning.

[0040] It should be noted that the above reference transmitting antenna is an antenna on the target radar for transmitting signals. The above first received signal is reflected by the first radar signal transmitted by the transmitting antenna. The above characteristic parameters include distance information, Doppler position, and signal intensity. Among them, the distance information is used to characterize the distance between the object reflecting the signal and the target radar, the Doppler position is used to characterize the movement speed of the object reflecting the signal, and the signal intensity is used to characterize the amplitude of the signal.

[0041] Optionally, the signal processing of the first received signal corresponding to the reference transmitting antenna to obtain the reference matrix can be but is not limited to including:

[0042] S1. Perform information extraction operations on the first received signals received by each of the N receiving channels of the target radar to obtain N first matrices. The elements in the first matrix are used to characterize the characteristic parameters of the first received signals received by the corresponding receiving channels. The characteristic parameters include signal strength information, distance information, and Doppler position.

[0043] Optionally, the above information extraction operation may but is not limited to being signal processing steps performed on the first received signals, including signal sampling, range dimension accumulation, and Doppler dimension accumulation, to extract the characteristic parameters of the signals.

[0044] S2. Perform fusion processing on the N first matrices to obtain a reference matrix.

[0045] The above fusion processing operation may but is not limited to including: comprehensively processing the results of taking the modulus and logarithm of the N first matrices to generate a complete reference matrix containing the information of all receiving channels.

[0046] In this embodiment, information extraction is performed on the first received signals received by each receiving channel of the target radar to generate N first matrices. This operation ensures that the signal information collected from multiple receiving channels can be effectively analyzed and utilized. Each first matrix contains key characteristic parameters such as the strength, distance, and Doppler position of the signal of a specific receiving channel, which provides detailed data support for subsequent signal fusion and target positioning. The elements in the first matrix include not only signal strength but also distance and Doppler position information. This comprehensive utilization of characteristic parameters can provide richer and more accurate target information compared to methods that rely only on a single parameter, which helps to accurately distinguish and locate targets in a complex environment. The N first matrices are fused and processed to generate a reference matrix. This fusion process can improve the signal-to-noise ratio of the signal and reduce the influence of noise by comprehensively analyzing the information of multiple receiving channels, thereby obtaining more reliable and representative signal characteristics. The generation of the reference matrix provides a key reference point for subsequent target matching and positioning, ensuring the accuracy and stability of the matching process.

[0047] S104. Perform information extraction on the second received signals corresponding to the M transmitting antennas to obtain N second matrices. Among them, the M transmitting antennas include a reference transmitting antenna. The j-th second matrix is used to characterize the characteristic parameters of the second received signals received by the j-th receiving channel, where j is less than or equal to N, N is a positive integer, and M is a positive integer.

[0048] Optionally, the N second matrices are complex matrices, and each element in the matrix is a complex number. The complex value characterizes two pieces of information: target reflection intensity and the spatial orientation of the target relative to the radar.

[0049] Optionally, in some embodiments, the phase increment of the signals transmitted by every two adjacent transmitting antennas among the M transmitting antennas is the same, and is one M-th of 360°. The above second received signal is the signal received by the receiving antenna after being reflected by the target from the signals transmitted by the M transmitting antennas. These signals contain the reflection characteristics of the target and are used to generate the second matrix.

[0050] Furthermore, the N second matrices are signal feature matrices generated by each receiving channel (the signal processing channel corresponding to the receiving antenna). N is equal to the total number of receiving antennas, j is the index of the receiving channel, j is less than or equal to N, and N is a positive integer. The second matrix contains information in four dimensions: the distance, Doppler, reflection intensity, and spatial orientation of the target relative to the radar of the target.

[0051] S106. Based on the N second matrices, obtain a detection matrix to determine the target point cloud information corresponding to the object transmitting antenna.

[0052] Among them, the detection matrix is obtained by taking the modulus of each of the N second matrices to become N real number matrices and adding these N real number matrices.

[0053] Among them, the target element in the target point cloud information is used to characterize the target feature parameters of the target received signal obtained by reflecting the radar signal transmitted by the object transmitting antenna. The M transmitting antennas include the object transmitting antenna. Optionally, the object transmitting antenna is one of the M transmitting antennas, and it is not yet determined which specific antenna among the M transmitting antennas it is here and further matching is required to obtain it.

[0054] The above target point cloud information is a set of radar feature information about the target object determined by the detection matrix. The target feature parameters of the target elements in the target point cloud information include parameters such as the distance information, Doppler information, and intensity information of the reflected signal of the target object.

[0055] S108. Obtain P elements matching the target element from the N second matrices, and determine the matching relationship between the P elements and the M transmitting antennas by using the reference matrix, the target feature parameters, and the target interval configured between the adjacent transmitting antennas among the M transmitting antennas, where P is the product of N and M.

[0056] Optionally, the P elements are a set of elements screened from the N second matrices, which match the target elements. P is equal to the product of N and M, that is, the product of the number of receiving antennas and the number of transmitting antennas, and is used for subsequent determination of the matching relationship. For example, assume that N is 2, that is, there are two receiving antennas, and M is also 2, that is, there are two transmitting antennas. Two second matrices are obtained based on the received signals of the two receiving antennas. Each second matrix includes the characteristic parameters of the received signals corresponding to the two transmitting antennas. Then, for each second matrix, two elements need to be extracted, that is, the element that matches the distance information, Doppler information, and the first transmitting antenna among the two transmitting antennas, and the element that matches the distance information, Doppler information, and the second transmitting antenna among the two transmitting antennas. Finally, 4 elements are obtained.

[0057] Further, the determination of the matching relationship between the P elements and the M transmitting antennas by using the reference matrix, the target characteristic parameters, and the target interval configured between the phase increments of adjacent transmitting antennas among the M transmitting antennas may include, but is not limited to:

[0058] S1. Determine the Doppler position interval between the received signals corresponding to adjacent transmitting antennas among the M transmitting antennas based on the target interval.

[0059] It should be noted that the target interval is the phase increment configuration between the transmitting antennas and is used to distinguish the signals of different transmitting antennas. The setting of the target interval directly affects the distribution of the signals in the Doppler domain and is the basis for signal separation and matching.

[0060] Further, the Doppler position interval is the signal position interval on the Doppler spectrum caused by the phase difference between the transmitting antennas. The signals of different transmitting antennas will present different Doppler positions at the receiving end, and this position interval can be used to identify the signal source.

[0061] S2. Use the reference matrix, the target characteristic parameters, and the Doppler position interval to determine the matching relationship between the P elements and the M transmitting antennas.

[0062] Optionally, the above steps can be explained by the following examples, but are not limited to:

[0063] Assume that a radar system with two transmitters and four receivers (M×R = 2×4) is used as an example, where M = 2 means there are two transmitting antennas (T1 and T2), and R = 4 means there are four receiving antennas (R1 to R4). We know the characteristic parameters of the target, including the specific distance r_B and Doppler position f_B. Our goal is to determine the corresponding matching relationship between the P elements (P = 8 in this example because N = 4 and M = 2) that match the target characteristic parameters and the M transmitting antennas.

[0064] The specific steps include:

[0065] S2-1. Determine the Doppler position interval: Based on the target interval, calculate the expected position interval in the Doppler domain of the received signals corresponding to the T1 and T2 transmitting antennas in the detection matrix. For example, if the phase difference between T1 and T2 is configured as π, it can be expected that on the Doppler spectrum, the signals transmitted by T1 and T2 will appear on both sides of f_B, with an interval of Δf, which is calculated based on the phase difference and radar parameters.

[0066] S2-2. Screen the second matrix elements related to the target: In the 4 second matrices, find the elements that match the target characteristic parameters (specific Doppler position f_B and distance r_B). These elements will be candidates for P elements because they may be directly related to the reflected signals of the target object.

[0067] S2-3. Determine the matching relationship using the reference matrix: Using the reference matrix (generated by the signal transmitted by T1) and the target characteristic parameters, combined with the Doppler position interval, determine whether each candidate element actually corresponds to the target object and determine which one of the M transmitting antennas it is associated with. For example, for an element that matches f_B in the second matrix, if the position interval on the Doppler spectrum from the position of the signal transmitted by T1 in the reference matrix is exactly equal to 1 / k of the calculated Doppler position interval Δf, it can be confirmed that this element is reflected by the signal transmitted by T2 because the phase difference between T1 and T2 results in this interval. Conversely, if the position interval is 0, this element may be related to the signal transmitted by T1. Here, the reason for using 1 / k of the Doppler position interval Δf to determine T2 is that the number of signals transmitted by the reference transmitting antenna is 1 / k of the transmitting antennas among the M transmitting antennas. Correspondingly, the Doppler position interval between the signals reflected by the target object in the echo signals of the original M transmitting antennas in the reference matrix should also be 1 / k in the detection matrix.

[0068] It should be noted that the above example is an optional example provided for the convenience of explaining the above object positioning method, and there is no limitation on the specific implementation manner of the object positioning method.

[0069] That is to say, by adopting this embodiment, through the target interval parameter, the position interval of the received signals corresponding to adjacent transmitting antennas among the M transmitting antennas on the Doppler spectrum can be calculated. The accurate calculation of this interval, based on the phase increment configuration of each antenna, allows the system to distinguish the echo signals of different antennas on the Doppler spectrum. Even in the case of dense target signals or the presence of multiple targets, signal separation and matching can be effectively performed. By using the determined Doppler position interval and combining the signal characteristics and target characteristic parameters in the reference matrix, it can be accurately determined which transmitting antenna the echo signal corresponding to the P elements (i.e., the elements screened from the second matrix that match the target characteristic parameters) comes from. This method avoids the signal confusion that may occur in traditional technologies, especially in scenarios with multiple targets or similar signal intensities, and improves the accuracy and stability of signal matching.

[0070] For another example, taking a two-transmitter and two-receiver channel as an example, assuming that the number of signals transmitted by the reference transmitting antenna is half of the number of signals transmitted by each of the M transmitting antennas, the comparison process between the reference matrix and the detection matrix can refer to Figure 3 , as Figure 3 shown. The horizontal direction of the detection matrix 302 is the Doppler dimension, and the vertical direction is the distance dimension. Correspondingly, the horizontal direction of the reference matrix 304 is also the Doppler dimension, and the vertical direction is the distance dimension. The detection matrix includes two signal highlights (i.e., the signal points corresponding to the received signals reflected by the target object) that match the transmitting antennas T1 and T2, including: D1 (distance 10, Doppler 20, signal intensity 2000), D2 (distance 10, Doppler 40, signal intensity 2050). Since the number of signals transmitted by the reference transmitting antenna is half of the number of signals transmitted by each of the M transmitting antennas, the corresponding relationship between the points on the detection matrix and the points on the reference matrix is as follows: their distance positions are the same, and the Doppler position on the reference matrix is half of the Doppler position on the detection matrix). From this, it can be obtained that when D1 is T1, there is a highlight (distance 10, Doppler 10, signal intensity 1000) on the reference matrix; when D2 is T1, there is a highlight (distance 10, Doppler 20, signal intensity 1000) on the reference matrix. By comparing the signal intensities of C1 and D1, and C2 and D1, it can be determined that the signal intensity of C1 is close to half of the signal intensity of D1, and then it can be determined that C1 is the signal transmitted by the reference transmitting antenna (assuming the reference transmitting antenna is T1). In the case where D1 is determined to be the signal point matching T1, then D2 can be determined to be the signal point matching T2.

[0071] The signals received by the receiving antennas R1 and R2 are from the same target reflection, so the distance and Doppler information are exactly the same. As Figure 4In the matrix 402 of R1 obtained after processing the received signals of T1 and T2 by the receiving antenna R1, signal points matching D1 of T1 are obtained, that is, J2 (distance 10, Doppler 20, -600 + 790i); signal points matching D2 of T2 are obtained, that is, J1 (distance 10, Doppler 40, -260 - 960i). In the matrix 404 of R2 obtained after processing the received signals of T1 and T2 by the receiving antenna R2, target information is also included at the same distance-Doppler positions. Signal points matching D1 of T1 are obtained, that is, J4 (distance 10, Doppler 20, 920 + 370i); signal points matching D2 of T2 are obtained, that is, J3 (distance 10, Doppler 40, -850 + 510i). Among them, the modulus of the complex number represents the target reflection intensity, and the phase of the complex number (imaginary part divided by the real part) carries the target direction information.

[0072] It should be noted that the above examples are optional examples provided for facilitating the explanation of the positioning method of the above object, and there is no limitation on the specific implementation manner of the positioning method of the object.

[0073] Optionally, each of the P elements in the above matching relationship represents the characteristic parameters of the received signal of which antenna among the M transmitting antennas. For example, assume p is equal to 4, and the distance position, Doppler position, signal intensity, and direction information are (10, 20, -600 + 790i), (10, 40, -260 - 960i), (10, 20, 920 + 370i), (10, 40, -850 + 510i) respectively. Assume M is equal to 2, and the transmitting antennas include transmitting antenna 1 and transmitting antenna 2. Assume N is equal to 2, and the receiving antennas include receiving antenna 1 and receiving antenna 2. The matching relationship can be:

[0074] (10, 20, -600 + 790i) matches receiving antenna 1 and transmitting antenna 1;

[0075] (10, 40, -260 - 960i) matches receiving antenna 1 and transmitting antenna 2;

[0076] (10, 20, 920 + 370i) matches receiving antenna 2 and transmitting antenna 1;

[0077] (10, 40, -850 + 510i) matches receiving antenna 2 and transmitting antenna 2.

[0078] It should be noted that the above examples are optional examples provided for facilitating the explanation of the positioning method of the above object, and there is no limitation on the specific implementation manner of the positioning method of the object.

[0079] S110. Determine the angle information between the target object and the target radar using the matching relationship and P elements, and determine the position where the target object is located based on the target feature parameters and the angle information.

[0080] It should be noted that determining the angle information between the target object and the target radar using the matching relationship and P elements may include, but is not limited to: determining the angle information based on the P signal strength information characterized by the P elements and the matching relationship. Specifically, a full array vector is generated based on the P signal strength information and the matching relationship, where the elements in the full array vector are used to characterize the relative position relationship between the target object, the M transmitting antennas, and the N receiving antennas of the target radar; performing a fast Fourier transform on the full array vector to obtain the target pattern; and determining the angle information based on the target pattern.

[0081] It should be noted that the above P elements include signal strength and position information. For example, assuming the distance position r_B (i.e., distance information) and Doppler position x_B of the detection point (i.e., the target element), then the target information vector of all transmitting channels in any receiving channel is as shown in the following formula:

[0082]

[0083] where N is the number of receiving channels; Matrix_Ri(r B , x B ) is the target information at the position (r B , x B ) in the information matrix generated by the i-th receiving channel; is an M×1 dimensional vector, representing the echo information of all transmitted signals reflected by the target included in the i-th receiving channel. is a P-dimensional vector, representing the echo information of all transmitted signals reflected by the target included in all receiving channels. Where P = M×N.

[0084] For each point cloud, complete the matching of the transmitting channels. The specific steps are as follows: According to the Doppler cell number x_B of this point, calculate the possible Doppler positions of the received signals of all No. 1 antennas on the reference matrix.

[0085] Furthermore, for each point cloud (i.e., the target element), it is necessary to complete the matching of the transmitting channels. The specific steps are as follows: According to the Doppler cell number x_B of this point, calculate the possible Doppler positions of the received signals of all reference transmitting antennas on the reference matrix:

[0086]

[0087] Referring to the above formula, if at x AiIf a received signal that matches the received signal energy at the current point is detected, it indicates that the received signal at this detection point belongs to the i-th channel.

[0088] Optionally, in some embodiments, the above-mentioned determination of the angular information between the target object and the target radar using the matching relationship and the P elements may but is not limited to including: determining the angular information based on the P signal strength information characterized by the P elements and the matching relationship.

[0089] Optionally, the above-mentioned determination of the angular information based on the P signal strength information characterized by the P elements and the matching relationship may but is not limited to including: generating a full array vector based on the P signal strength information and the matching relationship, where the elements in the full array vector are used to characterize the relative position relationship between the target object, the M transmitting antennas, and the N receiving antennas of the target radar; performing a fast Fourier transform on the full array vector to obtain a target pattern; and determining the angular information based on the target pattern.

[0090] With this embodiment, the P elements are signal elements associated with the M transmitting antennas screened by a matching algorithm. They not only carry the signal strength information of the target, which enables the system to enhance the accuracy of angle positioning by using the signal strength difference. In practical applications, the signal strength information can reflect the relative distance between the target and different antennas, thereby affecting the accuracy of angle estimation. Through the matching relationship, the signal strength information of each target can be accurately associated, so as to distinguish the positions of different targets in the calculation of angular information and improve the angle separation ability in a complex environment.

[0091] Optionally, in some embodiments, the above-mentioned determination of the target point cloud information corresponding to the object transmitting antenna based on the N second matrices may but is not limited to including: obtaining N sub-matrices corresponding to the object transmitting antenna from the N second matrices, where the elements in the sub-matrices are used to characterize the characteristic parameters of the second received signal of the object transmitting antenna; performing a fusion process on the N sub-matrices to obtain a detection matrix; and performing a constant false alarm rate detection on the detection matrix to obtain the target point cloud information.

[0092] It should be noted that the above-mentioned constant false alarm rate detection is a detection process performed on the detection matrix, which is used to identify and extract the target point cloud information while ensuring that the false alarm rate remains at a preset level.

[0093] By adopting this embodiment, the targeted processing of signals is achieved by extracting sub-matrices related to the object transmitting antenna from N second matrices. These sub-matrices contain the characteristic parameters of the second received signals of the object transmitting antenna, including signal strength, distance information, Doppler position, etc. This method focuses on the signal information associated with a specific transmitting antenna, avoiding the processing of redundant data, thereby improving the efficiency of signal analysis and the accuracy of target positioning. Fusing the N sub-matrices to generate a detection matrix, this step can further improve the signal-to-noise ratio of the signal by integrating the information of multiple sub-matrices, reducing the influence of noise on the target information, and ensuring the high quality of the detection matrix. The generation of the detection matrix not only integrates the signal characteristics collected from different receiving antennas, but also enhances the stability of target recognition through the fusion algorithm, reducing potential false detections and missed detections. Performing constant false alarm detection on the detection matrix, this step uses the constant false alarm rate algorithm to automatically adjust the detection threshold to adapt to different environmental noise levels. This method ensures that the radar system can maintain a stable false alarm probability in various working environments, improving the reliability of target point cloud information detection. Especially in complex environments, it can effectively filter out background noise and other interference signals, avoiding false alarms and missed alarms. Further, by directly extracting the information related to the target transmitting antenna from the second matrix, unnecessary signal processing steps are reduced, avoiding the situation of independently processing each second matrix, thereby reducing the consumption of computing resources and also reducing the hardware cost.

[0094] In the embodiment of the present application, signal processing is performed on the first received signal corresponding to the reference transmitting antenna to obtain a reference matrix, where the elements in the reference matrix are used to characterize the characteristic parameters of the first received signal. Then, information extraction is performed on the second received signals corresponding to M transmitting antennas to obtain N second matrices, where the M transmitting antennas include the reference transmitting antenna, and the j-th second matrix is used to characterize the characteristic parameters of the second received signal received by the j-th receiving channel, j is less than or equal to N, N is a positive integer, and M is a positive integer. Furthermore, based on the N second matrices, the target point cloud information corresponding to the target transmitting antenna is determined, where the target elements in the target point cloud information are used to characterize the target characteristic parameters of the target received signal obtained by the target object reflecting the radar signal transmitted by the target transmitting antenna, and the M transmitting antennas include the target transmitting antenna. Then, P elements matching the target elements are obtained from the N second matrices, and the matching relationship between the P elements and the M transmitting antennas is determined by using the reference matrix, the target characteristic parameters, and the target interval configured between the phase increments of adjacent transmitting antennas among the M transmitting antennas, where P is the product of N and M. Thus, the angle information between the target object and the target radar is determined by using the matching relationship and the P elements, and the position where the target object is located is determined based on the target characteristic parameters and the angle information. In other words, by adopting the embodiment of the present application, on the one hand, signal processing is performed on the first signal received by the reference transmitting antenna to generate a reference matrix, and the elements of the reference matrix contain the characteristic parameters of the signal. This step helps to provide an accurate reference point in subsequent signal matching, that is, the signal characteristics of the reference transmitting antenna, so that the signals of other transmitting antennas can be more accurately identified and matched. On the other hand, information is extracted from the second received signals corresponding to M transmitting antennas to generate N second matrices, and these matrices respectively characterize the characteristic parameters of the signals of each receiving channel. This process expands the scope of signal processing to cover the received signals of all transmitting antennas, providing a comprehensive data basis for subsequent point cloud information determination and matching. On the one hand again, based on the N second matrices, the target point cloud information corresponding to the target transmitting antenna is determined, where the target elements characterize the target characteristic parameters of the reflected signal. This is the core step of signal processing. By analyzing and matching the signals related to the target transmitting antenna in all second matrices, the signal characteristics of the target reflection can be accurately identified, providing key information for subsequent target positioning. On the one hand again, P elements matching the target elements are screened out from the N second matrices, and the matching relationship between the P elements and the M transmitting antennas is determined by using the reference matrix, the target characteristic parameters, and the phase increment configuration between the transmitting antennas. By using the configuration information of the phase increment, accurate matching between the transmitting antenna and the received signal is achieved without increasing the number of phases of the shifter, thus avoiding the hardware resource consumption caused by increasing the number of phases of the shifter.Furthermore, by adopting the embodiments of the present application, it is only necessary to match the point cloud information of one transmitting antenna among the M transmitting antennas with the reference matrix to determine which transmitting antenna the received signal reflected by the target object corresponds to at the receiving antenna. That is to say, by adopting the embodiments of the present application, it is only necessary to calculate and save the point cloud information of one transmitting antenna, thus greatly saving the memory space and computing resources of the system. On the other hand, by adopting the embodiments of the present application, the angle information between the target object and the target radar is determined based on the matching relationship and the P elements, and the specific position of the target object is determined in combination with the target feature parameters. The P elements and the angle information obtained through the matching algorithm can accurately locate the target object, improving the accuracy and efficiency of the positioning. In summary, by adopting the embodiments of the present application, through optimizing the signal processing flow, accurate target positioning is achieved without increasing the hardware cost, effectively overcoming the technical problem that the traditional positioning method requires a lot of hardware resources.

[0095] Optionally, as an alternative solution, before performing signal processing on the first received signal corresponding to the reference transmitting antenna to obtain the reference matrix, it further includes:

[0096] Configuring a phase increment for the M signal transmission channels corresponding to the M transmitting antennas, where the interval of the phase increments between adjacent transmitting antennas among the M transmitting antennas is the target interval;

[0097] Using the reference transmitting antenna to transmit the first number of first radar signals;

[0098] Using each of the M transmitting antennas to transmit the second number of second radar signals respectively, where the second number is k times the first number, and k is a positive integer.

[0099] Optionally, the phase increment can be determined for each transmitting antenna in the following ways, but not limited thereto:

[0100]

[0101] Where T n is the total number of transmitting antennas, i is the transmitting channel number, is the phase increment of the phase shifter of the i-th transmitting channel.

[0102] It should be noted that k here can take 2 or be flexibly adjusted according to actual needs, and it is not limited in this embodiment. Further, the transmitted waveform diagrams corresponding to the M transmitting antennas can Figure 2 be the waveform diagrams shown.

[0103] Further by way of example, assume that k is 2, that is to say, the number of signals transmitted by each of the M transmitting antennas is twice the number of signals transmitted by the reference transmitting antenna. Then, the number of echo signals of each of the M transmitting antennas is twice the number of echo signals of the reference transmitting antenna (i.e., the first received signal).

[0104] It should be further noted that, in this embodiment, since the number of signals transmitted by the reference transmitting antenna is 1 / k of the number of signals transmitted by each of the M transmitting antennas, therefore, the number of echo signals corresponding to the reference transmitting antenna (i.e., the first echo signal) is also 1 / k of the number of echo signals transmitted by each of the M transmitting antennas. Then, the storage space occupied by the echo signals of the reference transmitting antenna will be greatly reduced, achieving the technical effect of saving system resources.

[0105] By adopting this embodiment, phase increments are configured for the M signal transmission channels corresponding to the M transmitting antennas, ensuring the phase difference between adjacent transmitting antennas, which is beneficial for the radar system to separate signals in the Doppler domain and improve the accuracy and precision of target detection. By the step of transmitting the first radar signals of the first quantity by the reference transmitting antenna and the second radar signals of the second quantity by the M transmitting antennas respectively, where the second quantity is k times the first quantity (k is a positive integer), by controlling the configuration of the phase increments and the signal transmission quantity, the hardware cost can be effectively controlled while optimizing the resource utilization efficiency. In a multi-antenna radar system, reasonably configuring the phase increments and the signal transmission quantity helps to reduce the complexity and cost of the phase shifters while improving the efficiency of signal processing.

[0106] Optionally, as an alternative solution, determining the matching relationship between the P elements and the M transmitting antennas by using the reference matrix, the target characteristic parameters, and the target interval configured between the phase increments of adjacent transmitting antennas among the M transmitting antennas includes:

[0107] S1. Determine the Doppler position interval between the received signals corresponding to adjacent transmitting antennas among the M transmitting antennas based on the target interval.

[0108] S2. Obtain M reference elements from the reference matrix based on the target distance information and the Doppler position interval. Among them, the distance information represented by the x-th reference element among the M reference elements is the target distance information, the Doppler position of the x-th reference element is the x-th Doppler position, the x-th Doppler position is the sum of the initial Doppler position and x object Doppler position intervals, the target characteristic parameters include the target distance information, the Doppler position interval is k times the object Doppler position interval, x is less than M and x is a positive number.

[0109] It should be noted that the number of signals transmitted by the reference transmitting antenna is 1 / k of the transmitting antennas among the M transmitting antennas. Correspondingly, the Doppler position interval between the signals reflected by the target object among the echo signals of the original M transmitting antennas in the reference matrix should also be 1 / k in the detection matrix. Therefore, the Doppler position interval is k times the object Doppler position interval. Correspondingly, for the same transmitting antenna and the Doppler position of the echo information corresponding to the target, it should also be k times that on the reference matrix. Further, for the same transmitting antenna, the signal intensity of the echo information corresponding to the target should also be k times that on the reference matrix.

[0110] Optionally, the above-mentioned target distance information can be but is not limited to indicating the relative distance between the target object and the target radar, and is a part of the target characteristic parameters, used to locate the target reflection signal in the reference matrix.

[0111] It should be noted that the above-mentioned M reference elements are a set of elements selected from the reference matrix, and each reference element corresponds to a transmitting antenna in the system, used for subsequent signal intensity information matching. The above-mentioned x-th Doppler position is a specific position representing the target characteristics on the Doppler spectrum, calculated based on the target distance information, the phase increment of the transmitting antenna, and the radar system parameters.

[0112] S3. Determine the reference element whose signal intensity information characterized in the M reference elements matches the target intensity information as the target reference element, where the received signal corresponding to the target reference element matches the reference transmitting antenna, and the target characteristic parameters include the target intensity information.

[0113] Optionally, the above-mentioned target intensity information is the intensity value of the target reflection signal, which is a part of the target characteristic parameters, used to match with the signal intensity information in the reference matrix to help identify the target reflection signal.

[0114] Further, the above-mentioned target reference element is selected from the M reference elements, and is the reference element whose signal intensity information matches the target intensity information (that is, the difference between the signal intensity and 1 / k of the target intensity information is less than the target difference). The received signal corresponding to the target reference element matches the reference transmitting antenna.

[0115] In this embodiment, M reference elements are extracted from the reference matrix according to the target distance information and the Doppler position interval. This step uses the target distance information as a screening criterion to ensure that the selected reference elements match the signal characteristics of the target transmitting antenna, thereby improving the accuracy of signal matching. Among the M reference elements, the reference elements whose signal strength information matches the target strength information are selected as the target reference elements. This step further ensures a high correspondence between the reference elements and the signal characteristics of the target transmitting antenna through the matching of signal strength, improving the signal-to-noise ratio of signal matching, and thus enabling more stable target recognition in practical applications. Based on the reference Doppler position represented by the target reference elements, the matching relationship between P elements and M transmitting antennas is determined. This process uses the Doppler position information of the target reference elements. Through comparison and matching, the corresponding relationship between the target reflected signal and different transmitting antennas can be effectively identified, thereby improving the accuracy of target positioning.

[0116] S4. Based on the reference Doppler position represented by the target reference elements and the object Doppler position interval, determine the matching relationship between the M reference elements and the M transmitting antennas, and based on the matching relationship between the M reference elements and the M transmitting antennas, determine the matching relationship between the P elements and the M transmitting antennas.

[0117] Optionally, the reference Doppler position is the position of the target reference element on the Doppler spectrum, which is calculated based on the target characteristic parameters and the phase increment configuration of the transmitting antenna.

[0118] Optionally, determining the matching relationship between the M reference elements and the M transmitting antennas based on the reference Doppler position and the Doppler position interval characterized by the target reference element may include, but is not limited to: when there is a reference element among the M reference elements whose characterized Doppler position is after the reference Doppler position and there is no reference element whose characterized Doppler position is before the reference Doppler position, determining the reference element among the M reference elements whose interval between the characterized Doppler position and the reference Doppler position is Q object Doppler position intervals as the (z + Q)-th transmitting antenna among the M transmitting antennas, where Q is less than M, Q is a positive integer, z is a positive integer less than or equal to M, and the characteristic parameter includes the Doppler position; when there is a reference element among the M reference elements whose characterized Doppler position is after the reference Doppler position and there is also a reference element whose characterized Doppler position is after the reference Doppler position, determining the reference element among the M reference elements whose characterized Doppler position is after the reference Doppler position and the interval between it and the reference Doppler position is G object Doppler position intervals as the (z + G)-th transmitting antenna among the M transmitting antennas; and determining the reference element among the M reference elements whose characterized Doppler position is before the reference Doppler position and the interval between it and the reference Doppler position is H object Doppler position intervals as the (z + M - H)-th transmitting antenna among the M transmitting antennas; where the sum of G and H is less than or equal to M - 1, G is a positive integer, and H is a positive integer; when there is no reference element among the M reference elements whose characterized Doppler position is after the reference Doppler position, determining the reference element among the M reference elements whose characterized Doppler position is before the reference Doppler position and the interval between it and the reference Doppler position is L object Doppler position intervals as the (z + M - L)-th transmitting antenna among the M transmitting antennas, where L is less than 4 and L is a positive integer.

[0119] It should be noted that determining the matching relationship between the P elements and the M transmitting antennas based on the matching relationship between the M reference elements and the M transmitting antennas may include, but is not limited to:

[0120] Determining the distance information and Doppler position corresponding to each of the M reference elements;

[0121] Determining the transmitting antenna matched by each of the M reference elements;

[0122] Creating a matching relationship between the element in the P elements whose distance information and Doppler position match those of the i-th reference element among the M reference elements and the transmitting antenna matched by the i-th reference element.

[0123] Optionally, the above step S4 can be explained by way of example, but is not limited to the following examples:

[0124] Taking a radar system with two transmitters and two receivers (M×R = 2×2) as an example, the transmit antennas include T1 and T2, and the receive antennas include R1 and R2. Assuming the reference transmit antenna is T1, assume the target distance information is S1, the target Doppler position is 10, the target intensity information is 10000, the Doppler interval is 40, and the object Doppler interval is 20.

[0125] S1, as Figure 5 As shown in the target distance information D1 and the Doppler position 10 are determined from the reference matrix 502 as a reference element and marked as reference element 1. Based on the Doppler interval 20 and the initial Doppler position, another reference element with the target distance information D1 and the Doppler position 10 + 20 = 30 is determined and marked as reference element 2.

[0126] S2, the signal intensity of reference element 1 is determined to be 10001 and the signal intensity of reference element 2 is determined to be 500.

[0127] S3, the target intensity information is compared with the signal intensities of reference element 1 and reference signal 2 respectively. It is determined that the signal intensity of reference element 1 is very close to half of the target intensity information. Then it can be determined that the received signal corresponding to reference element 1 is the signal reflected by the target object.

[0128] S4, since the reference matrix is generated based on the echo of the reference transmit antenna, then it can be determined that the Doppler position corresponding to reference element 1 is the position of the reference transmit antenna, that is, T1.

[0129] S5, since the target Doppler position corresponding to the object transmit antenna coincides with the Doppler position of T1 determined, that is, the target element Doppler position 20 of the object transmit antenna on the detection matrix is twice the Doppler position 10 of the reference element in the reference matrix. Then it can be determined that the object transmit antenna is T1.

[0130] S6, in the case where the object transmit antenna is determined to be T1, the Doppler position corresponding to T1 can be determined by the target Doppler position and the Doppler interval, which should be the target Doppler position + Doppler interval = 20 + 40, that is, 60.

[0131] S7, then it can be determined that for the same target object, the distance information and Doppler position of the echo of T1 on the detection matrix are (D1, 20), and the distance information and Doppler position of the echo of T2 are (D1, 60).

[0132] In S8, then, among the P elements, the element with a distance information and a Doppler position of (D1, 20) can be determined as the element matching T1, and the element with a distance information and a Doppler position of (D1, 60) among the P elements can be determined as the element matching T2.

[0133] It should be noted that the initial Doppler position here is in the Doppler spectrum, which is the expected position where the echo signal of a certain specific transmitting antenna among the above M transmitting antennas is located without phase modulation. This position is relative and is usually determined based on the motion state of the target and the transmitting frequency of the radar system. In the above example, the initial Doppler position is set to 20. This means that in the case of no phase modulation, the target echo signal should appear at the 20 position in the Doppler spectrum. This position is calculated based on the radar system parameters, the radial velocity of the target, and the wavelength of the radar wave, and can be specifically estimated through the Doppler frequency shift formula. When the target moves at a constant speed, due to the relative speed between the signal it reflects and the radar wave, a specific position will be generated on the Doppler spectrum, and this position is the initial Doppler position. Further, since the number of signals transmitted by the reference transmitting antenna is 1 / k of the transmitting antennas among the M transmitting antennas, then correspondingly, in the reference matrix, the corresponding reference initial Doppler position should also be 1 / k of the initial Doppler position.

[0134] It should be further noted that the above example is an optional example provided for facilitating the explanation of the positioning method of the above object, and there is no limitation on the specific implementation manner of the positioning method of the object.

[0135] By adopting the embodiment of the present application, by using the Doppler position of the target reference element as the matching benchmark and combining the preset Doppler position interval between the transmitting antennas, it is possible to more accurately identify and distinguish the received signals corresponding to different transmitting antennas, thereby improving the signal resolution and enabling accurate positioning even in a complex target environment. Based on the preliminary matching relationship between the M reference elements and the M transmitting antennas, the matching of the P elements and the M transmitting antennas can be quickly determined. This step-by-step matching strategy not only ensures accuracy but also improves the efficiency of the matching process and reduces the consumption of computing resources.

[0136] Optionally, as an alternative solution, when the reference transmitting antenna is the z-th transmitting antenna among the M transmitting antennas, determining the matching relationship between the M reference elements and the M transmitting antennas based on the reference Doppler position and the object Doppler position interval characterized by the target reference element includes:

[0137] When there is a reference element among the M reference elements whose represented Doppler position is after the reference Doppler position, and there is no reference element whose represented Doppler position is before the reference Doppler position, the reference element among the M reference elements whose interval between the represented Doppler position and the reference Doppler position is Q object Doppler position intervals is determined as the (z + Q)-th transmitting antenna among the M transmitting antennas, where Q is less than M, Q is a positive integer, z is a positive integer less than or equal to M, and the characteristic parameters include the Doppler position.

[0138] As an optional example, the above steps can be illustrated by the following examples, but are not limited to:

[0139] Still taking a radar system with four transmitters and four receivers (M×R = 4×4) as an example, the transmitting antennas include T1, T2, T3, T4, the receiving antennas include R1, R2, R3, R4. Assume the reference transmitting antenna is T1, assume the target distance information is D1, the target Doppler position is 20, the target intensity information is 20000, the Doppler interval is 40, the object Doppler interval is 20, and the initial Doppler position is 20 (phase increment configuration is 0).

[0140] S1, as Figure 6 shown, the reference elements included in the reference matrix 602 are M1(D1, 10, 10001), M2(D1, 30, 500), M3(D1, 50, 500), M4(D1, 70, 500), and the target element Q1(D1, 20, 20000) included in the detection matrix 604. Among them, the signal intensity information (10001) represented in M1 is close to the target intensity information (20000), and it is determined as the target reference element, that is, the element matching the reference transmitting antenna T1.

[0141] S2, it can be determined that there are also reference elements M2, M3, and M4 after M1.

[0142] S3, among M1(D1, 10, 10001), M2(D1, 30, 500), M3(D1, 50, 500), M4(D1, 70, 500), the reference element whose interval between the represented Doppler position and the reference Doppler position (10) is 1 object Doppler position interval, that is, M2(D1, 30, 500) is determined as the element matching T2;

[0143] Among M1(D1, 10, 10001), M2(D1, 30, 500), M3(D1, 50, 500), M4(D1, 50, 500), the reference element whose interval between the represented Doppler position and the reference Doppler position (10) is 2 object Doppler position intervals, that is, M2(D1, 50, 500) is determined as the element matching T3.

[0144] Among M1(D1, 10, 10001), M2(D1, 30, 500), M3(D1, 50, 500), and M4(D1, 70, 500), the reference element with an interval of 3 object Doppler position intervals from the reference Doppler position (10), that is, M2(D1, 50, 500), is determined as the element matching T4.

[0145] It should be noted that the above examples are optional examples provided for facilitating the explanation of the positioning method of the above objects, and there is no limitation on the specific implementation of the positioning method of the objects.

[0146] When there is a reference element among the M reference elements whose represented Doppler position is after the reference Doppler position, and there is a reference element whose represented Doppler position is after the reference Doppler position, the reference element among the M reference elements whose represented Doppler position is after the reference Doppler position and has an interval of G object Doppler position intervals from the reference Doppler position is determined as the (z + G)-th transmitting antenna among the M transmitting antennas; and the reference element among the M reference elements whose represented Doppler position is before the reference Doppler position and has an interval of H object Doppler position intervals from the reference Doppler position is determined as the (z + M - H)-th transmitting antenna among the M transmitting antennas; where the sum of G and H is less than or equal to M - 1, G is a positive integer, and H is a positive integer.

[0147] As an optional example, the above steps can be illustrated by the following examples, but are not limited to them:

[0148] Still taking a radar system with four transmitters and four receivers (M×R = 4×4) as an example, the transmitting antennas include T1, T2, T3, and T4, the receiving antennas include R1, R2, R3, and R4. Assume the reference transmitting antenna is T1, assume the target distance information is D1, the target Doppler position is 20, the target intensity information is 20000, the Doppler interval is 40, the object Doppler interval is 20, and the initial Doppler position is 20 (phase increment configuration is 0).

[0149] S1, as Figure 7 shown, the reference elements included in the reference matrix 702 are M1(D1, 10, 500), M2(D1, 30, 10001), M3(D1, 50, 500), M4(D1, 70, 500), and the target element Q1(D1, 100, 20000) included in the detection matrix 704. Among them, the signal intensity information (10001) represented in M2 matches the target intensity information (20000) and is determined as the target reference element, that is, the element matching the reference transmitting antenna T1.

[0150] S2, it can be determined that there is also a reference element M1 before M2, and there are also reference elements M3 and M4 after M2.

[0151] S3, among M1(D1, 10, 500), M2(D1, 30, 10001), M3(D1, 50, 500), and M4(D1, 70, 500), the reference element that is at an interval of 1 object Doppler position interval after the reference Doppler position (30), i.e., M3(D1, 50, 500), is determined as the element matching T2;

[0152] Among M1(D1, 10, 500), M2(D1, 30, 10001), M3(D1, 50, 500), and M4(D1, 70, 500), the reference element that is at an interval of 2 object Doppler position intervals after the reference Doppler position (30), i.e., M4(D1, 70, 500), is determined as the element matching T3;

[0153] Among M1(D1, 10, 500), M2(D1, 30, 10001), M3(D1, 50, 500), and M4(D1, 70, 500), the reference element that is at an interval of 1 object Doppler position interval before the reference Doppler position (30), i.e., M1(D1, 10, 500), is determined as the element matching T1.

[0154] It should be noted that the above examples are optional examples provided for facilitating the explanation of the above object positioning method, and there is no limitation on the specific implementation manner of the object positioning method.

[0155] In the case where there is no reference element among the M reference elements whose represented Doppler position is after the reference Doppler position, the reference element among the M reference elements whose represented Doppler position is before the reference Doppler position and the interval between it and the reference Doppler position is L object Doppler position intervals is determined as the (z + M - L)-th transmitting antenna among the M transmitting antennas, where L is less than 4 and L is a positive integer.

[0156] As an optional example, the above steps can be illustrated by the following examples, but not limited to:

[0157] Still taking a radar system with four transmitters and four receivers (M×R = 4×4) as an example, the transmitting antennas include T1, T2, T3, and T4, the receiving antennas include R1, R2, R3, and R4. Assume the reference transmitting antenna is T1, assume the target distance information is D1, the target Doppler position is 20, the target intensity information is 20000, the Doppler interval is 40, the object Doppler interval is 20, and the initial Doppler position is 20 (phase increment configuration is 0).

[0158] S1, asFigure 8 The reference elements included in the reference matrix 802 are M1(D1, 10, 500), M2(D1, 30, 500), M3(D1, 50, 500), M4(D1, 70, 10001), and the target element Q1(D1, 100, 20000) included in the detection matrix 804. Among them, the signal strength information (10001) and the target strength information (20000) in M4 are determined as the target reference element, that is, the element matching the reference transmitting antenna T1.

[0159] S2, it can be determined that there are also reference elements M1, M2, and M3 before M4, but there are no other reference elements after M4.

[0160] S3, among M1(D1, 10, 500), M2(D1, 30, 500), M3(D1, 50, 500), M4(D1, 70, 10001), the reference element with a reference Doppler position interval of 1 object Doppler position interval before the reference Doppler position (70), that is, M3(D1, 50, 500), is determined as the element matching T4;

[0161] Among M1(D1, 10, 500), M2(D1, 30, 500), M3(D1, 50, 500), M4(D1, 70, 10001), the reference element with a reference Doppler position interval of 2 object Doppler position intervals before the reference Doppler position (70), that is, M2(D1, 30, 500), is determined as the element matching T3;

[0162] Among M1(D1, 10, 500), M2(D1, 30, 500), M3(D1, 50, 500), M4(D1, 70, 10001), the reference element with a reference Doppler position interval of 3 object Doppler position intervals before the reference Doppler position (70), that is, M1(D1, 10, 500), is determined as the element matching T2.

[0163] It should be noted that the above examples are optional examples provided for the convenience of explaining the positioning method of the above object, and there is no limitation on the specific implementation of the positioning method of the object.

[0164] In the embodiment of the present application, in the case where there is a reference element among the M reference elements whose represented Doppler position is after the reference Doppler position and there is no reference element whose represented Doppler position is before the reference Doppler position, the reference element among the M reference elements whose interval between the represented Doppler position and the reference Doppler position is Q object Doppler position intervals is determined as the (z + Q)-th transmitting antenna among the M transmitting antennas, where Q is less than M, Q is a positive integer, z is a positive integer less than or equal to M, and the Doppler position is included in the characteristic parameters; in the case where there is a reference element among the M reference elements whose represented Doppler position is after the reference Doppler position and there is also a reference element whose represented Doppler position is after the reference Doppler position, the reference element among the M reference elements whose represented Doppler position is after the reference Doppler position and the interval between it and the reference Doppler position is G object Doppler position intervals is determined as the (z + G)-th transmitting antenna among the M transmitting antennas; and the reference element among the M reference elements whose represented Doppler position is before the reference Doppler position and the interval between it and the reference Doppler position is H object Doppler position intervals is determined as the (z + M - H)-th transmitting antenna among the M transmitting antennas; where the sum of G and H is less than or equal to M - 1, G is a positive integer, and H is a positive integer; in the case where there is no reference element among the M reference elements whose represented Doppler position is after the reference Doppler position, the reference element among the M reference elements whose represented Doppler position is before the reference Doppler position and the interval between it and the reference Doppler position is L object Doppler position intervals is determined as the (z + M - L)-th transmitting antenna among the M transmitting antennas, where L is less than 4 and L is a positive integer. By adopting the embodiment of the present application, through detailed analysis of the Doppler position difference and combined with the phase increment configuration of the transmitting antenna, the precise matching of the transmitting antenna and the echo signal is realized, the accuracy and robustness of target positioning are improved, and at the same time, the utilization of system resources is optimized, which is applicable to complex and changeable scenarios in radar signal processing.

[0165] Optionally, as an alternative solution, using the matching relationship and P elements to determine the angle information between the target object and the target radar includes:

[0166] S1, generating a full array vector based on the P signal intensity information represented by the P elements and the matching relationship, where the elements in the full array vector are used to represent the relative position relationship between the target object, the M transmitting antennas, and the N receiving antennas of the target radar.

[0167] S2, performing a fast Fourier transform on the full array vector to obtain the target pattern.

[0168] S3, determining the angle information based on the target pattern.

[0169] Optionally, the above content can be illustrated by the following examples, but not limited to:

[0170] It should be noted that the generation of the full array vector based on the P signal strength information and the matching relationship can include, but is not limited to:

[0171]

[0172] As shown in the above formula, the Doppler position vector (including P signal strength information) is rearranged according to the channel matching result to obtain the target transmit vector

[0173] Then, according to the array arrangement, the full array vector is formed, and the full array vector is as follows:

[0174]

[0175] Among them, kron represents the Kronecker operation (kronecker product), that is, the tensor product. Then, for Perform a fast Fourier transform to obtain the pattern. Take the angle corresponding to the peak point of the pattern as the target angle.

[0176] It should be noted that the above examples are optional examples provided for the convenience of explaining the positioning method of the above object, and there is no limitation on the specific implementation manner of the positioning method of the object.

[0177] Adopting the embodiment of the present application, the generation process of the full array vector is essentially to map the information in the Doppler spectrum to the spatial domain, that is, to clarify the spatial position corresponding to each signal strength information through the matching relationship. This vectorization processing simplifies the complex multi-antenna multi-reception signal problem into an array signal processing problem, which is convenient for subsequent efficient calculations using mathematical tools such as FFT. Perform a fast Fourier transform on the generated full array vector to obtain the target pattern. FFT is a powerful digital signal processing tool that can convert time-domain or frequency-domain signals into frequency-domain or spatial-domain signals, so as to extract the spectral components or azimuth information of the signals. In radar signal processing, the high efficiency of FFT makes the extraction of angle information fast and accurate, especially suitable for real-time processing or resource-constrained environments. Determining the angle information based on the target pattern is essentially to find the direction with the maximum signal strength, that is, the direction where the target is located, by analyzing the distribution of the full array vector in the spatial domain. This method effectively overcomes the problems of high signal processing complexity and limited angle resolution in traditional radar systems. Especially in multi-target scenarios, it can provide more accurate and detailed angle positioning capabilities, enhancing the anti-jamming performance and multi-target resolution capabilities of the radar system.

[0178] Optionally, as an alternative solution, information extraction operations are performed on the first received signals received by each of the N receiving channels of the target radar, and N first matrices are obtained, including:

[0179] S1. Each of the N receiving channels is determined as the current receiving channel, and the following steps are performed: Signal sampling is performed on the first received signal received by the current receiving channel to obtain first intermediate reference information. Range dimension accumulation is performed on the first intermediate reference information to obtain second intermediate reference information. Doppler dimension accumulation is performed on the second intermediate reference information to obtain the current first matrix corresponding to the current receiving channel, where the current first matrix is included in the N first matrices.

[0180] Optionally, the above first intermediate reference information can be but is not limited to being used to indicate the digital form of the first received signal received from the current receiving channel after signal sampling by an Analog-to-Digital Converter (ADC) for subsequent range dimension accumulation.

[0181] Optionally, the second intermediate reference information can be but is not limited to being used to indicate the signal data obtained after performing a Two-Dimensional Fast Fourier Transform (2DFFT) on the first intermediate reference information for subsequent Doppler dimension accumulation.

[0182] Optionally, the current first matrix can be but is not limited to being used to indicate the matrix obtained after signal sampling, range dimension accumulation, and Doppler dimension accumulation for the first received signal received by the current receiving channel, which contains the characteristic parameters of the signal of this receiving channel.

[0183] With this embodiment, the received radar signal is converted into a digital signal through signal sampling for subsequent processing. The optimized sampling strategy can ensure the integrity of the signal, reduce unnecessary noise introduction, and improve the signal quality. Performing range dimension accumulation on the sampled signal can enhance the echo signal intensity of the target at a specific range, while suppressing the noise at other ranges, thereby improving the signal clarity and target detectability in the range dimension. Further performing Doppler dimension accumulation on the signal can enhance the echo signal of the target with a specific speed, while suppressing the background noise and interference from other speed targets, thereby improving the signal clarity and target detectability in the speed dimension. The first matrix generated by the above information extraction operation contains the detailed characteristics of the signals received by each receiving channel in time and space, providing a high-precision data basis for subsequent signal processing and target matching, and contributing to improving the accuracy and robustness of the entire positioning system.

[0184] S2, when the N first matrices corresponding to N receiving channels are obtained, perform modulo operation on each of the N first matrices respectively to obtain N first reference matrices.

[0185] S3, perform logarithm operation on each of the N first reference matrices respectively to obtain N second reference matrices.

[0186] S4, perform summation operation on the N second reference matrices to obtain a reference matrix.

[0187] For example, it may but is not limited to refer to Figure 9 the process shown to give an example and explanation of the generation steps of the reference matrix: as Figure 9 shown, after the radar receiving antenna receives the target received signal, the radio frequency signal is converted into a baseband signal in the signal receiving module, and then signal sampling, range dimension accumulation, Doppler dimension accumulation, modulo operation, logarithm operation, receiving channel summation and other operations are sequentially completed in the signal processing module, and finally the reference matrix required for channel matching is stored.

[0188] It should be noted that the above examples are optional examples provided for the convenience of explaining the positioning method of the above object, and there is no limitation on the specific implementation manner of the positioning method of the object.

[0189] Adopting the embodiment of the present application, through modulo operation, the influence of signal phase change on signal strength can be eliminated, so that the final reference matrix can reflect the stable target signal strength characteristics, which is crucial for improving the analyzability of signals in the presence of phase noise or instability. The logarithm operation can convert the linear relationship of signal strength into a logarithmic relationship, which usually helps to amplify the contrast of weak signals in signal processing, making the weak signals more obvious in the reference matrix, thereby improving the signal resolution, especially significant when dealing with low signal-to-noise ratio signals. Performing summation operation on the N second reference matrices effectively fuses the information of all receiving channels into a reference matrix. This fusion method can make full use of the data of all receiving channels, improve the signal-to-noise ratio of the signal, reduce the error in signal processing, and the finally generated reference matrix can more accurately reflect the characteristics of the target signal. By fusing the signals of multiple receiving channels, the influence of environmental interference, hardware noise, etc. on a single receiving channel can be effectively reduced, the anti-interference ability of the overall system is enhanced, and the target detection and positioning performance in complex environments is improved.

[0190] Optionally, as an alternative solution, the information extraction of the second received signals corresponding to M transmitting antennas to obtain N second matrices includes:

[0191] Determine the N receiving channels of the target radar as the current receiving channels respectively, and perform the following steps: perform signal sampling on the second received signal received by the current receiving channel to obtain second intermediate information; perform range dimension accumulation on the second intermediate information to obtain third intermediate information; perform Doppler dimension accumulation on the third intermediate information to obtain the current second matrix corresponding to the current receiving channel, where the N second matrices include the current second matrix.

[0192] By adopting this embodiment, second intermediate information containing target information is obtained by performing signal sampling on N receiving channels. This sampling process ensures the integrity and quality of the original signal, providing an accurate data basis for subsequent signal processing. Performing range dimension accumulation and Doppler dimension accumulation on the second intermediate information effectively enhances the intensity of the target signal, reduces noise interference, and improves the detectability and resolution of the signal. In particular, Doppler dimension accumulation can overcome the signal ambiguity caused by target movement and improve the accuracy of target positioning. Through the above steps, each receiving channel generates a current second matrix, and finally N second matrices are formed. This method allows parallel processing of signals from multiple receiving channels, significantly improving the speed and efficiency of signal processing. At the same time, the matrix form is convenient for subsequent signal fusion and analysis, improving the flexibility of processing.

[0193] Determining the target point cloud information corresponding to the object transmitting antenna based on the N second matrices includes: obtaining N sub-matrices corresponding to the object transmitting antenna from the N second matrices, where the elements in the sub-matrices are used to characterize the characteristic parameters of the second received signal of the object transmitting antenna; performing modulus operation on each of the N sub-matrices to obtain N first sub-matrices; performing logarithm operation on each of the N first sub-matrices to obtain N second sub-matrices; performing summation operation on the N second sub-matrices to obtain a detection matrix.

[0194] For example, it can be but is not limited to refer to Figure 10 the shown process to give an example and explanation of the generation steps of the reference matrix: as Figure 10 shown, after the antenna receives the target received signal, the radio frequency signal is converted into a baseband signal in the signal receiving module, and then signal sampling, range dimension accumulation, Doppler dimension accumulation, modulus operation, logarithm operation, receiving channel summation, constant false alarm rate detection (CFAR), etc. are sequentially completed in the signal processing module, and finally the range and Doppler information of the point cloud are stored.

[0195] It should be noted that the above example is an optional example provided for facilitating the explanation of the above object positioning method, and there is no limitation on the specific implementation manner of the object positioning method.

[0196] By adopting this embodiment, through modulo operation, the complex signals of each receiving channel are converted into signal strength information. This step can not only intuitively reflect the signal energy, but also help eliminate the influence of phase information on signal strength estimation, making the subsequent signal processing more stable and reliable. The logarithm operation can compress the dynamic range of the signal, which is particularly important for processing radar echo signals because the intensity of radar echo signals may cover a range from extremely weak to quite strong. Directly processing signals with such a wide dynamic range may lead to information loss or waste of computing resources. By taking the logarithm, the intensity information can be normalized, facilitating subsequent comparison and analysis. After the modulo and logarithm operations on each sub-matrix, its dynamic range and data volume are optimized, which saves memory space when storing the sub-matrix, reduces the transmission requirements during the data processing, and improves the overall operating efficiency of the system. In the summation processing stage, the data of N second sub-matrices are combined, and the signal-to-noise ratio of the signal is enhanced through statistical superposition. This is because the superposition effect of the signal can suppress background noise while retaining the energy of the target signal, which is crucial for improving the accuracy of target detection.

[0197] Optionally, as an alternative solution, obtaining P elements matching the target element from N second matrices includes:

[0198] Respectively determining the N second matrices as the current second matrix and performing the following steps:

[0199] Elements in the current second matrix whose Doppler position in the characterized feature parameters matches the target Doppler position and whose distance information in the characterized feature parameters matches the distance information in the target feature parameters are determined as the I-th element, where the P elements include the I-th element, and the target Doppler position is the sum of the initial Doppler position and the I Doppler position intervals, I is greater than or equal to 0 and less than M.

[0200] Optionally, the above steps can be explained by way of example, but not limited to the following examples:

[0201] Taking a radar system with two transmitters and two receivers (M×R = 2×2) as an example, the transmit antennas include T1 and T2, the receive antennas include R1 and R2. Assuming the reference transmit antenna is T1, assuming the target distance information is D1, the target Doppler position is 10, the target intensity information is 10000, the Doppler interval is 20, and the initial Doppler position is 10 (phase increment configuration is 0).

[0202] Assume that the object transmitting antenna is T1. From the target Doppler position and Doppler interval, it can be determined that the Doppler position corresponding to T1 should be the target Doppler position + Doppler interval = 10 + 20, that is, 30. Then it can be determined that for the same target object, the distance information and Doppler position of the echo of T1 are (D1, 10), and the distance information and Doppler position of the echo of T2 are (D1, 30). Then, the elements in the P elements with distance information and Doppler position (D1, 10) can be determined as the elements matching T1, and the elements in the P elements with distance information and Doppler position (D1, 30) can be determined as the elements matching T2.

[0203] It should be noted that the above example is an optional example provided for facilitating the explanation of the above object positioning method, and there is no limitation on the specific implementation manner of the object positioning method.

[0204] By adopting the embodiment of the present application, by matching the Doppler position in the second matrix with the target Doppler position, the echo signal corresponding to the target speed can be accurately identified. This step is crucial for the recognition and positioning of moving targets, and can effectively filter out background clutter and other interference signals, improving the accuracy of target detection.

[0205] Optionally, it can be, but is not limited to, the following steps as shown in Figure 11 to give an example and explanation of the complete process of the above object positioning method:

[0206] Step S1102, configure the transmitting signal parameters and phase shifter parameters;

[0207] Step S1104, enable one transmitting channel and radiate Nc / 2 radar signals outward, called wave A. The transmitting antenna of wave A generally takes the first antenna, that is, antenna No. 1, is the corresponding channel phase increment.

[0208] Step S1106, complete the processing of wave A signals and generate and store the reference matrix required for channel matching. Specifically, after the radar receiving antenna receives the target receiving signal, the RF signal is converted into a baseband signal in the signal receiving module, and then in the signal processing module, operations such as signal sampling, range dimension accumulation, Doppler dimension accumulation, modulus calculation, logarithm taking, and receiving channel summation are completed in sequence, and finally the reference matrix required for channel matching is stored.

[0209] Step S1108, enable all transmitting channels and radiate Nc radar signals outward, called wave B. Compared with wave A, for wave B, the waveform parameters and phase shifter parameters are not reconfigured. The only change point is to open all channels simultaneously, and the number of radar signals radiated outward is twice that of wave A, that is, Nc radar signals are radiated.

[0210] Step S1110: Complete the processing of the B-wave signal, generate and store the distance and Doppler information of the point cloud. Specifically, after the antenna receives the target received signal, the radio frequency signal is converted into a baseband signal in the signal receiving module, and then in the signal processing module, operations such as signal sampling, range dimension accumulation, Doppler dimension accumulation, modulus calculation, logarithm taking, receiving channel summation, and constant false alarm detection are sequentially completed, and finally the distance and Doppler information of the point cloud are stored.

[0211] Step S1112: Complete the channel matching and angle measurement of all point clouds.

[0212] Step S1114: Determine the position of the target.

[0213] Specifically, the above Step S1112 further includes the following steps as Figure 12 shown:

[0214] Step S1202: Obtain the nth point in sequence from the points obtained by constant false alarm detection;

[0215] Step S1204: Use the nth point to match with the reference matrix, determine the positions of all transmitting antennas on the reference matrix, and obtain the matching result;

[0216] Step S1206: Calculate the amplitude-phase values corresponding to all receiving channels according to the matching result;

[0217] Step S1208: Map the channel amplitude-phase values to the array;

[0218] Step S1210: Perform a fast Fourier transform on the array in the angle dimension;

[0219] Step S1212: Take the absolute value of the result of the fast Fourier transform to obtain the direction diagram;

[0220] Step S1214: Determine the target angle of the nth target corresponding to the nth point based on the direction diagram.

[0221] Step S1216: Store the target angle.

[0222] Step S1218: Determine whether the nth point is the last point;

[0223] If it is not the last point, continue to execute Step S1202 to operate on the next point. If it is the last point, determine that Step S1112 is completed.

[0224] Optionally, the positioning method of the above object can be implemented through, but not limited to, a radar system structure as Figure 13 shown. Among them, as Figure 13As shown, the radar system includes a signal generation module 1302 for generating signals. The signal generation model is connected to a plurality of phase shifters 1304, and the plurality of phase shifters are used to adjust the phase increments of a plurality of transmitting antennas 1306. The radar system also includes a plurality of signal receiving modules 1310 for receiving signals. The signal receiving modules are connected to a plurality of receiving antennas 1308 and are also connected to a signal processing module 1312 for processing echo signals.

[0225] As an alternative example, the positioning method of the above object can be more specifically illustrated by the following examples, but not limited to:

[0226] In this example, a two-transmitter and four-receiver antenna system is taken as an example, and the radar layout is as Figure 14 shown. The specific steps are as follows:

[0227] Step S1, complete the parameter configuration of the transmission-related modules. In this example, the signal generation module configures the following parameters as shown in Table 1:

[0228] Table 1 Waveform Configuration Parameter Table of Signal Generation Module

[0229] idleTime Ti 7 us adcStartTime Ta 4 us rampEndTime Tc 50 us startFreq f0 76 GHz freqSlope μ 20 MHz / us numAdcSamples Nr 256 numofChirps Nc 256 sampleRate fs 6.25 MHz

[0230] Step S2, the phase shifter module configures the phase increment according to the following formula:

[0231]

[0232] where T n is the number of transmitting antennas, i is the transmitting channel number, and φ i is the phase increment configured by the phase shifter of the i-th transmitting channel. φ i refers to the phase change amount between chirps, and the phase increment of the phase shifter within each radar signal chirp is the same. In this embodiment, it is a two-transmitter system, so Tn = 2; as Figure 15 shown, the phase shifter configuration parameter of transmitting channel 1 is 0°; the phase shifter configuration parameter of transmitting channel 2 is 180°, and the phase of each chirp increases by 180° based on the phase of the previous chirp. Therefore, the phase is [0°, 180°, 360°, 540°...], and when converted to the [0°, 360°) interval, the phase of the signal radiated outward by transmitting channel 2 is: [0°, 180°, 0°, 180°...]. The configuration of the phase increment of the transmitting channels is shown in Table 2:

[0233] Table 2 Transmitting Phase Increment Parameter Table

[0234] T1 0° T2 180°

[0235] Step S3: Enable the first transmitting channel T1 to radiate 128 chirp signals outward, which is called Wave A.

[0236] Step S4: Complete the processing of Wave A signals. Specifically, after the radar receiving antenna receives the target received signal, the radio frequency signal is converted into a baseband signal in the signal receiving module, and then in the signal processing module, each receiving channel sequentially completes signal sampling, range dimension accumulation, Doppler dimension accumulation, modulus calculation, logarithm taking, and finally sums up all the receiving channels, and finally stores the reference matrix required for channel matching.

[0237] Step S5: Enable all transmitting channels T1 and T2 to radiate 256 chirp signals outward, which is called Wave B. Compared with Wave A, the waveform parameters and phase shifter parameters are not reconfigured. The only change point is to turn on the enable switch of channel T2 and change the number of radiated chirps from 128 to 256.

[0238] Step S6: When Wave B radiates signals outward, the signal processing module synchronously completes the processing of Wave B signals, generates and stores the range and Doppler information of the point cloud. Specifically, the radio frequency signal is converted into a baseband signal in the signal receiving module, and then in the signal processing module, each receiving channel sequentially completes signal sampling, range dimension accumulation, Doppler dimension accumulation, modulus calculation, logarithm taking, to form the receiving signal heat map of each receiving channel. Add up the heat maps of all receiving channels to obtain a composite heat map. Perform constant false alarm rate detection on the composite heat map, and finally store the range and Doppler information of the point cloud. It should be noted that the storage location of the RadarCube of Wave B is the same as that of Wave A, that is, the coverage of Wave B overwrites that of Wave A.

[0239] It should be noted that when each channel performs operations such as modulus calculation, logarithm taking, receiving channel summation, and constant false alarm rate detection, only the data of the first to the 128th Doppler cells are processed.

[0240] Step S7: For each point obtained by constant false alarm rate detection, according to the range r B and the Doppler position x B , extract the amplitude and phase values of all channels of this point from the radar data matrix. For the received signals of the two transmitting channels received by receiving channel 1, the positions are respectively [r B , x B R1 and [r B , x B + 128] R1 ; for the received signals of the two transmitting channels received by receiving channel 2, the positions are respectively [r B , x B R2 and [r B , x B ​​+128] R2 ; The received positions of the received signals of the two transmitting channels received by receiving channel 3 are respectively [r B , x B R3 and [r B， x B +128] R3 ; The received positions of the received signals of the two transmitting channels received by receiving channel 4 are respectively [r B , x B R4 and [r B , x B +128] R4 .

[0241] Step S8, for each point cloud, complete the matching of the transmitting channels. The specific steps are as follows: According to the Doppler cell number x B of this point, calculate the possible Doppler positions of all the received signals of antenna No. 1 on the reference matrix with reference to the following formula:

[0242]

[0243] If has a signal and the signal energy is half of the energy of the current point to be matched on the detection matrix, it means that the current detected point is the received signal of transmitting channel 1, and the received signal of transmitting channel 2 is on . The relationship diagram between the detection matrix and the reference matrix is as shown in Figure 16 . The array arrangement can refer to Figure 17 .

[0244] Step S9, according to the virtual array arrangement, rearrange the amplitude-phase values to form a full-array vector (refer to the following formula):

[0245]

[0246] Step S10, perform a 64-point FFT on to obtain the direction diagram. The angle corresponding to the peak point of the searched direction diagram is the target angle. Conversely, if has a signal and the signal energy is half of the energy of the current point to be matched on the detection matrix, it means that the current detected point is the received signal of transmitting channel 2, and the received signal of transmitting channel 1 is on . The relationship diagram between the detection matrix and the reference matrix is as shown in Figure 18 .

[0247] Step S11, according to the array arrangement, rearrange the amplitude-phase values to form a full-array vector (refer to the following formula):

[0248]

[0249] ​​Step S12, for perform a 64-point FFT to obtain a radiation pattern. The angle corresponding to the peak point of the radiation pattern is searched, and this angle is the target angle.

[0250] Step S14, determine the position of the target point according to the distance, Doppler position, and angle information.

[0251] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0252] According to another aspect of the embodiments of the present application, there is also provided a positioning device for an object for implementing the positioning method of the above object. As Figure 19 shown, the device includes:

[0253] A signal processing unit 1902, configured to perform signal processing on a first received signal corresponding to a reference transmitting antenna to obtain a reference matrix, where the elements in the reference matrix are used to characterize the characteristic parameters of the first received signal;

[0254] An information extraction unit 1904, configured to perform information extraction on second received signals corresponding to M transmitting antennas to obtain N second matrices, where the M transmitting antennas include the reference transmitting antenna, and the jth second matrix is used to characterize the characteristic parameters of the second received signal received by the jth receiving channel, j is less than or equal to N, N is a positive integer, and M is a positive integer;

[0255] A first determination unit 1908, configured to determine target point cloud information corresponding to the object transmitting antenna based on the N second matrices, where the target elements in the target point cloud information are used to characterize the target characteristic parameters of the target received signal obtained by the target object reflecting the radar signal transmitted by the object transmitting antenna, and the M transmitting antennas include the object transmitting antenna;

[0256] A second determination unit 1910, configured to obtain P elements matching the target elements from the N second matrices, and use the reference matrix, the target characteristic parameters, and the target interval configured between the phase increments of adjacent transmitting antennas among the M transmitting antennas to determine the matching relationship between the P elements and the M transmitting antennas, where P is the product of N and M;

[0257] A third determination unit 1912, configured to determine the angular information between the target object and the target radar by using the matching relationship and P elements, and determine the position where the target object is located based on the target feature parameters and the angular information.

[0258] Optionally, in this embodiment, the above device further includes: a configuration unit, configured to configure phase increments for M signal transmission channels corresponding to M transmitting antennas, where the interval between the phase increments of adjacent transmitting antennas among the M transmitting antennas is a target interval; a first transmission unit, configured to transmit a first number of first radar signals by using a reference transmitting antenna; a second transmission unit, configured to transmit a second number of second radar signals by using each of the M transmitting antennas, where the second number is k times the first number, and k is a positive integer.

[0259] Optionally, in this embodiment, the above second determination unit includes: a first determination module, configured to determine the Doppler position interval between the received signals corresponding to adjacent transmitting antennas among the M transmitting antennas based on the target interval; a first acquisition module, configured to acquire M reference elements from a reference matrix based on the target distance information and the Doppler position interval, where the distance information represented by the x-th reference element among the M reference elements is the target distance information, the Doppler position of the x-th reference element is the x-th Doppler position, the x-th Doppler position is the sum of the initial Doppler position and x object Doppler position intervals, the target feature parameters include the target distance information, the Doppler position interval is k times the object Doppler position interval, x is less than M and x is a positive number; a second determination module, configured to determine the reference element whose signal intensity information represented among the M reference elements matches the target intensity information as the target reference element, where the received signal corresponding to the target reference element matches the reference transmitting antenna, and the target feature parameters include the target intensity information; a third determination module, configured to determine the matching relationship between the M reference elements and the M transmitting antennas based on the reference Doppler position represented by the target reference element and the object Doppler position interval, and determine the matching relationship between the P elements and the M transmitting antennas based on the matching relationship between the M reference elements and the M transmitting antennas.

[0260] Optionally, in this embodiment, the above third determination module is further configured to: when there is a reference element among the M reference elements whose represented Doppler position is after the reference Doppler position and there is no reference element whose represented Doppler position is before the reference Doppler position, determine the reference element among the M reference elements whose interval between the represented Doppler position and the reference Doppler position is Q object Doppler position intervals as the (z + Q)-th transmitting antenna among the M transmitting antennas, where Q is less than M, Q is a positive integer, z is a positive integer less than or equal to M, and the characteristic parameter includes the Doppler position; when there is a reference element among the M reference elements whose represented Doppler position is after the reference Doppler position and there is a reference element whose represented Doppler position is before the reference Doppler position, determine the reference element among the M reference elements whose represented Doppler position is after the reference Doppler position and the interval between it and the reference Doppler position is G object Doppler position intervals as the (z + G)-th transmitting antenna among the M transmitting antennas; and determine the reference element among the M reference elements whose represented Doppler position is before the reference Doppler position and the interval between it and the reference Doppler position is H object Doppler position intervals as the (z + M - H)-th transmitting antenna among the M transmitting antennas; where the sum of G and H is less than or equal to M - 1, G is a positive integer, and H is a positive integer; when there is no reference element among the M reference elements whose represented Doppler position is after the reference Doppler position, determine the reference element among the M reference elements whose represented Doppler position is before the reference Doppler position and the interval between it and the reference Doppler position is L object Doppler position intervals as the (z + M - L)-th transmitting antenna among the M transmitting antennas, where L is less than 4 and L is a positive integer.

[0261] Optionally, in this embodiment, the above third determination unit further includes: a first generation module, configured to generate a full array vector based on the P signal intensity information represented by the P elements and the matching relationship, where the elements in the full array vector are used to represent the relative position relationship between the target object, the M transmitting antennas, and the N receiving antennas of the target radar; a transformation module, configured to perform a fast Fourier transform on the full array vector to obtain a target pattern; a fourth determination module, configured to determine angle information based on the target pattern.

[0262] Optionally, in this embodiment, the above signal processing unit includes: a first signal processing module, configured to respectively determine each of the N receiving channels of the target radar as the current receiving channel, and perform the following steps: performing signal sampling on the first received signal received by the current receiving channel to obtain first intermediate reference information; performing range dimension accumulation on the first intermediate reference information to obtain second intermediate reference information; performing Doppler dimension accumulation on the second intermediate reference information to obtain a current first matrix corresponding to the current receiving channel, where the elements in the current first matrix are used to characterize the characteristic parameters of the first received signal received by the current receiving channel, and the characteristic parameters include signal strength information, range information, and Doppler position; a second signal processing module, configured to, when obtaining N first matrices corresponding to the N receiving channels, perform modulus processing on each of the N first matrices to obtain N first reference matrices; performing logarithm processing on each of the N first reference matrices to obtain N second reference matrices; performing summation processing on the N second reference matrices to obtain a reference matrix.

[0263] Optionally, in this embodiment, the above information extraction unit includes: an information extraction module, configured to respectively determine each of the N receiving channels of the target radar as the current receiving channel, and perform the following steps: performing signal sampling on the second received signal received by the current receiving channel to obtain second intermediate information; performing range dimension accumulation on the second intermediate information to obtain third intermediate information; performing Doppler dimension accumulation on the third intermediate information to obtain a current second matrix corresponding to the current receiving channel, where the N second matrices include the current second matrix; the above third determination unit further includes: a fifth determination module, configured to: obtain N sub-matrices corresponding to the object transmitting antenna from the N second matrices, where the elements in the sub-matrices are used to characterize the characteristic parameters of the second received signal of the object transmitting antenna; performing modulus processing on each of the N sub-matrices to obtain N first sub-matrices; performing logarithm processing on each of the N first sub-matrices to obtain N second sub-matrices; performing summation processing on the N second sub-matrices to obtain a detection matrix; performing constant false alarm rate detection on the detection matrix to obtain target point cloud information.

[0264] For specific examples, reference may be made to the examples shown in the above object positioning method, and details are not described herein again in this embodiment.

[0265] According to another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the above object positioning method. In this embodiment, the electronic device is taken as an example of a server. As Figure 20 shown, the electronic device includes a memory 2002 and a processor 2004. The memory 2002 stores a computer program, and the processor 2004 is configured to execute the steps in any of the above method embodiments through the computer program.

[0266] Optionally, in this embodiment, the above electronic device may be at least one network device among multiple network devices of a computer network.

[0267] Optionally, in this embodiment, the above processor may be configured to perform the following steps through a computer program:

[0268] S1, perform signal processing on a first received signal corresponding to a reference transmitting antenna to obtain a reference matrix, where elements in the reference matrix are used to characterize characteristic parameters of the first received signal;

[0269] S2, extract information from second received signals corresponding to M transmitting antennas to obtain N second matrices, where the M transmitting antennas include the reference transmitting antenna, and the jth second matrix is used to characterize characteristic parameters of the second received signal received by the jth receiving channel, j is less than or equal to N, N is a positive integer, and M is a positive integer;

[0270] S3, determine target point cloud information corresponding to the target transmitting antenna based on the N second matrices, where target elements in the target point cloud information are used to characterize target characteristic parameters of a target received signal obtained by reflecting a radar signal transmitted by the target object on the target transmitting antenna, and the M transmitting antennas include the target transmitting antenna;

[0271] S4, obtain P elements matching the target elements from the N second matrices, and determine a matching relationship between the P elements and the M transmitting antennas by using the reference matrix, the target characteristic parameters, and a target interval configured between phase increments of adjacent transmitting antennas among the M transmitting antennas, where P is the product of N and M;

[0272] S5, determine angle information between the target object and the target radar by using the matching relationship and the P elements, and determine the position where the target object is located based on the target characteristic parameters and the angle information.

[0273] Optionally, those of ordinary skill in the art can understand that Figure 20 the structure shown is only schematic, and the electronic device may also be a terminal device such as a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a handheld computer, and a Mobile Internet Device (MID), a PAD, etc. Figure 20 It does not limit the structure of the above electronic device. For example, the electronic device may further include more or fewer components (such as a network interface, etc.) than those shown Figure 20 in the figure, or have a different configuration from that shown Figure 20 in the figure.

[0274] Among them, the memory 2002 can be used to store software programs and modules, such as the program instructions / modules corresponding to the object positioning method and device in the embodiments of the present application. The processor 2004 executes various functional applications and data processing by running the software programs and modules stored in the memory 2002, that is, implements the above-mentioned object positioning method. The memory 2002 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 2002 may further include a memory remotely provided with respect to the processor 2004, and these remote memories can be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network, and combinations thereof. As an example, as Figure 20 shown, the above-mentioned memory 2002 may but is not limited to include the signal processing unit 1902, information extraction unit 1904, first determination unit 1906, second determination unit 1908, and third determination unit 1910 in the above-mentioned object positioning device. In addition, it may also include but is not limited to other module units in the above-mentioned object positioning device, which will not be elaborated in this example.

[0275] Optionally, the above-mentioned transmission device 2006 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wired network and a wireless network. In one instance, the transmission device 2006 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers through a network cable, so as to communicate with the Internet or a local area network. In one instance, the transmission device 2006 is a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly.

[0276] In addition, the above-mentioned electronic device further includes: a display 2008 and a connection bus 2010 for connecting each module component in the above-mentioned electronic device.

[0277] In other embodiments, the above-mentioned terminal device or server may be a node in a distributed system. Among them, the distributed system may be a blockchain system, and the blockchain system may be a distributed system formed by connecting the multiple nodes in a form of network communication. Among them, the nodes can form a point-to-point network, and any form of computing device, such as electronic devices like servers and terminals, can become a node in the blockchain system by joining the point-to-point network.

[0278] According to one aspect of the present application, a computer program product is provided. The computer program product includes a computer program / instructions, and the computer program / instructions contain program codes for executing the above method. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit, various functions provided by the embodiments of the present application are executed.

[0279] According to one aspect of the present application, another computer program product is further provided, including a non-volatile computer-readable storage medium. The non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method in various embodiments of the present application are implemented.

[0280] According to one aspect of the present application, a computer-readable storage medium is provided. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above method.

[0281] Optionally, in this embodiment, the above computer-readable storage medium may be configured to store a computer program for executing the following steps:

[0282] S1, perform signal processing on a first received signal corresponding to a reference transmitting antenna to obtain a reference matrix, where the elements in the reference matrix are used to characterize the characteristic parameters of the first received signal;

[0283] S2, perform information extraction on second received signals corresponding to M transmitting antennas to obtain N second matrices, where the M transmitting antennas include the reference transmitting antenna during transmission, and the j-th second matrix is used to characterize the characteristic parameters of the second received signal received by the j-th receiving channel, j is less than or equal to N, N is a positive integer, and M is a positive integer;

[0284] S3, determine the target point cloud information corresponding to the target transmitting antenna based on the N second matrices, where the target elements in the target point cloud information are used to characterize the target characteristic parameters of the target received signal obtained by reflecting the radar signal transmitted by the target object on the target transmitting antenna, and the M transmitting antennas include the target transmitting antenna during transmission;

[0285] S4, obtain P elements matching the target elements from the N second matrices, and determine the matching relationship between the P elements and the M transmitting antennas by using the reference matrix, the target characteristic parameters, and the target interval configured between the phase increments of adjacent transmitting antennas among the M transmitting antennas, where P is the product of N and M;

[0286] S5. Determine the angular information between the target object and the target radar using the matching relationship and the P elements, and determine the position where the target object is located based on the target feature parameters and the angular information.

[0287] Optionally, in the embodiments of the present application, the term "module" or "unit" refers to a computer program with a predetermined function or a part of a computer program, which works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as a processing circuit or a memory), or a combination thereof. Similarly, one processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of an overall module or unit that includes the function of that module or unit.

[0288] Optionally, in this embodiment, those of ordinary skill in the art can understand that all or part of the steps in the above-described various methods can be completed by instructing the relevant hardware of the terminal device through a program, and this program can be stored in a computer-readable storage medium. The storage medium can include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc, etc.

[0289] If the integrated unit in the above embodiments is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in the above-mentioned computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in the storage medium and includes several instructions for causing one or more computer devices (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0290] In the above embodiments of the present application, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0291] In the several embodiments provided by the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of units or modules can be in an electrical or other form.

[0292] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0293] In addition, each functional unit in various embodiments of the present application may be integrated in a processing unit, may be physically present individually for each unit, or two or more units may be integrated in one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software functional units.

[0294] The above are only the preferred embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A method for positioning an object, characterized in that, Including: Performing signal processing on a first received signal corresponding to a reference transmitting antenna to obtain a reference matrix, where elements in the reference matrix are used to characterize characteristic parameters of the first received signal; Performing information extraction on second received signals corresponding to M transmitting antennas to obtain N second matrices, where the M transmitting antennas include the reference transmitting antenna, and the j-th second matrix is used to characterize characteristic parameters of the second received signal received by the j-th receiving channel, j is less than or equal to N, N is a positive integer, and M is a positive integer; Determining target point cloud information corresponding to a target transmitting antenna based on the N second matrices, where target elements in the target point cloud information are used to characterize target characteristic parameters of a target received signal obtained by reflecting a radar signal transmitted by the target transmitting antenna by a target object, and the M transmitting antennas include the target transmitting antenna; Obtaining P elements matching the target elements from the N second matrices, and determining a matching relationship between the P elements and the M transmitting antennas by using the reference matrix, the target characteristic parameters, and a target interval configured between phase increments of adjacent transmitting antennas among the M transmitting antennas, where P is the product of N and M; Determining angle information between the target object and a target radar by using the matching relationship and the P elements, and determining a position where the target object is located based on the target characteristic parameters and the angle information.

2. The method according to claim 1, wherein Before performing signal processing on the first received signal corresponding to the reference transmitting antenna to obtain the reference matrix, further including: Configuring phase increments for M signal transmitting channels corresponding to the M transmitting antennas, where an interval between phase increments of adjacent transmitting antennas among the M transmitting antennas is the target interval; Using the reference transmitting antenna to transmit a first quantity of first radar signals; Using each of the M transmitting antennas to respectively transmit a second quantity of second radar signals, where the second quantity is k times the first quantity, and k is a positive integer.

3. The method according to claim 2, characterized in that, The determining the matching relationship between the P elements and the M transmitting antennas by using the reference matrix, the target characteristic parameters, and the target interval configured between phase increments of adjacent transmitting antennas among the M transmitting antennas includes: Determining a Doppler position interval between received signals corresponding to adjacent transmitting antennas among the M transmitting antennas based on the target interval; Obtaining M reference elements from the reference matrix based on target distance information and the Doppler position interval, where distance information characterized by the x-th reference element among the M reference elements is the target distance information, the Doppler position of the x-th reference element is the x-th Doppler position, the x-th Doppler position is the sum of an initial Doppler position and x object Doppler position intervals, the target characteristic parameters include the target distance information, the Doppler position interval is k times the object Doppler position interval, x is less than M and x is a positive number; Determine the reference element that matches the signal strength information characterized in the M reference elements with the target strength information, where the received signal corresponding to the target reference element matches the reference transmitting antenna, and the target characteristic parameter includes the target strength information; Based on the reference Doppler position characterized by the target reference element and the object Doppler position interval, determine the matching relationship between the M reference elements and the M transmitting antennas, and based on the matching relationship between the M reference elements and the M transmitting antennas, determine the matching relationship between the P elements and the M transmitting antennas.

4. The method according to claim 3, wherein When the reference transmitting antenna is the z-th transmitting antenna among the M transmitting antennas, the determining the matching relationship between the M reference elements and the M transmitting antennas based on the reference Doppler position characterized by the target reference element and the object Doppler position interval includes: When there is a reference element among the M reference elements whose characterized Doppler position is after the reference Doppler position and there is no reference element whose characterized Doppler position is before the reference Doppler position, determine the reference element whose interval between the characterized Doppler position and the reference Doppler position is Q object Doppler position intervals among the M reference elements as the (z + Q)-th transmitting antenna among the M transmitting antennas, where Q is less than M, Q is a positive integer, z is a positive integer less than or equal to M, and the characteristic parameter includes the Doppler position; When there is a reference element among the M reference elements whose characterized Doppler position is after the reference Doppler position and there is a reference element whose characterized Doppler position is after the reference Doppler position, determine the reference element whose characterized Doppler position is after the reference Doppler position and the interval between it and the reference Doppler position is G object Doppler position intervals among the M reference elements as the (z + G)-th transmitting antenna among the M transmitting antennas; and determine the reference element whose characterized Doppler position is before the reference Doppler position and the interval between it and the reference Doppler position is H object Doppler position intervals among the M reference elements as the (z + M - H)-th transmitting antenna among the M transmitting antennas; where the sum of G and H is less than or equal to M - 1, G is a positive integer, and H is a positive integer; When there is no reference element among the M reference elements whose characterized Doppler position is after the reference Doppler position, determine the reference element whose characterized Doppler position is before the reference Doppler position and the interval between it and the reference Doppler position is L object Doppler position intervals among the M reference elements as the (z + M - L)-th transmitting antenna among the M transmitting antennas, where L is less than 4 and L is a positive integer.

5. The method according to claim 3, wherein The using the matching relationship and the P elements to determine the angle information between the target object and the target radar includes: Generate a full-array vector based on the P signal strength information characterized by the P elements and the matching relationship, where the elements in the full-array vector are used to characterize the relative position relationship between the target object, the M transmitting antennas, and the N receiving antennas of the target radar; Perform a fast Fourier transform on the full-array vector to obtain a target pattern; Determine the angle information based on the target pattern.

6. The method according to any one of claims 1 to 5, characterized in that, The signal processing of the first received signal corresponding to the reference transmitting antenna to obtain the reference matrix includes: Respectively determine each receiving channel in the N receiving channels of the target radar as the current receiving channel, and perform the following steps: perform signal sampling on the first received signal received by the current receiving channel to obtain first intermediate reference information; perform range dimension accumulation on the first intermediate reference information to obtain second intermediate reference information; perform Doppler dimension accumulation on the second intermediate reference information to obtain the current first matrix corresponding to the current receiving channel, where the elements in the current first matrix are used to characterize the characteristic parameters of the first received signal received by the current receiving channel, and the characteristic parameters include signal strength information, range information, and Doppler position; When the N first matrices corresponding to the N receiving channels are obtained, perform modulus processing on each of the N first matrices to obtain N first reference matrices; perform logarithm processing on each of the N first reference matrices to obtain N second reference matrices; perform summation processing on the N second reference matrices to obtain a reference matrix.

7. The method according to any one of claims 1 to 5, characterized in that The information extraction of the second received signals corresponding to the M transmitting antennas to obtain N second matrices includes: respectively determine the N receiving channels of the target radar as the current receiving channel, and perform the following steps: perform signal sampling on the second received signal received by the current receiving channel to obtain second intermediate information; perform range dimension accumulation on the second intermediate information to obtain third intermediate information; perform Doppler dimension accumulation on the third intermediate information to obtain the current second matrix corresponding to the current receiving channel, where the N second matrices include the current second matrix; The determination of the target point cloud information corresponding to the object transmitting antenna based on the N second matrices includes: obtain N sub-matrices corresponding to the object transmitting antenna from the N second matrices, where the elements in the sub-matrix are used to characterize the characteristic parameters of the second received signal of the object transmitting antenna; perform modulus processing on each of the N sub-matrices to obtain N first sub-matrices; perform logarithm processing on each of the N first sub-matrices to obtain N second sub-matrices; perform summation processing on the N second sub-matrices to obtain a detection matrix; perform constant false alarm rate detection on the detection matrix to obtain the target point cloud information.

8. A positioning device for an object, characterized in that, Includes: A signal processing unit for performing signal processing on a first received signal corresponding to a reference transmitting antenna to obtain a reference matrix, where elements in the reference matrix are used to characterize characteristic parameters of the first received signal; An information extraction unit for extracting information from second received signals corresponding to M transmitting antennas to obtain N second matrices, where the M transmitting antennas include the reference transmitting antenna, and the j-th second matrix is used to characterize characteristic parameters of the second received signal received by the j-th receiving channel, j is less than or equal to N, N is a positive integer, and M is a positive integer; A first determination unit for determining target point cloud information corresponding to a target transmitting antenna based on the N second matrices, where target elements in the target point cloud information are used to characterize target characteristic parameters of a target received signal obtained by reflecting a radar signal transmitted by the target transmitting antenna by a target object, and the M transmitting antennas include the target transmitting antenna; A second determination unit for obtaining P elements matching the target elements from the N second matrices, and determining a matching relationship between the P elements and the M transmitting antennas by using the reference matrix, the target characteristic parameters, and a target interval configured between phase increments of adjacent transmitting antennas among the M transmitting antennas, where P is the product of N and M; A third determination unit for determining angle information between the target object and a target radar by using the matching relationship and the P elements, and determining a position where the target object is located based on the target characteristic parameters and the angle information.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, where the program, when run by a processor, executes the method described in any one of claims 1 to 7.

10. An electronic device, comprising a memory and a processor, characterized in that, A computer program is stored in the memory, and the processor is configured to execute the method described in any one of claims 1 to 7 through the computer program.

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