Antenna array, orientation determination method and device, medium, equipment, vehicle and product

Abstract

The invention relates to an antenna array, an orientation determination method, an orientation determination device, a medium, equipment, a vehicle and a product, the number of working frequency bands of the antenna array provided by the invention is at least two, and the antenna array comprises a plurality of array elements. The distance between the array elements is larger than the maximum half-wavelength in the half-wavelengths of the at least two working frequency bands and smaller than or equal to the least common multiple of the at least two half-wavelengths. The aperture of the antenna array does not need to be limited, the problem of angle ambiguity does not occur, and the cost is saved.

Description

Technical Field

[0001] The present application relates to the field of antenna array technology, and in particular to an antenna array, an orientation determination method, an apparatus, a medium, a device, a vehicle, and a product. Background Art

[0002] Radar (Radio Detection and Ranging) is a device that uses radio waves to detect and measure the distance, direction, or speed of objects. To avoid angular ambiguity when measuring a target's direction, radar must use a uniform array with spacing between elements no greater than half a wavelength, or a non-uniform sparse matrix. This severely limits the spacing between elements, resulting in higher radar costs. Summary of the Invention

[0003] The embodiments of the present application provide an antenna array that does not require strict control of the aperture of the antenna array, saves costs, and at least partially solves the above-mentioned technical problems.

[0004] In order to achieve the above-mentioned purpose, according to the first aspect of the present application, an antenna array is provided, wherein the number of operating frequency bands of the antenna array is at least two, and the above-mentioned antenna array includes multiple array elements, and the spacing between the above-mentioned array elements is greater than the maximum half-wavelength of the half-wavelengths of at least two of the above-mentioned operating frequency bands and is less than or equal to the least common multiple of at least two of the above-mentioned half-wavelengths.

[0005] Optionally, the above-mentioned antenna array includes a transmitting antenna array and / or a receiving antenna array.

[0006] Optionally, the spacing between the receiving array elements in the above-mentioned receiving antenna array is d, the above-mentioned d is greater than the above-mentioned maximum half-wavelength and less than or equal to the least common multiple of at least two of the above-mentioned half-wavelengths, the above-mentioned transmitting antenna array includes M transmitting array elements, the above-mentioned receiving antenna array includes N receiving array elements, the position of the above-mentioned transmitting array element is (k-1)Nd, and the position of the above-mentioned receiving array element is (NMd+(y-1)d), k is all integers between 1 and M, y is all integers between 1 and N, and M and N are both integers equal to or greater than 1.

[0007] Optionally, the spacing between transmitting array elements in the above-mentioned transmitting antenna array is d, the above-mentioned d is greater than the above-mentioned maximum half-wavelength and less than or equal to the least common multiple of at least two of the above-mentioned half-wavelengths, the above-mentioned transmitting antenna array includes M transmitting array elements, the above-mentioned receiving antenna array includes N receiving array elements, the position of the above-mentioned transmitting array element is (k-1)d, and the position of the above-mentioned receiving array element is yMd, k is all integers between 1 and M, y is all integers between 1 and N, and M and N are both integers equal to or greater than 1.

[0008] According to a second aspect of the present application, a detection device is provided, which includes the antenna array provided in this embodiment.

[0009] Optionally, the detection device further includes at least one radar, and the antenna array is located on the radar.

[0010] According to a third aspect of the present application, a method for determining an orientation is provided, which is implemented by the antenna array or detection device provided in this embodiment. The method includes:

[0011] Acquire at least two echo signals returned by the target in response to at least two transmitted signals, wherein the at least two transmitted signals are transmitted by the antenna array and / or the at least two echo signals are received by the antenna array;

[0012] Based on at least two of the echo signals, the position of the target is determined.

[0013] Optionally, determining the position of the target based on at least two of the echo signals includes:

[0014] Determining steering vectors corresponding to at least two of the operating frequency bands;

[0015] Determining, based on the at least two echo signals, autocorrelation matrices corresponding to the at least two operating frequency bands;

[0016] The position of the target is determined based on the steering vectors and the autocorrelation matrix corresponding to at least two of the operating frequency bands.

[0017] Optionally, the determining the position of the target based on the steering vectors and the autocorrelation matrix corresponding to at least two of the operating frequency bands includes:

[0018] Determining a strength indicator value of each of the echo signals based on the steering vector and the autocorrelation matrix corresponding to each of the operating frequency bands;

[0019] The direction of the target is determined based on the strength indication values ​​of at least two of the echo signals.

[0020] Optionally, determining the strength indicator value of each echo signal based on the steering vector and the autocorrelation matrix corresponding to each operating frequency band includes:

[0021] Performing conjugate transposition processing on the control vector to obtain a conjugate transposed control vector corresponding to each of the working frequency bands;

[0022] Multiplying the conjugate transposed steering vector corresponding to each of the operating frequency bands by the steering vector to obtain a first vector corresponding to each of the operating frequency bands;

[0023] Based on the steering vector corresponding to each of the operating frequency bands, the conjugate transposed steering vector, the first vector, and the autocorrelation matrix, the intensity indicator value of each of the echo signals is determined.

[0024] Optionally, determining the strength indicator value of each echo signal based on the steering vector, the conjugate transposed steering vector, the first vector, and the autocorrelation matrix corresponding to each operating frequency band includes:

[0025] Determine a second vector corresponding to each of the operating frequency bands based on the conjugate transposed steering vector corresponding to each of the operating frequency bands, the autocorrelation matrix, and the steering vector;

[0026] The second vector corresponding to each of the working frequency bands is divided by the first vector corresponding thereto to obtain a strength indicator value of each of the echo signals.

[0027] Optionally, determining the strength indicator value of each echo signal based on the steering vector, the conjugate transposed steering vector, the first vector, and the autocorrelation matrix corresponding to each operating frequency band includes:

[0028] Performing singular value decomposition based on the autocorrelation matrix corresponding to each of the operating frequency bands to obtain a singular noise matrix corresponding to each of the operating frequency bands;

[0029] Multiplying the singular noise matrix corresponding to each of the operating frequency bands by a conjugate transposed singular noise matrix of the singular noise matrix to obtain a third vector corresponding to each of the operating frequency bands;

[0030] Based on the steering vector, the conjugate transposed steering vector, the third vector, and the first vector corresponding to each of the operating frequency bands, the strength indicator value of each of the echo signals is determined.

[0031] Optionally, determining the position of the target based on the strength indicator values ​​of at least two of the echo signals includes:

[0032] Multiply the strength indicator values ​​of at least two of the echo signals to obtain a total strength indicator value at each preset candidate direction;

[0033] The preset candidate direction corresponding to the maximum total intensity indication value or the preset candidate direction corresponding to the extremely large total intensity indication value is determined as the direction where the target is located.

[0034] Optionally, determining the autocorrelation matrices corresponding to the at least two operating frequency bands based on the at least two echo signals includes:

[0035] For each of the echo signals, performing mixing and filtering processing on the echo signal and the transmit signal corresponding to the echo signal to obtain at least two processed signals;

[0036] Sampling each of the processed signals to obtain at least two sampled signals;

[0037] Based on the at least two sampled signals and the conjugate transposed matrices corresponding to the at least two sampled signals, autocorrelation matrices corresponding to the at least two working frequency bands are determined.

[0038] Optionally, the determining of the steering vectors corresponding to the at least two operating frequency bands includes:

[0039] Get the preset azimuth interval;

[0040] Based on each preset orientation in the preset orientation interval, a steering vector corresponding to at least two of the working frequency bands is determined.

[0041] According to a fourth aspect of the present application, a position determination device is provided, including the antenna array provided in this embodiment or the detection device provided in this embodiment, wherein the device includes:

[0042] an acquisition module, configured to acquire at least two echo signals returned by a target in response to at least two transmitted signals, wherein the at least two transmitted signals are transmitted by the antenna array and / or the at least two echo signals are received by the antenna array;

[0043] The determination module is used to determine the position of the target based on at least two of the echo signals.

[0044] According to a fifth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method provided in this embodiment are implemented.

[0045] According to a sixth aspect of the present application, an electronic device is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method provided in this embodiment are implemented.

[0046] According to a seventh aspect of the present application, a vehicle is provided, comprising the electronic device provided in this embodiment.

[0047] According to an eighth aspect of the present application, a computer program product is provided, comprising a computer program or instructions, which implement the steps of the method provided in this embodiment when the computer program or instructions are executed by a processor.

[0048] To summarize, in the embodiment of the present application, since the number of operating frequency bands of the antenna array is at least two, the antenna array includes multiple array elements, and the spacing between the array elements is greater than the maximum half-wavelength of the half-wavelengths of at least two operating frequency bands and is less than or equal to the least common multiple of at least two half-wavelengths. Therefore, when the direction of the target is determined by the signal received by the antenna array, there will be no angle ambiguity problem. When the spacing between the array elements in the antenna array is greater than the maximum half-wavelength, there will be no angle ambiguity problem, which makes it unnecessary to strictly limit the aperture of the antenna array, thereby saving costs.

[0049] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0051] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0052] Figure 1 is a schematic diagram of a transmitting array element and a receiving array element provided in an exemplary embodiment of the present application;

[0053] Figure 2 is a schematic diagram of a virtual array element provided in an exemplary embodiment of the present application;

[0054] Figure 3 is a flowchart of the steps of a method for determining an orientation provided in an exemplary embodiment of the present application;

[0055] Figure 4 is a flowchart of the steps of another method for determining an orientation provided in an exemplary embodiment of the present application;

[0056] Figure 5 is a schematic diagram of a simulation of the effect of the orientation determination method provided in an exemplary embodiment of the present application;

[0057] Figure 6 is a schematic diagram of another effect simulation of the orientation determination method provided in an exemplary embodiment of the present application;

[0058] Figure 7 is a flowchart of the steps of another method for determining an orientation provided in an exemplary embodiment of the present application;

[0059] Figure 8 is a schematic diagram of another effect simulation of the orientation determination method provided in an exemplary embodiment of the present application;

[0060] Figure 9 Schematic diagram of a position determination device provided in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0062] The present application provides an antenna array, wherein the number of operating frequency bands of the antenna array is at least two, the antenna array includes multiple array elements, and the spacing between the array elements is greater than the maximum half-wavelength of the half-wavelengths of the at least two operating frequency bands and less than or equal to the least common multiple of the at least two half-wavelengths.

[0063] The operating frequency band of the antenna array refers to the frequency range in which the antenna array can transmit and receive electromagnetic waves.

[0064] An operating frequency band has one half-wavelength. A half-wavelength of an operating frequency band refers to the half-wavelength corresponding to the target operating frequency of the operating frequency band. That is, the frequency corresponding to each half-wavelength can be referred to as the target operating frequency of the operating frequency band. Transmitting a signal at the frequency corresponding to each half-wavelength can be understood as the antenna array transmitting a signal at the target operating frequency. The number of operating frequency bands can be set based on actual circumstances. For example, the number of operating frequency bands can be 2 or 3, and this embodiment does not limit this.

[0065] Since there are at least two operating frequency bands, there are at least two half-wavelengths. The spacing between array elements in the antenna array is greater than the maximum half-wavelength of the at least two half-wavelengths and less than or equal to the least common multiple of the at least two half-wavelengths. For example, the number of half-wavelengths may be two, d0 and d1, respectively. The spacing between array elements in the antenna array is d, and the least common multiple of d0 and d1 is LCM(d0, d1). LCM(d0, d1) ≥ d > max(d0, d1), where max(d0, d1) represents the maximum value of d0 and d1.

[0066] The type of antenna array can be set according to actual conditions. For example, the antenna array can be a uniform antenna array or a uniform sparse array, which is not limited in this embodiment.

[0067] The antenna array includes a transmitting antenna array and / or a receiving antenna array. The transmitting antenna array includes transmitting array elements, and the receiving antenna array includes receiving array elements. When the antenna array includes a transmitting antenna array, the receiving array elements may be located on other antenna arrays; when the antenna array includes a receiving antenna array, the transmitting array elements may be located on other antenna arrays.

[0068] An independent detection path can be formed between each transmitting array element and each receiving array element. These detection paths can be regarded as composed of virtual array elements. Therefore, the transmitting array elements and the receiving array elements can form an equivalent array, and the array elements in the equivalent array are virtual array elements.

[0069] The spacing between array elements in the antenna array is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths. This can be understood as the spacing between virtual array elements in the equivalent array composed of transmitting array elements and receiving array elements is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths.

[0070] For example, when the transmitting antenna array includes M transmitting array elements and the receiving antenna array includes N receiving array elements, the M transmitting array elements and the N receiving array elements can form an M*N equivalent array. The M*N equivalent array includes M*N virtual array elements. The spacing between the M*N virtual array elements is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths, where M and N are both integers equal to or greater than 1.

[0071] When M is 2 and N is 4, the two transmitting array elements are Tx1 and Tx2, and the four receiving array elements are Rx1, Rx2, Rx3 and Rx4. The transmitting array elements and the receiving array elements can be as follows Figure 1 As shown, the virtual array elements in the equivalent array composed of transmitting array elements and receiving array elements can be as follows Figure 2 As shown, the virtual array elements include a virtual transmitting array element Tx1' and virtual receiving array elements Rx1', Rx2', Rx3', Rx4', Rx5', Rx6', Rx7' and Rx8'.

[0072] In order to make the spacing between virtual array elements in the equivalent array composed of transmitting array elements and receiving array elements greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths, the spacing between transmitting array elements in the transmitting antenna array can be greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths, and / or the spacing between receiving array elements in the receiving antenna array can be greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths.

[0073] Although the spacing between transmitting array elements is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths, and / or the spacing between receiving array elements is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths, the positions of the transmitting array elements and the positions of the receiving array elements can be set according to actual conditions, and this embodiment does not limit this.

[0074] When the spacing between receiving array elements is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths, for example, the spacing between receiving array elements in the receiving antenna array is d, d is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths, the transmitting antenna array includes M transmitting array elements, the receiving antenna array includes N receiving array elements, the position of the transmitting array element is (k-1)Nd, the position of the receiving array element is (NMd+(y-1)d), k is all integers between 1 and M, and y is all integers between 1 and N.

[0075] Wherein, M and N are both integers equal to or greater than 1, all integers between 1 and M, including 1 and M, and all integers between 1 and N, including 1 and N.

[0076] Since the receiving elements are located at (NMd + (y-1)d), the spacing between receiving elements is d. Since the transmitting elements are located at (k-1)Nd, the spacing between transmitting elements is Nd. With the spacing between receiving elements d and the spacing between transmitting elements Nd, an equivalent array with sparse transmit and dense receive can be formed.

[0077] For example, if M is 2 and N is 4, the values ​​of k can be 1 and 2, the values ​​of y can be 1, 2, 3 and 4, the positions of the two transmitting elements can be {0, 4d}, and the positions of the four receiving elements can be {8d, 9d, 10d, 11d}.

[0078] In this embodiment, the spacing between receiving elements in the receiving antenna array is d, where d is greater than the maximum half-wavelength and less than or equal to the least common multiple of at least two half-wavelengths. The transmitting antenna array includes M transmitting elements, and the receiving antenna array includes N receiving elements. The positions of the transmitting elements are (k-1)Nd, and the positions of the receiving elements are (NMd+(y-1)d), where k is any integer between 1 and M, and y is any integer between 1 and N. This implements an equivalent array with sparse transmission and dense reception, such that the spacing between the elements in the antenna array is greater than the maximum half-wavelength and less than or equal to the least common multiple of at least two half-wavelengths.

[0079] When the spacing between transmitting array elements is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths, for example, the spacing between transmitting array elements in the transmitting antenna array is d, d is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths, the transmitting antenna array includes M transmitting array elements, the receiving antenna array includes N receiving array elements, the position of the transmitting array element is (k-1)d, the position of the receiving array element is yMd, k is all integers between 1 and M, and y is all integers between 1 and N.

[0080] Wherein, M and N are both integers equal to or greater than 1, all integers between 1 and M, including 1 and M, and all integers between 1 and N, including 1 and N.

[0081] Since the position of the transmitting elements is (k-1)d, the spacing between transmitting elements is d. Since the position of the receiving elements is yMd, the spacing between receiving elements is Md. With the spacing between receiving elements Md and the spacing between transmitting elements d, an equivalent array with dense transmission and sparse reception can be formed.

[0082] For example, if M is 2 and N is 4, the values ​​of k can be 1 and 2, the values ​​of y can be 1, 2, 3 and 4, the positions of the two transmitting array elements can be {0, d}, and the positions of the four receiving array elements can be {2d, 4d, 6d, 8d}.

[0083] In this embodiment, the spacing between transmitting elements in the transmitting antenna array is d, where d is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths. The transmitting antenna array includes M transmitting elements, and the receiving antenna array includes N receiving elements. The positions of the transmitting elements are (k-1)d, and the positions of the receiving elements are yMd, where k is any integer between 1 and M, and y is any integer between 1 and N. This implements an equivalent array with dense transmission and sparse reception, such that the spacing between the elements in the antenna array is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths.

[0084] When controlling the transmitting antenna array to transmit signals at each target operating frequency, each transmitting array element in the transmitting antenna array can be controlled to transmit signals successively. Each transmitting array element can transmit signals at each target operating frequency simultaneously or successively.

[0085] For example, the target operating frequencies are f0 and f1, and the transmitting array elements include Tx1 and Tx2. When each transmitting array element transmits signals simultaneously, Tx1 is first controlled to transmit two transmitting signals at the target operating frequencies f0 and f1 simultaneously, and then Tx2 is controlled to transmit two transmitting signals at the target operating frequencies f0 and f1 simultaneously. When each transmitting array element transmits two transmitting signals successively, Tx1 is first controlled to transmit signals at the target operating frequency f0, and then Tx2 is controlled to transmit signals at the target operating frequency f0. Then, Tx1 is controlled to transmit signals at the target operating frequency f1, and finally Tx2 is controlled to transmit signals at the target operating frequency f1.

[0086] The target operating frequency can be a constant frequency or a variable frequency. When the target operating frequency is a constant frequency, the transmitted signal can be a continuous wave (CW). When the target operating frequency is a variable frequency, the transmitted signal can be a frequency modulated continuous wave (FMCW).

[0087] When the transmitted signal is a frequency modulated continuous wave, the half wavelength may be half of the wavelength corresponding to the center frequency of the target operating frequency.

[0088] As can be seen from the above, in the embodiment of the present application, since the number of operating frequency bands of the antenna array is at least two, the antenna array includes multiple array elements, and the spacing between the array elements is greater than the maximum half-wavelength of the half-wavelengths of at least two operating frequency bands and is less than or equal to the least common multiple of at least two half-wavelengths. Therefore, when the direction of the target is determined by the signal received by the antenna array, there will be no angle ambiguity problem. When the spacing between the array elements in the antenna array is greater than the maximum half-wavelength, there will be no angle ambiguity problem, which makes it unnecessary to strictly limit the aperture of the antenna array, saving costs.

[0089] In some embodiments, this embodiment provides a detection device, which includes the antenna array provided in this embodiment. The detection device is a device that can transmit a signal, collect an echo signal returned by a target in response to the transmitted signal, and determine the target's position, orientation, and velocity based on the echo signal.

[0090] Optionally, the presence form of the antenna array on the detection device can be set according to actual conditions. For example, the detection device may include at least one radar or at least one sonar device, and the antenna array is located on the radar or sonar device. This embodiment does not limit this.

[0091] It is understandable that when the antenna array includes a transmitting antenna array and a receiving antenna array, the transmitting antenna array and the receiving antenna array can be located on the same radar or on different radars, which is not limited in this embodiment.

[0092] In this embodiment, since there is no need to limit the aperture of the antenna array, the cost of the detection device can also be reduced when the antenna array is located on the detection device.

[0093] As can be seen from the above, in the embodiment of the present application, since the number of operating frequency bands of the antenna array is at least two, the antenna array includes multiple array elements, and the spacing between the array elements is greater than the maximum half-wavelength of the half-wavelengths of at least two operating frequency bands and is less than or equal to the least common multiple of at least two half-wavelengths. Therefore, when the direction of the target is determined by the signal received by the antenna array, there will be no angle ambiguity problem. When the spacing between the array elements in the antenna array is greater than half a wavelength, there will be no angle ambiguity problem, which makes it unnecessary to strictly limit the aperture of the antenna array, saving costs.

[0094] The following is an explanation of the direction determination method provided by the present application. The direction determination method provided by the present application is implemented by the antenna array provided by the present application. The direction determination method provided by the present application can be implemented by an electronic device. The electronic device can be a detection device or a computer device associated with the antenna array. When the electronic device is a computer device associated with the antenna array, the received signal is sent to the computer device, and the computer device then determines the direction of the target based on the signal. Please refer to Figure 3 The orientation determination method provided in the embodiment of the present application includes steps 100 to 200, which are described in detail below.

[0095] Step 100: Acquire at least two echo signals returned by a receiving antenna array to at least two transmission signals, wherein the at least two transmission signals are transmitted by the antenna array and / or the at least two echo signals are received by the antenna array.

[0096] At least two echo signals may be received by a receiving antenna array, and the receiving antenna array then sends the at least two echo signals to an electronic device, so that the electronic device acquires the at least two echo signals.

[0097] When at least two transmission signals are transmitted through the antenna array, the antenna array includes a transmitting antenna array. At this time, the transmitting antenna array is controlled to transmit signals at the target operating frequency corresponding to each operating frequency band to obtain at least two transmission signals. Specifically, each transmitting array element in the transmitting antenna array can be controlled to transmit signals successively. Each transmitting array element can transmit signals at each target operating frequency simultaneously, or can transmit signals at each target operating frequency successively.

[0098] Because there are at least two half-wavelengths, there are at least two target operating frequencies and at least two transmitted signals. After the transmitting array element transmits the signal, when the at least two transmitted signals encounter a target in the antenna array environment, they are reflected or scattered by the target to the receiving array element, allowing the receiving array element to receive at least two echo signals resulting from the reflection or scattering of the at least two transmitted signals.

[0099] For example, the number of at least two transmission signals is 2, the two transmission signals are respectively a first transmission signal and a second transmission signal. The first echo signal returned by the target to the first transmission signal is received by the receiving array element, and the second echo signal returned by the target to the second transmission signal is received by the receiving array element.

[0100] Step 200: Determine the location of the target based on at least two echo signals.

[0101] Among them, when the electronic device is a detection device, the detection device can directly determine the direction of the target based on at least two echo signals, or the detection device can also send at least two echo signals to a computer device, and determine the direction of the target based on the at least two echo signals through the computer device.

[0102] In some embodiments, the Direction of Arrival (DOA) may be determined based on at least two echo signals, and the direction of the target may be determined by the DOA.

[0103] In some embodiments, determining the position of the target based on at least two echo signals includes:

[0104] determining a steering vector corresponding to at least two operating frequency bands;

[0105] Determining, based on the at least two echo signals, autocorrelation matrices corresponding to at least two operating frequency bands;

[0106] The position of the target is determined based on the steering vectors and the autocorrelation matrix corresponding to at least two working frequency bands.

[0107] The steering vector refers to a complex weighted vector of the echo signal received by the receiving array element relative to the reference receiving array element. The reference receiving array element is one of the receiving array elements.

[0108] The autocorrelation matrix, also called the covariance matrix, is used to describe the statistics of the correlation between the echo signal and itself at different time delays.

[0109] In this embodiment, the steering vectors corresponding to at least two working frequency bands are determined, and based on at least two echo signals, the autocorrelation matrices corresponding to the at least two working frequency bands are determined. Based on the steering vectors and the autocorrelation matrix corresponding to the at least two working frequency bands, the direction of the target is determined, thereby determining the direction of the target through the steering vectors and the echo signals, thereby improving the accuracy of the obtained direction.

[0110] In some embodiments, determining the steering vectors corresponding to at least two operating frequency bands includes:

[0111] Get the preset azimuth interval;

[0112] Based on each preset azimuth in the preset azimuth interval, a steering vector corresponding to at least two working frequency bands is determined.

[0113] Among them, the preset azimuth interval is a pre-set interval, which can be set according to actual conditions. For example, the preset azimuth interval can be [-90°, 90°] or [0°, 90°], which is not limited in this embodiment.

[0114] Each preset orientation in the preset orientation interval may be an orientation taken from the preset orientation interval at every target angle, for example, the target angle is 1° or 2°.

[0115] Specifically, each preset orientation and the half wavelength of each working frequency band can be substituted into formula (1) for calculation to obtain the steering vector corresponding to each working frequency band:

[0116]

[0117] Wherein, j represents the imaginary unit, w represents all integers between 1 and (M*N-1), M represents the number of transmitting array elements, and N represents the number of receiving array elements. For example, when M is 2 and N is 4, w is 1, 2, 3, 4, 5, 6, and 7, (0:w) represents the matrix consisting of all integers between 0 and (M*N-1), T represents the transpose, d represents the matrix between array elements, θ represents each preset orientation, and ε represents each half wavelength.

[0118] In some embodiments, determining the autocorrelation matrices corresponding to at least two operating frequency bands based on at least two echo signals includes:

[0119] For each echo signal, performing mixing and filtering processing on the echo signal and the transmission signal corresponding to the echo signal to obtain at least two processed signals;

[0120] Sampling each processed signal to obtain at least two sampled signals;

[0121] Based on the at least two sampled signals and conjugate transposed matrices corresponding to the at least two sampled signals, an autocorrelation matrix corresponding to the at least two working frequency bands is determined.

[0122] Wherein, the filtering in the mixing and filtering process can be a low-frequency filtering, and the processed signal can be an intermediate frequency signal. Each processed signal can be sampled at least once. A data matrix can be used to represent the sampled signal, and the conjugate transposed matrix corresponding to the sampled signal can refer to the conjugate transposed matrix of the data matrix. The data matrix corresponding to a working frequency band is multiplied by the conjugate transposed matrix of the data matrix to obtain the autocorrelation matrix corresponding to the frequency band. Alternatively, the conjugate transposed matrix corresponding to the sampled signal can refer to the conjugate transposed matrix of the target data matrix. The data matrix corresponding to a frequency band is subjected to fast-time Fourier transform, phase compensation, and slow-time Fourier transform. The target data matrix corresponding to the frequency band is extracted from the transformed signal through a constant false alarm rate (CFAR) function, and then the target data matrix is ​​multiplied by the conjugate transposed matrix of the target data matrix to obtain the autocorrelation matrix corresponding to the working frequency band.

[0123] When a sampling process is performed on each processed signal and a data matrix and a conjugate transposed matrix of the data matrix are multiplied to obtain an autocorrelation matrix, for example, at least two transmitted signals include a first transmitted signal and a second transmitted signal, the first transmitted signal is transmitted at a target operating frequency f0 by a transmitting array element and the second transmitted signal is transmitted at a target operating frequency f1, a first echo signal returned by the target to the first transmitted signal is received by a receiving array element, and second echo information returned by the target to the second transmitted signal is received by a receiving array element, the first transmitted signal is used as a first reference signal and the first echo signal is mixed and filtered to obtain a first processed signal, the second transmitted signal is used as a second reference signal and a second echo signal The first processed signal is subjected to mixing and filtering processing to obtain a second processed signal, the first processed signal is sampled q times to obtain a first sampled signal, the second processed signal is sampled q times to obtain a second sampled signal, the first sampled signal is represented by a first data matrix, the second sampled signal is represented by a second data matrix, the first data matrix and the second data matrix are both 2-dimensional matrices of (M*N)*q, the first data matrix and the first conjugate transposed matrix of the first data matrix are multiplied to obtain a first autocorrelation matrix corresponding to the target operating frequency f0, and the second data matrix and the second conjugate transposed matrix of the second data matrix are multiplied to obtain a second autocorrelation matrix corresponding to the target operating frequency f1.

[0124] When each processed signal is sampled twice and the target data matrix and the conjugate transposed matrix of the target data matrix are multiplied to obtain an autocorrelation matrix, for example, at least two transmit signals include a first transmit signal and a second transmit signal, the first transmit signal is transmitted by a transmitting array element at a target operating frequency f0 and an offset frequency Δf (Δf represents a frequency difference between adjacent pulses, f0 is much greater than Δf, and (f1-f0) is much greater than Δf, and f1 is greater than f0), and the second transmit signal is transmitted at a target operating frequency f1 and an offset frequency Δf, a first echo signal returned by the target to the first transmit signal is received by a receiving array element, and second echo information returned by the target to the second transmit signal is received by the receiving array element, the first transmit signal is used as a first reference signal and mixed and filtered with the first echo signal to obtain The first processed signal is processed by mixing and filtering the second transmitted signal as the second reference signal and the second echo signal to obtain the second processed signal, sampling the first processed signal for q cycles, and sampling the signal p times in each cycle to obtain the first sampled signal, sampling the second processed signal for q cycles, and sampling the signal p times in each cycle to obtain the second sampled signal (p represents the number of frequency deviations), the first sampled signal is represented by a first data matrix, and the second sampled signal is represented by a second data matrix, the first data matrix and the second data matrix are both 3D matrices of (M*N)*p*q, fast time Fourier transform, phase compensation, slow time Fourier transform are performed on the first data matrix, and the constant false alarm rate function (Constant False Alarm Rate) is used to calculate the first sampled signal. A first target data matrix is ​​extracted from the transformed signal through a constant false alarm rate (CFAR) function, and the first target data matrix is ​​multiplied by the conjugate transposed matrix of the first target data matrix to obtain a first autocorrelation matrix corresponding to the target operating frequency f0. Fast-time Fourier transform, phase compensation, and slow-time Fourier transform are performed on the second data matrix. A second target data matrix is ​​extracted from the transformed signal through a constant false alarm rate (CFAR) function, and the second target data matrix is ​​multiplied by the conjugate transposed matrix of the second target data matrix to obtain a second autocorrelation matrix corresponding to the target operating frequency f1.

[0125] In this embodiment, for each echo signal, the echo signal and the transmitted signal corresponding to the echo signal are mixed and filtered to obtain at least two processed signals, and each processed signal is sampled to obtain at least two sampled signals. Based on the at least two sampled signals and the conjugate transposed matrices corresponding to the at least two sampled signals, the autocorrelation matrices corresponding to at least two working frequency bands are determined, so that the autocorrelation matrix is ​​determined by the signals after mixing, filtering and sampling, thereby reducing the interference of high-frequency noise and reducing the amount of processed data.

[0126] In some embodiments, determining the position of the target based on the steering vector and the autocorrelation matrix corresponding to each frequency band includes:

[0127] Determine the intensity indicator value of each echo signal based on the steering vector and autocorrelation matrix corresponding to each working frequency band;

[0128] The position of the target is determined based on the strength indication values ​​of the at least two echo signals.

[0129] Among them, the strength indication value of the echo signal is used to indicate the strength of the echo signal, and its type can be set according to actual conditions. For example, the strength indication value of the echo signal can be represented by a normalized spectrum or signal power, which is not limited in this embodiment.

[0130] In this embodiment, the strength indication value of each echo signal is determined based on the steering vector and autocorrelation matrix corresponding to each working frequency band, and the direction of the target is determined based on the strength indication values ​​of at least two echo signals, thereby further improving the accuracy of the determined direction.

[0131] In some embodiments, determining the strength indicator value of each echo signal based on the steering vector and the autocorrelation matrix corresponding to each operating frequency band includes:

[0132] Perform conjugate transposition processing on the control vector to obtain the conjugate transposed control vector corresponding to each working frequency band;

[0133] Multiplying the conjugate transposed control vector corresponding to each working frequency band and the control vector to obtain a first vector corresponding to each working frequency band;

[0134] The intensity indication value of each echo signal is determined based on the steering vector, the conjugate transposed steering vector, the first vector, and the autocorrelation matrix corresponding to each working frequency band.

[0135] The first vector can also be referred to as the autocorrelation matrix corresponding to the steering vector. In this embodiment, the steering vector is conjugate transposed to obtain a conjugate transposed steering vector corresponding to each operating frequency band. The conjugate transposed steering vector corresponding to each operating frequency band is multiplied by the steering vector to obtain a first vector corresponding to each operating frequency band. Based on the steering vector corresponding to each frequency band, the conjugate transposed steering vector, the first vector, and the autocorrelation matrix, the intensity indication value of each echo signal is determined. This intensity indication value is determined using the first vector, thereby improving the accuracy of the determined intensity indication value.

[0136] In some embodiments, determining the strength indicator value of each echo signal based on the steering vector, the conjugate transposed steering vector, the first vector, and the autocorrelation matrix corresponding to each operating frequency band includes:

[0137] Determine a second vector corresponding to each operating frequency band based on the conjugate transposed steering vector, the autocorrelation matrix, and the steering vector corresponding to each operating frequency band;

[0138] The second vector corresponding to each working frequency band is divided by its corresponding first vector to obtain a strength indicator value of each echo signal.

[0139] Wherein, based on the autocorrelation matrix, a reference matrix is ​​determined, and then the conjugate transposed steering vector corresponding to each working frequency band, the reference matrix and the steering vector are multiplied together to obtain a second vector corresponding to each working frequency band.

[0140] Specifically, the autocorrelation matrix can be determined as a reference matrix, or the autocorrelation matrix can be substituted into formula (2) for calculation to obtain a reference matrix:

[0141]

[0142] Where R represents the reference matrix, Xf*Xf T Represents the autocorrelation matrix, Xf represents the data matrix corresponding to the sampled signal, Xf T It represents the conjugate transposed matrix of the data matrix corresponding to the sampled signal, and q represents the number of sampling times.

[0143] The conjugate transposed steering vector, reference matrix, and steering vector can be substituted into formula (3) to calculate the intensity indicator value corresponding to the echo signal of each working frequency band:

[0144]

[0145] Among them, DOA_CBF represents the intensity indicator value corresponding to the echo signal of each working frequency band, A represents the control vector, and A T represents the conjugate transposed manipulation vector, R represents the reference matrix, and A T *A represents the first vector, A T *R*A represents the second vector.

[0146] In this embodiment, based on the conjugate transposed steering vector, autocorrelation matrix and steering vector corresponding to each working frequency band, the second vector corresponding to each working frequency band is determined, and the second vector corresponding to each working frequency band is divided by its corresponding first vector to obtain the intensity indication value of each echo signal, thereby improving the accuracy of the determined intensity indication value.

[0147] In some embodiments, determining the strength indicator value of each echo signal based on the steering vector, the conjugate transposed steering vector, the first vector, and the autocorrelation matrix corresponding to each operating frequency band includes:

[0148] Perform singular value decomposition based on the autocorrelation matrix corresponding to each working frequency band to obtain the singular noise matrix corresponding to each working frequency band;

[0149] Multiplying the singular noise matrix corresponding to each working frequency band by the conjugate transposed singular noise matrix of the singular noise matrix to obtain a third vector corresponding to each working frequency band;

[0150] The intensity indication value of each echo signal is determined based on the steering vector, the conjugate transposed steering vector, the third vector, and the first vector corresponding to each working frequency band.

[0151] Among them, the reference matrix corresponding to each working frequency band can be determined based on the autocorrelation matrix corresponding to each working frequency band, and then the reference matrix can be subjected to singular value decomposition to obtain a singular noise matrix. Specifically, the reference matrix can be substituted into formula (4) for singular value decomposition:

[0152] R=U*S*V(4)

[0153] Where U and V are orthogonal matrices, and S is a quasi-diagonal matrix. If there are t targets, the last (M*Nt) columns of U are extracted to form a singular noise matrix.

[0154] After obtaining the singular noise matrix and the conjugate transposed singular noise matrix, the detection device can multiply the singular noise matrix and the conjugate transposed singular noise matrix corresponding to each working frequency band to obtain the third vector corresponding to each working frequency band. The third vector, the first vector, the steering vector and the conjugate transposed steering vector corresponding to each working frequency band are substituted into formula (5) for calculation to obtain the intensity indication value of the echo signal corresponding to each working frequency band:

[0155]

[0156] Among them, DOA_MUSIC represents the intensity indication value, G represents the third vector, A represents the control vector, and A T represents the conjugate transposed manipulation vector, A T *A represents the first vector.

[0157] In an embodiment of the present application, singular value decomposition is performed based on the autocorrelation matrix corresponding to each working frequency band to obtain a singular noise matrix corresponding to each working frequency band, the singular noise matrix is ​​conjugate transposed to obtain a conjugate transposed singular noise matrix corresponding to each working frequency band, the singular noise matrix corresponding to each working frequency band and the conjugate transposed singular noise matrix are multiplied to obtain a third vector corresponding to each working frequency band, and based on the steering vector, conjugate transposed steering vector, third vector and first vector corresponding to each working frequency band, the intensity indication value of each echo signal is determined to improve the accuracy of the determined intensity indication value.

[0158] In some embodiments, determining the position of the target based on the strength indicator values ​​of at least two echo signals includes:

[0159] Multiply the strength indication values ​​of at least two echo signals to obtain a total strength indication value at each preset candidate direction;

[0160] The preset candidate direction corresponding to the maximum total intensity indication value or the preset candidate direction corresponding to the extremely large total intensity indication value is determined as the direction where the target is located.

[0161] The preset candidate direction refers to a direction where a total intensity indication value exists. A maximum total intensity indication value can be understood as a maximum value.

[0162] When the intensity indication value is determined by formula (3), if the half wavelength includes two, d0 and d1, the echo signal corresponding to d0 is the first echo signal, and the echo signal corresponding to d1 is the second echo signal, then the total intensity indication value can be determined by formula (6):

[0163]

[0164] Among them, ANGLE_DOA_CBF represents the total intensity indicator value, represents the intensity indicator value of the first echo signal, A0 represents the control vector corresponding to d0, which can be called the first control vector, A0 T represents the conjugate transposed manipulation vector corresponding to d0, which can be called the conjugate transposed first manipulation vector, R0 represents the reference matrix corresponding to d0, which can be called the first reference matrix, represents the intensity indicator value of the second echo signal, A1 represents the control vector corresponding to d1, which can be called the second control vector, A1 T represents the conjugate transposed manipulation vector corresponding to d1, which can be called the conjugate transposed second manipulation vector, R1 represents the reference matrix corresponding to d1, which can be called the second reference matrix, Represents dot product.

[0165] When the intensity indication value is determined by formula (5), if the half wavelength includes two, d0 and d1, the echo signal corresponding to d0 is the first echo signal, and the echo signal corresponding to d1 is the second echo signal, then the total intensity indication value can be determined by formula (7):

[0166]

[0167] Among them, ANGLE_DOA_MUSIC represents the total intensity indication value, represents the intensity indicator value of the first echo signal, A0 represents the control vector corresponding to d0, which can be called the first control vector, A0 Trepresents the conjugate transposed manipulation vector corresponding to d0, which can be called the conjugate transposed first manipulation vector, G0 represents the third vector corresponding to d0, represents the intensity indicator value of the second echo signal, A1 represents the control vector corresponding to d1, which can be called the second control vector, A1 T represents the conjugate transposed manipulation vector corresponding to d1, which can be called the conjugate transposed second manipulation vector, G1 represents the third vector corresponding to d1, Represents dot product.

[0168] The following is based on Figure 4 , further describing the direction determination method provided in this application. In this embodiment, the detection device's antenna array has two target operating frequencies, f0 and f1. This means that the detection device's antenna array transmits signals in two frequency bands. The transmitted signals include a first transmitted signal and a second transmitted signal, and the echo signals include a first echo signal and a second echo signal.

[0169] The spacing between array elements in the antenna array of the detection device is greater than the maximum half wavelength and less than or equal to the least common multiple of at least two half wavelengths. The transmitting antenna array in the antenna array of the detection device includes M transmitting array elements, and the receiving antenna array in the antenna array of the detection device includes N receiving array elements.

[0170] When the transmitted signal is a continuous wave, the detection device transmits the first transmitted signal in time-sharing at the target operating frequency f0 through M transmitting array elements, and simultaneously receives the first echo signal returned by the target in response to the first transmitted signal through N receiving array elements. The detection device transmits the second transmitted signal in time-sharing at the target operating frequency f1 through M transmitting array elements, and simultaneously receives the second echo signal returned by the target in response to the second transmitted signal through N receiving array elements.

[0171] The first echo signal and the first transmitted signal are mixed and filtered to obtain a first processed signal, the second echo signal and the second transmitted signal are mixed and filtered to obtain a second processed signal, the first processed signal and the second processed signal are sampled q times respectively to obtain a first sampled signal and a second sampled signal, the first sampled signal is represented by a first data matrix, and the second sampled signal is represented by a second data matrix, the first data matrix and the conjugate transposed matrix of the first data matrix are multiplied to obtain a first autocorrelation matrix corresponding to the target operating frequency f0, the second data matrix and the conjugate transposed matrix of the second data matrix are multiplied to obtain a second autocorrelation matrix corresponding to the target operating frequency f1, and the first autocorrelation matrix and the second autocorrelation matrix are respectively divided by the number of sampling times to obtain a first reference matrix and a second reference matrix.

[0172] When the transmission signal is a frequency modulated continuous wave, the detection device transmits a first transmission signal in time-sharing at the target operating frequency f0 and the frequency offset Δf through M transmitting array elements, and simultaneously receives a first echo signal returned by the target in response to the first transmission signal through N receiving array elements. The detection device transmits a second transmission signal in time-sharing at the target operating frequency f1 and the frequency offset Δf through M transmitting array elements, and simultaneously receives a second echo signal returned by the target in response to the second transmission signal through N receiving array elements.

[0173] The first echo signal and the first transmission signal are mixed and filtered to obtain a first processed signal, the second echo signal and the second transmission signal are mixed and filtered to obtain a second processed signal, the first processed signal and the second processed signal are sampled for q cycles respectively, and the sampling process is performed p times in each cycle to obtain a first sampled signal and a second sampled signal, the first sampled signal is represented by a first data matrix, and the second sampled signal is represented by a second data matrix, the first data matrix is ​​subjected to fast-time Fourier transform, phase compensation, and slow-time Fourier transform, and a constant false alarm rate function is used to transform the first data matrix. The first target data matrix is ​​extracted from the transformed signal, the first target data matrix and the conjugate transposed matrix of the first target data matrix are multiplied to obtain the first autocorrelation matrix corresponding to the target operating frequency f0, the first autocorrelation matrix is ​​used as the first reference matrix, the second data matrix is ​​subjected to fast-time Fourier transform, phase compensation, and slow-time Fourier transform, the second target data matrix is ​​extracted from the transformed signal through the constant false alarm rate function, the second target data matrix and the conjugate transposed matrix of the second target data matrix are multiplied to obtain the second autocorrelation matrix corresponding to the target operating frequency f1, and the second autocorrelation matrix is ​​used as the second reference matrix.

[0174] Determine the first steering vector corresponding to the target operating frequency f0 and the second steering vector corresponding to the target operating frequency f1, substitute the first steering vector, the conjugate transpose first steering vector of the first steering vector, the first reference signal, the second steering vector, the conjugate transpose second steering vector of the second steering vector, and the second reference signal into formula (6) for calculation, and obtain the total intensity indication value at each preset candidate orientation. The preset candidate orientation corresponding to the maximum total intensity indication value or the preset candidate orientation corresponding to the maximum total intensity indication value is determined as the orientation where the target is located.

[0175] For example, the target operating frequency f0 is 50 GHz, the corresponding half-wavelength is 3 mm, the target operating frequency f1 is 60 GHz, the corresponding half-wavelength is 2.5 mm, the least common multiple of 3 and 2.5 is 15, the number of transmitting array elements is 2, the number of receiving array elements is 4, the positions of the two transmitting array elements are (0, 4d), and the positions of the four receiving array elements are (8d, 9d, 10d, 11d). When d = 11.7 mm, d is greater than 3 mm and less than 15 mm. The total intensity indication value at each preset candidate direction obtained by simulation can be as follows: Figure 5 As shown in 502 ( Figure 5 , the horizontal axis represents the preset candidate orientation, the vertical axis represents the normalized frequency, and the normalized frequency represents the total intensity indication value). Figure 5 501 represents the total intensity indication value obtained by the relevant technology, from Figure 5 It can be seen from 501 that the maximum total intensity indication value also exists at the preset candidate direction where the true value is not located, and there is an angle ambiguity problem. Figure 5 As can be seen from 502, the maximum total intensity indication value exists only at the preset candidate direction where the true value is located, and there is no angle ambiguity problem (the true value refers to the actual direction where the target is located). When d = 15mm, the total intensity indication value obtained at each preset candidate direction can be as follows Figure 6 As shown in 602 ( Figure 6 , the horizontal axis represents the preset candidate orientation, the vertical axis represents the normalized spectrum, and the normalized spectrum represents the total intensity indication value). Figure 6 601 represents the total intensity indication value obtained by the relevant technology, from Figure 6 It can be seen from 601 that the maximum total intensity indication value also exists at the preset candidate direction where the true value is not located, and there is an angle ambiguity problem. Figure 6 It can be seen from 602 that the maximum total intensity indication value exists only at the preset candidate direction where the true value is located, and there is no angle ambiguity problem (the true value refers to the real direction where the target is located).

[0176] The following is based on Figure 7 , the method for determining the position provided by this application is further described. In the method for determining the position of this embodiment, the remaining steps and Figure 4 The steps are the same, except that the last step is Figure 4 The last step in Figure 4 The same steps are not repeated here, and only the last step is described. The last step of this embodiment is:

[0177] Determine the first steering vector corresponding to the target operating frequency f0 and the second steering vector corresponding to the target operating frequency f1, perform singular value decomposition on the first reference matrix to obtain a singular noise matrix corresponding to the target operating frequency f0, multiply the singular noise matrix corresponding to the target operating frequency f0 and the conjugate transposed singular noise matrix to obtain a third vector corresponding to the target operating frequency f0, perform singular value decomposition on the second reference matrix to obtain a singular noise matrix corresponding to the target operating frequency f1, multiply the singular noise matrix corresponding to the target operating frequency f1 and the conjugate transposed singular noise matrix to obtain a third vector corresponding to the target operating frequency f1, substitute the first steering vector, the conjugate transposed first steering vector of the first steering vector, the third vector corresponding to the target operating frequency f0, the second steering vector, the conjugate transposed second steering vector of the second steering vector, and the third vector corresponding to the target operating frequency f1 into formula (7) for calculation, and obtain the total intensity indication value at each preset candidate azimuth. The preset candidate azimuth corresponding to the maximum total intensity indication value or the preset candidate azimuth corresponding to the maximum total intensity indication value is determined as the azimuth where the target is located.

[0178] For example, the center frequency of the target operating frequency f0 is 50 GHz, and the corresponding half-wavelength is 3 mm. The center frequency of the target operating frequency f1 is 60 GHz, and the corresponding half-wavelength is 2.5 mm. The least common multiple of 3 and 2.5 is 15. The number of transmitting array elements is 2, and the number of receiving array elements is 4. The positions of the two transmitting array elements are (0, 4d), and the positions of the four receiving array elements are (8d, 9d, 10d, 11d). When d=11.7 mm, d is greater than 3 mm and less than 15 mm. The total intensity indication value at each preset candidate direction can be obtained as follows: Figure 8 As shown in 802 ( Figure 8 , the horizontal axis represents the preset candidate orientation, the vertical axis represents the normalized frequency, and the normalized frequency represents the total intensity indication value). Figure 8 801 represents the total intensity indication value obtained by the relevant technology, from Figure 8 It can be seen from 801 that the maximum total intensity indication value also exists at the preset candidate direction where the true value is not located, and there is an angle ambiguity problem. Figure 8 It can be seen from 802 that the maximum total intensity indication value exists only at the preset candidate direction where the true value is located, and there is no angle ambiguity problem (the true value refers to the actual direction where the target is located).

[0179] To summarize, in an embodiment of the present application, at least two echo signals returned by the target in response to at least two transmitted signals are obtained, at least two transmitted signals are transmitted through an antenna array and / or at least two echo signals are received through an antenna array, and the direction of the target is determined based on the at least two echo signals, so that even if the spacing between the array elements in the antenna array is greater than half a wavelength, there will be no angle ambiguity problem, thereby eliminating the need to strictly limit the aperture of the antenna array and no angle ambiguity problem, thereby saving costs.

[0180] Figure 9 This is a schematic diagram of the structure of a device for determining a position provided in an embodiment of the present application. Figure 9 The position determination device includes the antenna array provided by this embodiment, and the position determination device may include:

[0181] The acquisition module 901 is configured to acquire at least two echo signals returned by a target in response to at least two transmission signals, where the at least two transmission signals are transmitted through an antenna array and / or the at least two echo signals are received through an antenna array.

[0182] The determination module 902 is configured to determine the position of the target based on at least two echo signals.

[0183] Among them, the acquisition module 901 and the determination module 902 can be used to respectively execute the steps in the embodiments corresponding to the above-mentioned orientation determination method. For the specific implementation methods of these modules and more details, please refer to the corresponding method part, which will not be repeated here.

[0184] An embodiment of the present application further provides a computer-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned method for determining the position.

[0185] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0186] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0187] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0188] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0189] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0190] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0191] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated communication signals and carrier waves.

[0192] This embodiment further provides an electronic device having a computer program stored thereon, which implements the above method embodiment when executed by a processor.

[0193] This embodiment further provides a vehicle, which includes an electronic device. In this embodiment, the vehicle can be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., which is not specifically limited in this embodiment.

[0194] This embodiment further provides a computer program product, including a computer program or instructions, which implements the above method embodiment when the computer program or instructions are executed by a processor.

[0195] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0196] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0197] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other unless there is any conflict.

[0198] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. An antenna array, characterized in that: The number of operating frequency bands of the antenna array is at least two, and the antenna array includes multiple array elements. The spacing between the array elements is greater than the maximum half-wavelength of at least two half-wavelengths of the operating frequency bands and less than or equal to the least common multiple of at least two half-wavelengths.

2. The antenna array according to claim 1, wherein: The antenna array includes a transmitting antenna array and / or a receiving antenna array.

3. The antenna array according to claim 2, wherein: The spacing between receiving array elements in the receiving antenna array is d, where d is greater than the maximum half-wavelength and less than or equal to the least common multiple of at least two of the half-wavelengths. The transmitting antenna array includes M transmitting array elements, and the receiving antenna array includes N receiving array elements. The position of the transmitting array element is (k-1)Nd, and the position of the receiving array element is (NMd+(y-1)d), where k is all integers between 1 and M, and y is all integers between 1 and N.

4. The antenna array according to claim 2, wherein: The spacing between transmitting elements in the transmitting antenna array is d, where d is greater than the maximum half-wavelength and less than or equal to the least common multiple of at least two of the half-wavelengths. The transmitting antenna array includes M transmitting elements, and the receiving antenna array includes N receiving elements. The position of the transmitting element is (k-1)d, and the position of the receiving element is yMd, where k is any integer between 1 and M, and y is any integer between 1 and N.

5. A detection device, characterized in that: The antenna array comprises the antenna array according to any one of claims 1 to 4.

6. The detection device according to claim 5, characterized in that The system further comprises at least one radar, wherein the antenna array is located on the radar.

7. A method for determining a position, characterized in that: The method is implemented by the antenna array according to any one of claims 1 to 4 or the detection device according to any one of claims 5 to 6, comprising: Acquire at least two echo signals returned by a target in response to at least two transmission signals, wherein at least two of the transmission signals are transmitted by the antenna array and / or at least two of the echo signals are received by the antenna array; The position of the target is determined based on at least two of the echo signals.

8. The method according to claim 7, characterized in that The determining the position of the target based on at least two of the echo signals includes: determining a steering vector corresponding to at least two of the operating frequency bands; Determining, based on at least two of the echo signals, autocorrelation matrices corresponding to at least two of the operating frequency bands; The position of the target is determined based on the steering vector and the autocorrelation matrix corresponding to at least two of the working frequency bands.

9. The method according to claim 8, characterized in that The determining the position of the target based on the steering vector and the autocorrelation matrix corresponding to at least two of the operating frequency bands includes: Determining a strength indicator value of each of the echo signals based on the steering vector and the autocorrelation matrix corresponding to each of the operating frequency bands; The position of the target is determined based on the strength indication values ​​of at least two of the echo signals.

10. The method according to claim 9, characterized in that The determining, based on the steering vector and the autocorrelation matrix corresponding to each of the operating frequency bands, a strength indicator value of each of the echo signals, includes: Performing conjugate transposition processing on the steering vector to obtain a conjugate transposed steering vector corresponding to each of the working frequency bands; Multiplying the conjugate transposed steering vector corresponding to each of the working frequency bands by the steering vector to obtain a first vector corresponding to each of the working frequency bands; Based on the steering vector, the conjugate transposed steering vector, the first vector, and the autocorrelation matrix corresponding to each of the working frequency bands, a strength indication value of each of the echo signals is determined.

11. The method according to claim 10, characterized in that The determining, based on the steering vector corresponding to each of the operating frequency bands, the conjugate transposed steering vector, the first vector, and the autocorrelation matrix, of the strength indicator value of each of the echo signals includes: Determine a second vector corresponding to each of the working frequency bands based on the conjugate transposed steering vector corresponding to each of the working frequency bands, the autocorrelation matrix, and the steering vector; The second vector corresponding to each of the working frequency bands is divided by the first vector corresponding thereto to obtain a strength indication value of each of the echo signals.

12. The method according to claim 10, characterized in that The determining, based on the steering vector corresponding to each of the operating frequency bands, the conjugate transposed steering vector, the first vector, and the autocorrelation matrix, of the strength indicator value of each of the echo signals includes: Performing singular value decomposition based on the autocorrelation matrix corresponding to each of the working frequency bands to obtain a singular noise matrix corresponding to each of the working frequency bands; Multiplying the singular noise matrix corresponding to each of the working frequency bands by a conjugate transposed singular noise matrix of the singular noise matrix to obtain a third vector corresponding to each of the working frequency bands; Based on the steering vector, the conjugate transposed steering vector, the third vector, and the first vector corresponding to each of the operating frequency bands, a strength indication value of each of the echo signals is determined.

13. The method according to claim 9, characterized in that The determining the position of the target based on the strength indication values ​​of at least two of the echo signals includes: Multiply the strength indicator values ​​of at least two of the echo signals to obtain a total strength indicator value at each preset candidate direction; The preset candidate direction corresponding to the maximum total intensity indication value or the preset candidate direction corresponding to the extremely large total intensity indication value is determined as the direction where the target is located.

14. The method according to claim 8, characterized in that The determining, based on the at least two echo signals, the autocorrelation matrices corresponding to the at least two working frequency bands includes: For each of the echo signals, performing mixing and filtering processing on the echo signal and the transmit signal corresponding to the echo signal to obtain at least two processed signals; Sampling each of the processed signals to obtain at least two sampled signals; Based on the at least two sampled signals and the conjugate transposed matrices corresponding to the at least two sampled signals, an autocorrelation matrix corresponding to the at least two working frequency bands is determined.

15. The method according to claim 8, characterized in that The determining of the steering vectors corresponding to at least two of the operating frequency bands includes: Get the preset azimuth interval; Based on each preset orientation in the preset orientation interval, a steering vector corresponding to at least two of the working frequency bands is determined.

16. A device for determining a position, characterized in that: The device comprises the antenna array according to any one of claims 1 to 4 or the detection device according to any one of claims 5 to 6, wherein the device comprises: an acquisition module, configured to acquire at least two echo signals returned by a target in response to at least two transmission signals, wherein at least two of the transmission signals are transmitted by the antenna array and / or at least two of the echo signals are received by the antenna array; A determination module is used to determine the position of the target based on at least two of the echo signals.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 7 to 15 are implemented.

18. An electronic device, characterized in that: The electronic device stores a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 7 to 15.

19. A vehicle, characterized in that: The electronic device comprising claim 18.

20. A computer program product, characterized in that The method comprises a computer program or instructions, which implements the steps of the method according to any one of claims 7 to 15 when executed by a processor.

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