Target detection method and device, electronic equipment and medium

Abstract

The embodiment of the invention discloses a target detection method and device, electronic equipment and a medium. The method comprises the following steps: determining the position of a fixed transmitting antenna arranged in a transmitting antenna aperture and the position of a fixed receiving antenna arranged in a receiving antenna aperture based on a preset number of virtual uniform antennas, so as to form a virtual uniform array based on the fixed transmitting antenna and the fixed receiving antenna; and optimizing the positions of other transmitting antennas in the transmitting antenna aperture and the positions of other receiving antennas in the receiving antenna aperture to form a sparse array based on all transmitting antennas and all receiving antennas, and performing target detection according to the virtual uniform array and the sparse array. According to the scheme, the virtual uniform array can be formed in the sparse array of all the virtual antennas, the main lobe and side lobe ratio is improved through the virtual uniform array, the accuracy of roughly measuring the azimuth during target detection is improved, and the angle measurement precision and the angle measurement resolution can be improved through the sparse array, so that the accuracy of target azimuth angle detection is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of target detection, and in particular to a target detection method and device, electronic equipment and a medium. BACKGROUND

[0002] The technology of target detection by radar is widely used. Radar is an instrument that uses electromagnetic waves to detect and measure distance. When a radar transmits a short pulse of electromagnetic waves, a portion of the waves is reflected back when they encounter an obstacle or target. The radar receiving system analyzes the characteristics of the reflected electromagnetic waves, such as the intensity of the reflection and the time delay, to calculate the distance, direction, and speed of the obstacle or target relative to the radar.

[0003] Currently, when using radar to detect targets, a radar antenna array is generally set up for detection. The larger the radar antenna aperture, the higher the angle measurement accuracy and angle resolution. In order to solve the problem of limited number of radar antenna channels, low angle measurement accuracy and low angle resolution, a large-aperture sparse array is generally used to increase the aperture. However, as the spacing between the sparse array antennas increases, the main-to-side lobe ratio of the beam pattern also decreases, which can cause a large deviation between the angle estimation result and the actual position. SUMMARY

[0004] The embodiments of the present application provide a target detection method, device, electronic equipment and medium to improve the accuracy of target azimuth angle position coarse measurement and the detection accuracy of target accurate azimuth angle.

[0005] According to an aspect of the present application, a target detection method is provided, which comprises:

[0006] Determining a target virtual aperture according to a preset angle measurement accuracy or a preset angle resolution, and determining a transmitting antenna aperture and a receiving antenna aperture according to the target virtual aperture, the size requirement of the antenna panel of the transmitting antenna, and the size requirement of the antenna panel of the receiving antenna;

[0007] Based on a preset virtual uniform antenna quantity, determining the positions of fixed transmitting antennas arranged in the transmitting antenna aperture and the positions of fixed receiving antennas arranged in the receiving antenna aperture, to form a virtual uniform array based on the fixed transmitting antennas and the fixed receiving antennas;

[0008] Optimizing the positions of other transmitting antennas in the transmitting antenna aperture and the positions of other receiving antennas in the receiving antenna aperture, to form a sparse array based on all the transmitting antennas and all the receiving antennas, and performing target detection according to the virtual uniform array and the sparse array.

[0009] According to an aspect of the present application, a target detection device is provided, which comprises:

[0010] a hole diameter determination module configured to determine a target virtual hole diameter according to a preset angle measurement accuracy or a preset angle resolution, and determine a transmitting antenna hole diameter and a receiving antenna hole diameter according to the target virtual hole diameter, a size requirement of an antenna panel of the transmitting antenna, and a size requirement of an antenna panel of the receiving antenna;

[0011] a virtual uniform array construction module configured to determine positions of fixed transmitting antennas arranged in the transmitting antenna hole diameter and positions of fixed receiving antennas arranged in the receiving antenna hole diameter based on a preset virtual uniform antenna quantity, so as to form a virtual uniform array based on the fixed transmitting antennas and the fixed receiving antennas;

[0012] a sparse array construction module configured to optimize positions of other transmitting antennas in the transmitting antenna hole diameter and positions of other receiving antennas in the receiving antenna hole diameter, so as to form a sparse array based on all the transmitting antennas and all the receiving antennas, and perform target detection according to the virtual uniform array and the sparse array.

[0013] According to another aspect of the present application, an electronic device is provided, which comprises:

[0014] at least one processor; and

[0015] a memory in data processing connection with the at least one processor; wherein,

[0016] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the target detection method of any of the embodiments of the present application.

[0017] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to perform the target detection method of any of the embodiments of the present application when executed by the processor.

[0018] The technical scheme of the embodiment of the application determines a target virtual aperture according to a preset angle measurement accuracy or a preset angle resolution, determines a transmitting antenna aperture and a receiving antenna aperture according to the target virtual aperture, a size requirement of an antenna panel of the transmitting antenna, and a size requirement of an antenna panel of the receiving antenna, determines a position of a fixed transmitting antenna arranged in the transmitting antenna aperture and a position of a fixed receiving antenna arranged in the receiving antenna aperture based on a preset virtual uniform antenna quantity, so as to form a virtual uniform array based on the fixed transmitting antenna and the fixed receiving antenna, optimizes the positions of other transmitting antennas in the transmitting antenna aperture and the positions of other receiving antennas in the receiving antenna aperture, so as to form a sparse array based on all the transmitting antennas and all the receiving antennas, and performs target detection according to the virtual uniform array and the sparse array. The above scheme can form a virtual uniform array in the sparse array of all virtual antennas, improve the mainlobe-to-sidelobe ratio through the virtual uniform array, improve the accuracy of the coarse azimuth in target detection, improve the angle measurement accuracy and the angle resolution through the sparse array, and thus improve the accuracy of target azimuth angle detection.

[0019] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the application, nor is it used to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0021] Figure 1 A flowchart of a target detection method provided by an embodiment of the application;

[0022] Figure 2 A flowchart of a target detection method provided by another embodiment of the application;

[0023] Figure 3 A first schematic diagram of a virtual uniform array of three virtual antennas provided by another embodiment of the application;

[0024] Figure 4 A second schematic diagram of a virtual uniform array of three virtual antennas provided by another embodiment of the application;

[0025] Figure 5 A first schematic diagram of a virtual uniform array of five virtual antennas provided by another embodiment of the application;

[0026] Figure 6A first schematic diagram of a virtual uniform array of five virtual antennas for another embodiment of the present application;

[0027] Figure 7 A first schematic diagram of a virtual uniform array of seven virtual antennas for another embodiment of the present application;

[0028] Figure 8 A second schematic diagram of a virtual uniform array of seven virtual antennas for another embodiment of the present application;

[0029] Figure 9 A flow chart of a target detection method for yet another embodiment of the present application;

[0030] Figure 10 A schematic diagram of a virtual uniform array of three fixed transmitting antennas for yet another embodiment of the present application;

[0031] Figure 11 A flow chart of a target detection method for still another embodiment of the present application;

[0032] Figure 12 A schematic diagram of a target detection apparatus for an embodiment of the present application;

[0033] Figure 13 A schematic diagram of an electronic device for an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the personnel in the art without creative labor should belong to the protection scope of the present application.

[0035] It should be noted that the terms “first”, “second”, “third”, “fourth”, “actual”, “preset” and the like in the description, claims and above drawings of the present application are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0036] Figure 1 A flow chart of a target detection method provided by an embodiment of the present application, the embodiment of the present application can be applied to the case of target detection by using a radar antenna array. The method can be executed by a target detection device, which can be realized in the form of hardware and / or software, and can be configured in an electronic device. As shown in the figure, the method comprises: Figure 1

[0037] S110, determining a target virtual aperture according to a preset angle measurement accuracy or a preset angle resolution, and determining a transmitting antenna aperture and a receiving antenna aperture according to the target virtual aperture, a size requirement of an antenna panel of the transmitting antenna, and a size requirement of an antenna panel of the receiving antenna.

[0038] The preset angle measurement accuracy or the preset angle resolution can be a value set in advance according to actual demand. The size requirement of the antenna panel of the transmitting antenna and the size requirement of the antenna panel of the receiving antenna are limit requirements determined according to actual hardware performance. The actual transmitting antenna aperture needs to meet the size requirement of the antenna panel of the transmitting antenna, and the actual receiving antenna aperture needs to meet the size requirement of the antenna panel of the receiving antenna.

[0039] Specifically, the target virtual aperture, that is, the aperture of the virtual antenna array formed by the transmitting antenna and the receiving antenna, can be determined according to the preset angle measurement accuracy and the preset angle resolution. The relationship between the preset angle measurement accuracy and the preset angle resolution is wherein Δθ is the preset angle resolution, σ is the preset angle measurement accuracy, SNR is the signal-to-noise ratio after coherent accumulation at the antenna end, which can be brought into a typical value according to application demand, k is a value related to windowing of the receiving antenna, which varies in the range of 0.89-3, and can be taken as 1 in estimation. The target virtual aperture λ is the wavelength.

[0040] Specifically, the transmitting antenna aperture and the receiving antenna aperture can be determined according to the target virtual aperture, the size requirement of the antenna panel of the transmitting antenna, and the size requirement of the antenna panel of the receiving antenna, so that the aperture of the virtual antenna array formed by the transmitting antenna and the receiving antenna is greater than or equal to the target virtual aperture, to meet the requirement of the preset angle measurement accuracy or the preset angle resolution, and the aperture of the transmitting antenna meets the size requirement of the antenna panel of the transmitting antenna, and the aperture of the receiving antenna meets the size requirement of the antenna panel of the receiving antenna. Specifically, in the virtual antenna array formed by the transmitting antenna and the receiving antenna, the relationship among the aperture of the virtual antenna array, the transmitting antenna aperture, and the receiving antenna aperture satisfies D t +D r =D. Wherein D is the virtual antenna aperture, D t is the transmitting antenna aperture, and D r is the receiving antenna aperture. In actual application, D​t The antenna plate size can be less than or equal to that of the transmitting antenna, D. r It can be less than or equal to the antenna plate size of the receiving antenna, and satisfies D. t +D r ≥D.

[0041] S120. Based on the preset number of virtual uniform antennas, determine the position of the fixed transmitting antenna set within the aperture of the transmitting antenna and the position of the fixed receiving antenna set within the aperture of the receiving antenna, so as to form a virtual uniform array based on the fixed transmitting antenna and the fixed receiving antenna.

[0042] The preset number of virtual uniform antennas can be determined according to requirements. A virtual uniform array refers to an array with equal spacing between virtual antennas, or between virtual antennas and actual fixed receiving antennas. The preset number of virtual uniform antennas is the number of virtual antennas in the virtual uniform array to be formed. The minimum preset number of virtual uniform antennas is 3, and the maximum is less than or equal to the total number of virtual antennas in the virtual antenna array formed by the transmitting and receiving antennas.

[0043] For example, based on the principle of virtual antenna array formation, the positions of fixed transmitting antennas within the transmitting antenna aperture and fixed receiving antennas within the receiving antenna aperture can be determined based on a preset number of virtual uniform antennas. This allows the fixed transmitting and receiving antennas to form a virtual uniform array between virtual antennas, or between virtual antennas and actual fixed receiving antennas. The virtual uniform array is a subarray of the virtual antenna array formed by all transmitting and receiving antennas. The position of the virtual uniform array within the virtual antenna array is not limited and can be located at any position within the virtual antenna array. Therefore, the positions of the fixed transmitting and receiving antennas forming the virtual uniform array are not unique.

[0044] S130. Optimize the positions of other transmitting antennas within the transmitting antenna aperture and the positions of other receiving antennas within the receiving antenna aperture to form a sparse array based on all transmitting antennas and all receiving antennas, and perform target detection based on the virtual uniform array and the sparse array.

[0045] The other transmitting antennas and the other receiving antennas in the transmitting antenna aperture and the receiving antenna aperture need to be optimized in position. The optimization algorithm is not limited, for example, the interior point method can be selected for position optimization. All the transmitting antennas and all the receiving antennas form a sparse array, and the aperture of the sparse array meets the requirements of the target virtual aperture, that is, meets the requirements of the preset angle measurement accuracy and the preset angle resolution, so that the azimuth of the target can be accurately detected and the specific azimuth can be determined. The virtual antenna array includes a virtual uniform array, and the virtual uniform array has a large main-to-side lobe ratio, which can accurately determine the approximate azimuth of the target and avoid a large deviation of the approximate azimuth. For example, the approximate azimuth should be within the range of plus or minus 10 degrees with the north direction as the angle bisector, but it is identified as within the range of plus or minus 10 degrees with the northwest direction as the angle bisector, which causes a large deviation. The problem of large deviation of the estimated result when the sparse array with a low main-to-side lobe ratio performs angle measurement is solved, the accuracy of the coarse measurement of the target azimuth is improved, and the stability of the detection of the target azimuth is further improved.

[0046] The technical scheme of the embodiment of the application determines a target virtual aperture according to a preset angle measurement accuracy or a preset angle resolution, determines a transmitting antenna aperture and a receiving antenna aperture according to the target virtual aperture, a size requirement of an antenna panel of the transmitting antenna, and a size requirement of an antenna panel of the receiving antenna, determines a position of a fixed transmitting antenna arranged in the transmitting antenna aperture and a position of a fixed receiving antenna arranged in the receiving antenna aperture based on a preset number of virtual uniform antennas, so as to form a virtual uniform array based on the fixed transmitting antenna and the fixed receiving antenna, optimizes a position of other transmitting antennas in the transmitting antenna aperture and a position of other receiving antennas in the receiving antenna aperture, so as to form a sparse array based on all the transmitting antennas and all the receiving antennas, and performs target detection according to the virtual uniform array and the sparse array. The above scheme can form a virtual uniform array in the sparse array of all the virtual antennas, improve the main-to-side lobe ratio through the virtual uniform array, improve the accuracy of the coarse measurement of the target detection, and improve the angle measurement accuracy and the angle resolution through the sparse array, so as to improve the accuracy of the detection of the target azimuth.

[0047] Figure 2 A flowchart of a target detection method provided for another embodiment of the application is shown in FIG. 8. The method of the embodiment of the application is optimized based on the above-described embodiments, and the schemes not described in detail in the embodiment of the application are described in the above-described embodiments. As shown in FIG. 8, the method of the embodiment of the application specifically includes the following steps: Figure 2

[0048] ​S210. Determine the target virtual aperture according to the preset angle measurement accuracy or preset angle resolution. Determine the transmitting antenna aperture and the receiving antenna aperture according to the target virtual aperture, the antenna plate size requirements of the transmitting antenna and the antenna plate size requirements of the receiving antenna.

[0049] S220. Based on the preset number of virtual uniform antennas, determine the positions of the two fixed transmitting antennas set within the aperture of the transmitting antenna, and the positions of the preset number of fixed receiving antennas set within the aperture of the receiving antenna.

[0050] For example, two fixed transmitting antennas can be set. Based on the principle of virtual uniform array formation, the relative positional relationship between the fixed transmitting antennas and the fixed receiving antennas is determined, thereby determining the positions of the fixed transmitting antennas and the fixed receiving antennas. When there are two fixed transmitting antennas, if a virtual uniform array with a preset number of virtual uniform antennas is required, the number of fixed receiving antennas must be the preset number of virtual uniform antennas, and their positions must be determined.

[0051] like Figure 3 As shown, the shaded antennas in the transmitting antenna diagram represent the actual transmitting antennas, and the shaded antennas in the receiving antenna diagram represent the actual receiving antennas. The unshaded antennas represent virtual receiving antennas. A virtual uniform array requires a combination of actual and virtual receiving antennas, or a combination of virtual receiving antennas corresponding to different transmitting antennas, to form a virtual uniform array. For example... Figure 3 As shown, the last actual receiving antenna and the first two virtual receiving antennas in the virtual receiving antenna corresponding to the second transmitting antenna form an equally spaced virtual uniform array. If the spacing between the virtual antennas in the desired virtual uniform array is half the wavelength, the last actual receiving antenna can be positioned after the second transmitting antenna and at a distance differing by half the wavelength, while the first two actual receiving antennas are at a distance differing by a full wavelength. This results in the first two virtual receiving antennas corresponding to the second actual transmitting antenna being located on either side of the last actual receiving antenna, each at a distance differing by half a wavelength. Figure 3 In the diagram, the two actual transmitting antennas shown are fixed transmitting antennas, and the three actual receiving antennas are fixed receiving antennas.

[0052] In this embodiment of the application, determining the positions of the two fixed transmitting antennas disposed within the transmitting antenna aperture and the positions of the target number of fixed receiving antennas disposed within the receiving antenna aperture, based on the target number, includes:

[0053] Let the starting position within the aperture of the receiving antenna be the position of the first fixed receiving antenna, and then increase the position by double the wavelength to become the position of the next fixed receiving antenna, until the first number of front part fixed receiving antennas are reached.

[0054] the last fixed receiving antenna, and sequentially increase a double wavelength as the position of a previous fixed receiving antenna until the second number of back part fixed receiving antennas are added; wherein the first number and the second number are equal or differ by one; the sum of the first number and the second number is the target number;

[0055] the start position in the transmitting antenna aperture is the position of the first fixed transmitting antenna, and the position of a first interval from the start position is the position of the second fixed transmitting antenna; wherein the first interval is the distance from the start position to the position of a half wavelength before the third number of fixed receiving antennas, the third number being the smaller of the first number and the second number; the target number includes a preset virtual uniform antenna number.

[0056] For example, in the case of two fixed transmitting antennas, in order to form a virtual uniform array of a preset virtual uniform antenna number, the number of fixed receiving antennas can be set to the preset virtual uniform antenna number. The position of the first fixed receiving antenna can be set from the start position in the receiving antenna aperture, the position of a double wavelength after the start position is the position of the second fixed receiving antenna, the position of a double wavelength after the start position is the position of the third fixed receiving antenna, and so on to determine the position of the front part fixed receiving antennas. The end position is the position of the last fixed receiving antenna, the end position is located after the start position and is located at a distance of the receiving antenna aperture from the start position. The position of a double wavelength before the end position is the position of the previous fixed receiving antenna of the last fixed receiving antenna, the position of a double wavelength before the end position is the position of the previous fixed receiving antenna, and so on to determine the position of the back part fixed receiving antennas. The number of front part fixed antennas and back part fixed antennas is equal or differs by one. The start position in the transmitting antenna aperture is the position of the first fixed transmitting antenna, and the position of a first interval from the start position is the position of the second fixed transmitting antenna, wherein the first interval is the distance from the start position to the position of a half wavelength before the third number of fixed receiving antennas, the third number being the smaller of the first number and the second number. If the first number is 4 and the second number is 3, the third number is 3, i.e. the second fixed antenna is located at a position of a half wavelength before the third fixed receiving antenna. If the first number is 3 and the second number is 4, the third number is 3, i.e. the second fixed antenna is located at a position of a half wavelength before the third fixed receiving antenna.

[0057] Specifically, assuming that the preset virtual uniform antenna number is K, the positions of the fixed receiving antennas are [0, λ, 2λ, …, (K-Q-1)λ, … D r-(Q-1)λ,……,D r -2λ,D r -λ,D r ], or [0,λ,2λ,…,(KQ-2)λ,…D r -Qλ,……,D r -2λ,D r -λ,D r The fixed position of the transmitting antenna is... in This indicates rounding down. A fixed receiving antenna [0,λ,2λ,……,(KQ-1)λ] and a fixed transmitting antenna... The virtual antenna formed is This part of the virtual antenna is exactly aligned with the receiving antenna [D] r -(Q-1)λ,……,D r -2λ,D r -λ,D r A virtual uniform array with K virtual antennas is formed.

[0058] For example, suppose the preset number of virtual uniform antennas is K, which is 3. If we round down, then Q = 1, and the position of the fixed transmitting antenna is... The fixed receiving antenna is located in [0, λ, D]. r ],like Figure 3 , or [0,D r -λ,D r ], Figure 4 As shown. Assuming K = 5, then Q = 2, and the position of the fixed transmitting antenna is... The fixed receiving antenna is located in [0,λ,2λ,D]. r -λ,D r ],like Figure 5 , or [0,λ,D r -2λ,D r -λ,D r ], Figure 6 As shown. Assuming K = 7, then Q = 3, and the position of the fixed transmitting antenna is... The fixed receiving antenna position is [0,λ,2λ,3λ,D] r -2λ,D r -λ,D r ],like Figure 7 , or [0,λ,2λ,D r -3λ,D r -2λ,D r -λ,D r ], Figure 8 As shown.

[0059] S230. Optimize the positions of other transmitting antennas within the transmitting antenna aperture and the positions of other receiving antennas within the receiving antenna aperture to form a sparse array based on all transmitting antennas and all receiving antennas, and perform target detection based on the virtual uniform array and the sparse array.

[0060] This application provides a target detection method. The method determines the virtual aperture of the target based on a preset angle measurement accuracy or preset angle resolution. Based on the virtual aperture, the antenna plate size requirements of the transmitting antenna, and the antenna plate size requirements of the receiving antenna, the method determines the apertures of the transmitting and receiving antennas. Based on a preset number of virtual uniform antennas, the method determines the positions of two fixed transmitting antennas within the transmitting antenna aperture and the positions of a preset number of fixed receiving antennas within the receiving antenna aperture. The methods optimize the positions of other transmitting and receiving antennas within the transmitting and receiving antenna apertures to form a sparse array based on all transmitting and receiving antennas. Target detection is then performed based on the virtual uniform array and the sparse array. This method can fix two transmitting antennas and determine the positions of the two fixed transmitting antennas and the preset number of fixed receiving antennas based on the virtual antenna formation principle, thereby forming a virtual uniform array that meets the requirements.

[0061] Figure 9 This is a flowchart illustrating a target detection method according to another embodiment of this application. This embodiment is an optimization based on the above embodiments; solutions not described in detail in this embodiment are found in the above embodiments. Figure 9 As shown, the method in this embodiment of the application specifically includes the following steps:

[0062] S310. Determine the target virtual aperture according to the preset angle measurement accuracy or preset angle resolution. Determine the transmitting antenna aperture and the receiving antenna aperture according to the target virtual aperture, the antenna plate size requirements of the transmitting antenna and the antenna plate size requirements of the receiving antenna.

[0063] S320. Based on the preset number of subarray antennas, determine the positions of the two fixed transmitting antennas set within the aperture of the transmitting antenna, and the positions of the preset number of fixed receiving antennas set within the aperture of the receiving antenna; wherein the preset number of subarray antennas is less than the preset number of virtual uniform antennas.

[0064] The preset number of subarray antennas can be less than the preset number of virtual uniform antennas. The virtual uniform array with the preset number of subarray antennas has the same form as the virtual uniform array with the preset number of virtual uniform antennas, only the number of antennas differs. Specifically, a portion of the virtual uniform array can be formed by first fixing two transmitting antennas in the above embodiment, and then other fixed transmitting antennas and fixed receiving antennas can be added to form another portion of the virtual uniform array, jointly constructing a virtual uniform array with the preset number of virtual uniform antennas. In the above embodiment, the target number also includes the preset number of subarray antennas, that is, replacing the target number in the above embodiment with the preset number of subarray antennas to determine the positions of the two fixed transmitting antennas and the positions of the target number of fixed receiving antennas.

[0065] S330. Set the positions of other fixed transmitting antennas as variables to be optimized, and optimize the positions of other fixed receiving antennas based on the optimization algorithm according to the variables to be optimized and the positions of the remaining virtual uniform arrays to be constructed; wherein, the remaining virtual uniform arrays to be constructed are virtual uniform arrays with a preset number of virtual uniform antennas excluding the number of virtual uniform antennas that have been formed.

[0066] For example, a virtual uniform array with a preset number of subarray antennas can be formed based on two fixed transmitting antennas and a target number of fixed receiving antennas. However, this is insufficient to form a virtual uniform array with a preset number of virtual uniform antennas. For the remaining virtual uniform array to be constructed, other fixed transmitting antennas and other fixed receiving antennas can be used. The positions of the fixed transmitting antennas can be set as variables to be optimized. Based on the formation principle of virtual antennas, the positions of other fixed receiving antennas are represented by the variables to be optimized and the positions of the remaining uniform array to be constructed, so as to optimize the variables to be optimized and the positions of the other fixed receiving antennas represented.

[0067] In this embodiment of the application, the positions of other fixed receiving antennas are represented based on the variables to be optimized and the positions of the remaining virtual uniform arrays to be constructed, including:

[0068] For the positions of each virtual receiving antenna in the remaining virtual uniform array to be constructed, the position before the virtual receiving antenna and at an interval equal to the variable to be optimized is used as the position of the other fixed antennas.

[0069] For example, assuming the preset number of virtual uniform antennas is K and the preset number of subarray antennas is L, then the remaining positions of the virtual uniform array to be constructed are [q1, q2, ..., q K-L Let the position of the third fixed transmitting antenna be the variable to be optimized, then the positions of the other fixed receiving antennas are represented as: q1-p, q2-p, ..., q K-L -p.

[0070] S340. Optimize the positions of other transmitting antennas within the transmitting antenna aperture and the positions of other receiving antennas within the receiving antenna aperture to form a sparse array based on all transmitting antennas and all receiving antennas, and perform target detection based on the virtual uniform array and the sparse array.

[0071] For example, such as Figure 10 As shown, there are three fixed transmitting antennas. In the receiving antennas, the dark shaded ones are the actual receiving antennas, the light shaded ones are the virtual antennas corresponding to the second fixed transmitting antenna, and the unshaded ones are the virtual antennas corresponding to the third fixed transmitting antenna. These five virtual antennas form a virtual uniform array.

[0072] This application provides a target detection method that, based on a preset number of subarray antennas, determines the positions of two fixed transmitting antennas within the aperture of the transmitting antenna and the positions of a preset number of fixed receiving antennas within the aperture of the receiving antenna; wherein the preset number of subarray antennas is less than the preset number of virtual uniform antennas; the positions of other fixed transmitting antennas are set as variables to be optimized, and the positions of other fixed receiving antennas are represented according to the variables to be optimized and the positions of the remaining virtual uniform arrays to be constructed, so as to optimize the positions based on an optimization algorithm; wherein the remaining virtual uniform arrays to be constructed are virtual uniform arrays of the preset number of virtual uniform antennas minus the virtual uniform arrays of the preset number of subarray antennas, thereby adaptively determining the virtual uniform array without limiting the number of fixed transmitting and receiving antennas, making the design of the virtual uniform array more versatile.

[0073] Figure 11 This is a flowchart illustrating a target detection method according to another embodiment of this application. This embodiment is an optimization based on the above embodiments; schemes not described in detail in this embodiment are found in the above embodiments. Figure 11 As shown, the method in this embodiment of the application specifically includes the following steps:

[0074] S410. Determine the target virtual aperture according to the preset angle measurement accuracy or preset angle resolution. Determine the transmitting antenna aperture and the receiving antenna aperture according to the target virtual aperture, the antenna plate size requirements of the transmitting antenna and the antenna plate size requirements of the receiving antenna.

[0075] S420. Based on the preset number of virtual uniform antennas, determine the position of the fixed transmitting antenna set within the aperture of the transmitting antenna and the position of the fixed receiving antenna set within the aperture of the receiving antenna, so as to form a virtual uniform array based on the fixed transmitting antenna and the fixed receiving antenna.

[0076] S430: Optimize the positions of other transmitting antennas within the transmitting antenna aperture and other receiving antennas within the receiving antenna aperture to form a sparse array based on all transmitting antennas and all receiving antennas.

[0077] In this embodiment of the application, the method further includes:

[0078] The actual virtual aperture of the virtual uniform array is determined based on the preset number of virtual uniform antennas.

[0079] The angular accuracy of the virtual uniform array is determined based on the actual virtual aperture.

[0080] The angle reference value is determined based on the angle measurement accuracy, and the condition for position optimization is that there is a maximum main lobe-to-side lobe ratio within the range from negative to positive angle reference values.

[0081] For example, assuming the preset number of virtual uniform antennas is K, the actual virtual aperture of the virtual uniform array can be determined as D = K(λ / 2). Based on the actual virtual aperture, the angular accuracy σ0 of the virtual uniform array can be determined. Specifically, it can be determined according to... The angular resolution Δθ is calculated, and the relationship between angular measurement accuracy and angular resolution is as follows: Where Δθ is the angular resolution and σ is the angular measurement accuracy. SNR is the signal-to-noise ratio after coherent accumulation at the antenna end, and the angular measurement accuracy σ0 can be calculated by substituting typical values ​​according to application requirements. An angular reference value β can be set to 3σ0~5σ0, and optimization conditions can be set during position optimization: the beam pattern of the virtual antenna array formed by all antennas has the maximum main-sidelobe ratio in the interval [-β, β], thereby achieving position optimization for other transmitting antennas and other receiving antennas.

[0082] S440. Target detection is performed based on a virtual uniform array to determine the coarse azimuth angle of the target.

[0083] For example, the azimuth angle of a target can be coarsely determined using the signal detected by a virtual uniform array to determine the approximate location of the target. Because the virtual uniform array has a large main-to-side lobe ratio, it can determine the target's location more accurately.

[0084] S450. Target detection is performed based on the sparse array and the coarse azimuth angle to determine the fine azimuth angle of the target.

[0085] For example, the fine azimuth of a target can be determined based on the signal detected by a sparse array, building upon the coarse azimuth. Because the sparse array has a large aperture, it is able to detect the target's precise azimuth.

[0086] In this embodiment of the application, target detection is performed based on the sparse array and the coarse azimuth angle to determine the fine azimuth angle of the target, including:

[0087] Using the coarse azimuth as the center, the azimuth interval is determined based on the angular measurement accuracy of the virtual uniform array;

[0088] Target detection is performed based on the sparse array, and the maximum azimuth angle detected within the azimuth angle interval is taken as the precise azimuth angle.

[0089] For example, assuming the virtual uniform matrix has a maximum main-side lobe ratio in the interval [-β, β], and the angular measurement accuracy is σ0, β = 3σ0~5σ0, the azimuth angle is roughly measured. Centered on β, the azimuth interval is determined by the floating range. Target detection is performed based on a sparse array, and the maximum azimuth angle within the azimuth angle range is taken as the precise azimuth angle.

[0090] Specifically, the data collected by N receiving antennas can be separated into signals transmitted by M transmitting antennas, thus obtaining the received signals from MN virtual antennas. Range and Doppler processing are performed on the radar-acquired data to obtain a range-Doppler map. Target detection is then performed within the range-Doppler map to obtain the range-Doppler cell containing the target. The signals from the MN virtual antennas corresponding to this range-Doppler cell are extracted and represented by the vector s = [s1, s2, ... s2]. MN Extract the data corresponding to the virtual uniform matrix to form the vector s0 = [s p ,s p+1 ,…s p+K-1 First, the angle is roughly measured using the received signal s0 from the virtual uniform array. Then, a fast Fourier transform is performed on s0 to obtain its spatial spectrum, and the angle corresponding to the maximum value is found. As a coarse azimuth angle. Spatial spectrum estimation of the target is performed using the data s from all virtual antennas, selecting [a specific location / location]. The angle corresponding to the maximum value within. As a precise azimuth angle.

[0091] This application provides a target detection method. Using the coarse azimuth as the center, the method determines the fluctuation range based on the data within the interval containing the maximum main-side lobe ratio, thus defining the azimuth interval. Target detection is performed based on the sparse array, and the detected maximum azimuth within the azimuth interval is taken as the fine azimuth. The virtual uniform array, with its larger main-side lobe ratio, improves the accuracy of the coarse azimuth detection. The sparse array, with its larger aperture, improves the precision of the target azimuth detection.

[0092] Figure 12This is a schematic diagram of a target detection device provided in an embodiment of this application. This device can execute the target detection method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects for executing the method. Figure 12 As shown, the device includes:

[0093] The aperture determination module 510 is used to determine the target virtual aperture according to the preset angle measurement accuracy or preset angle resolution, and to determine the transmitting antenna aperture and the receiving antenna aperture according to the target virtual aperture, the antenna plate size requirements of the transmitting antenna and the antenna plate size requirements of the receiving antenna.

[0094] The virtual uniform array construction module 520 is used to determine the position of the fixed transmitting antenna set in the aperture of the transmitting antenna and the position of the fixed receiving antenna set in the aperture of the receiving antenna based on the preset number of virtual uniform antennas, so as to form a virtual uniform array based on the fixed transmitting antenna and the fixed receiving antenna.

[0095] The sparse array construction module 530 is used to optimize the positions of other transmitting antennas within the transmitting antenna aperture and the positions of other receiving antennas within the receiving antenna aperture, so as to form a sparse array based on all transmitting antennas and all receiving antennas, and to perform target detection based on the virtual uniform array and the sparse array.

[0096] In this embodiment, the virtual uniform array construction module 520 determines the positions of fixed transmitting antennas within the transmitting antenna aperture and fixed receiving antennas within the receiving antenna aperture based on a preset number of virtual uniform antennas, including:

[0097] Based on a preset number of virtual uniform antennas, determine the positions of the two fixed transmitting antennas within the transmitting antenna aperture, and the positions of the preset number of fixed receiving antennas within the receiving antenna aperture; or...

[0098] Based on the preset number of subarray antennas, the positions of the two fixed transmitting antennas set within the aperture of the transmitting antenna and the positions of the preset number of fixed receiving antennas set within the aperture of the receiving antenna are determined; wherein, the preset number of subarray antennas is less than the preset number of virtual uniform antennas.

[0099] The positions of other fixed transmitting antennas are set as variables to be optimized, and the positions of other fixed receiving antennas are optimized based on the optimization algorithm according to the variables to be optimized and the positions of the remaining virtual uniform arrays to be constructed. The remaining virtual uniform arrays to be constructed are virtual uniform arrays with a preset number of virtual uniform antennas excluding the number of virtual uniform antennas that have been formed.

[0100] In this embodiment of the application, the virtual uniform array construction module 520 determines the positions of two fixed transmitting antennas set within the transmitting antenna aperture and the positions of a target number of fixed receiving antennas set within the receiving antenna aperture based on the target number, including:

[0101] Let the starting position within the aperture of the receiving antenna be the position of the first fixed receiving antenna, and then increase the position by double the wavelength to become the position of the next fixed receiving antenna, until the first number of front part fixed receiving antennas are reached.

[0102] Let the termination position within the aperture of the receiving antenna be the position of the last fixed receiving antenna, and then sequentially increase the position by double the wavelength to become the position of the previous fixed receiving antenna, until a second number of subsequent fixed receiving antennas are reached; wherein, the first number and the second number are equal or differ by one; the sum of the first number and the second number is the target number;

[0103] Let the starting position within the aperture of the transmitting antenna be the position of the first fixed transmitting antenna, and let the position at a distance of the first spacing from the starting position be the position of the second fixed transmitting antenna; wherein, the first spacing is the distance from the starting position within the aperture of the receiving antenna to the position of the third-to-last fixed receiving antenna with a first half wavelength; the third number is the smaller value between the first number and the second number; the target number includes the preset number of virtual uniform antennas.

[0104] In this embodiment, the virtual uniform array construction module 520 represents the positions of other fixed receiving antennas based on the variables to be optimized and the positions of the remaining virtual uniform arrays to be constructed, including:

[0105] For the positions of each virtual receiving antenna in the remaining virtual uniform array to be constructed, the position before the virtual receiving antenna and at an interval equal to the variable to be optimized is used as the position of the other fixed antennas.

[0106] In this embodiment of the application, the device further includes:

[0107] The coarse azimuth angle determination module is used to perform target detection based on a virtual uniform array and determine the coarse azimuth angle of the target.

[0108] The precise azimuth angle determination module is used to perform target detection based on the sparse array and the coarse azimuth angle, and determine the precise azimuth angle of the target.

[0109] In this embodiment of the application, the precise azimuth angle determination module performs target detection based on the sparse array and the coarse azimuth angle to determine the precise azimuth angle of the target, including:

[0110] Using the coarse azimuth as the center, the azimuth interval is determined based on the angular measurement accuracy of the virtual uniform matrix;

[0111] Target detection is performed based on the sparse array, and the maximum azimuth angle detected within the azimuth angle interval is taken as the precise azimuth angle.

[0112] In this embodiment of the application, the device further includes:

[0113] The actual virtual aperture determination module is used to determine the actual virtual aperture of the virtual uniform array based on the preset number of virtual uniform antennas.

[0114] An angle measurement accuracy determination module is used to determine the angle measurement accuracy of the virtual uniform array based on the actual virtual aperture.

[0115] The optimization condition determination module is used to determine the angle reference value based on the angle measurement accuracy, and set the position optimization condition as having the maximum main lobe-to-side lobe ratio within the range from negative to positive angle reference values.

[0116] The target detection device provided in this application embodiment can execute a target detection method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of executing the method.

[0117] Figure 13 A schematic diagram of an electronic device 10, which can be used to implement embodiments of this application, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0118] like Figure 13As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, connected to the at least one processor 11 for data processing. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0119] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of monitors, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and data processing unit 19, such as network card, modem, wireless data processing transceiver, etc. Data processing unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0120] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as object detection methods.

[0121] In some embodiments, the target detection method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or data processing unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the target detection method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the target detection method by any other suitable means (e.g., by means of firmware).

[0122] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0123] Computer programs used to implement the methods of this application may be written in any combination of one or more programming languages. These computer programs may be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable target detection device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0124] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0125] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0126] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected through digital data processing (e.g., data processing networks) of any form or medium. Examples of data processing networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0127] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact via data processing networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0128] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired information of the technical solution of this application can be achieved, and this is not limited herein.

[0129] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A target detection method characterized by, The method comprises: determining a target virtual aperture according to a preset angle measurement accuracy or a preset angle resolution, and determining a transmitting antenna aperture and a receiving antenna aperture according to the target virtual aperture, a size requirement of an antenna panel of the transmitting antenna, and a size requirement of an antenna panel of the receiving antenna; determining positions of fixed transmitting antennas arranged in the transmitting antenna aperture and positions of fixed receiving antennas arranged in the receiving antenna aperture based on a preset virtual uniform antenna quantity, so as to form a virtual uniform array based on the fixed transmitting antennas and the fixed receiving antennas; optimizing positions of other transmitting antennas in the transmitting antenna aperture and positions of other receiving antennas in the receiving antenna aperture, so as to form a sparse array based on all the transmitting antennas and all the receiving antennas, and performing target detection according to the virtual uniform array and the sparse array.

2. The method of claim 1, wherein, The method comprises: determining positions of two fixed transmitting antennas arranged in the transmitting antenna aperture and positions of a preset virtual uniform antenna quantity of fixed receiving antennas arranged in the receiving antenna aperture based on a preset virtual uniform antenna quantity; or determining positions of two fixed transmitting antennas arranged in the transmitting antenna aperture and positions of a preset subarray antenna quantity of fixed receiving antennas arranged in the receiving antenna aperture based on a preset subarray antenna quantity; wherein the preset subarray antenna quantity is less than the preset virtual uniform antenna quantity; setting positions of other fixed transmitting antennas as to-be-optimized variables, and optimizing positions of other fixed receiving antennas based on an optimization algorithm according to the to-be-optimized variables and positions of remaining virtual uniform arrays to be constructed; wherein the remaining virtual uniform arrays to be constructed are virtual uniform arrays of the preset virtual uniform antenna quantity except for virtual uniform arrays of the preset subarray antenna quantity that have been formed.

3. The method of claim 2, wherein, The method comprises: setting a starting position in the receiving antenna aperture as a position of a first fixed receiving antenna, and sequentially increasing a position of a next fixed receiving antenna by one wavelength, until a first quantity of front part fixed receiving antennas are increased; setting an ending position in the receiving antenna aperture as a position of a last fixed receiving antenna, and sequentially increasing a position of a previous fixed receiving antenna by one wavelength, until a second quantity of rear part fixed receiving antennas are increased; wherein the first quantity and the second quantity are equal or differ by one; and a sum of the first quantity and the second quantity is the target quantity. The first fixed transmitting antenna is located at a starting position in a transmitting antenna aperture, and the second fixed transmitting antenna is located at a position with a first interval from the starting position; the first interval is a distance from the starting position to a position that is a half wavelength before a third number of fixed receiving antennas in the receiving antenna aperture; the third number is a smaller one of the first number and the second number; and the target number includes a preset virtual uniform antenna number.

4. The method of claim 2, wherein, According to the to-be-optimized variable and the remaining to-be-constructed virtual uniform array position, the positions of other fixed receiving antennas are represented, including: For the positions of each virtual receiving antenna in the remaining to-be-constructed virtual uniform array, the positions of other fixed receiving antennas are located before the position of the virtual receiving antenna and are spaced apart by the to-be-optimized variable.

5. The method of claim 1, wherein, The method further includes: Performing target detection based on the virtual uniform array to determine a coarse azimuth angle of the target; Performing target detection based on the sparse array and the coarse azimuth angle to determine a fine azimuth angle of the target.

6. The method of claim 5, wherein, Performing target detection based on the sparse array and the coarse azimuth angle to determine a fine azimuth angle of the target, including: Taking the coarse azimuth angle as a center, determining an azimuth angle interval according to the angle measurement accuracy of the virtual uniform array; Performing target detection based on the sparse array, and taking a maximum azimuth angle located in the azimuth angle interval as the fine azimuth angle.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: According to the preset virtual uniform antenna number, determining an actual virtual aperture of the virtual uniform array; According to the actual virtual aperture, determining the angle measurement accuracy of the virtual uniform array; According to the angle measurement accuracy, determining an angle reference value, and setting a condition for position optimization as a maximum main sidelobe ratio existing in a range from a negative angle reference value to a positive angle reference value.

8. A target detection apparatus characterized by comprising: The device includes: An aperture determination module, configured to determine a target virtual aperture according to a preset angle measurement accuracy or a preset angle resolution, and determine a transmitting antenna aperture and a receiving antenna aperture according to the target virtual aperture, a size requirement of an antenna panel of a transmitting antenna, and a size requirement of an antenna panel of a receiving antenna; A virtual uniform array construction module, configured to determine positions of fixed transmitting antennas arranged in the transmitting antenna aperture and positions of fixed receiving antennas arranged in the receiving antenna aperture based on a preset virtual uniform antenna number, so as to form a virtual uniform array based on the fixed transmitting antennas and the fixed receiving antennas; A sparse array construction module, configured to optimize positions of other transmitting antennas in the transmitting antenna aperture and positions of other receiving antennas in the receiving antenna aperture, so as to form a sparse array based on all transmitting antennas and all receiving antennas, and perform target detection according to the virtual uniform array and the sparse array.

9. An electronic device, comprising: The electronic device includes: at least one processor; and a memory in data processing connection with the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the target detection method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing the processor to implement the target detection method of any one of claims 1-7 when executed.

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