A target detection method and device, electronic equipment and medium

Abstract

This application discloses a target detection method, apparatus, electronic device, and medium. The method includes: determining 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, thus forming a virtual uniform array based on the fixed transmitting and receiving antennas; optimizing the positions of other transmitting antennas within the transmitting antenna aperture and other receiving antennas within the receiving antenna aperture, thus forming a sparse array based on all transmitting and receiving antennas; and performing target detection based on the virtual uniform array and the sparse array. This scheme can form a virtual uniform array within a sparse array of all virtual antennas. The virtual uniform array improves the main-sidelobe ratio, enhancing the accuracy of coarse azimuth measurement during target detection. The sparse array improves angular measurement accuracy and resolution, thereby increasing the precision of target azimuth angle detection.

Description

Technical Field

[0001] This application relates to the field of target detection technology, and in particular to a target detection method, apparatus, electronic device and medium. Background Technology

[0002] Radar is widely used for target detection. Radar is an instrument that uses electromagnetic waves for detection and ranging. Radar emits a short pulse of electromagnetic wave signal. When this signal encounters an obstacle or target, a portion is reflected back. The radar receiving system analyzes the characteristics of the reflected electromagnetic wave signal, such as the intensity and time delay, to calculate parameters such as the distance, azimuth, and velocity between the obstacle or target and the radar.

[0003] Currently, radar antenna arrays are typically used for target detection. Larger radar antenna apertures generally result in higher angle measurement accuracy and resolution. To address the limited number of radar antenna channels and the resulting low angle measurement accuracy and resolution, a large-aperture, sparsely spaced array is commonly used to increase the aperture. However, as the spacing between sparsely spaced antennas increases, the main-sidelobe ratio of the beam pattern decreases, leading to a significant deviation between the estimated angle and the actual position. Summary of the Invention

[0004] This application provides a target detection method, apparatus, electronic device, and medium to improve the accuracy of coarse measurement of target azimuth position and the accuracy of detection of precise target azimuth.

[0005] According to one aspect of this application, a target detection method is provided, the method comprising:

[0006] The target virtual aperture is determined based on the preset angle measurement accuracy or preset angle resolution. The transmitting antenna aperture and the receiving antenna aperture are determined based on the target virtual aperture, the antenna plate size requirements of the transmitting antenna, and the antenna plate size requirements of the receiving antenna.

[0007] Based on a preset number of virtual uniform antennas, the positions of fixed transmitting antennas set within the aperture of the transmitting antenna and fixed receiving antennas set within the aperture of the receiving antenna are determined, so as to form a virtual uniform array based on the fixed transmitting antennas and fixed receiving antennas.

[0008] The positions of other transmitting antennas within the transmitting antenna aperture and other receiving antennas within the receiving antenna aperture are optimized to form a sparse array based on all transmitting and receiving antennas, and target detection is performed based on the virtual uniform array and the sparse array.

[0009] According to one aspect of this application, a target detection device is provided, the device comprising:

[0010] The aperture determination module is used to determine the target virtual aperture according to a preset angle measurement accuracy or a 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.

[0011] The virtual uniform array construction module 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 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.

[0012] The sparse array construction module 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.

[0013] According to another aspect of this application, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] Memory connected to at least one processor for data processing; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the target detection method of any embodiment of this application.

[0017] According to another aspect of this application, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute and implement the target detection method of any embodiment of this application.

[0018] The technical solution of this application embodiment determines the target virtual aperture based on a preset angle measurement accuracy or preset angle resolution. Based on the target virtual aperture, the antenna plate size requirements of the transmitting antenna, and the antenna plate size requirements of the receiving antenna, the transmitting antenna aperture and the receiving antenna aperture are determined. Based on a preset number of virtual uniform antennas, the positions of fixed transmitting antennas within the transmitting antenna aperture and fixed receiving antennas within the receiving antenna aperture are determined, forming a virtual uniform array based on the fixed transmitting and receiving antennas. The positions of other transmitting antennas within the transmitting antenna aperture and other receiving antennas within the receiving antenna aperture are optimized 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 solution can form a virtual uniform array within a sparse array of all virtual antennas. The virtual uniform array improves the main-sidelobe ratio, increasing the accuracy of coarse azimuth measurement during target detection. The sparse array improves angle measurement accuracy and resolution, thereby enhancing the accuracy of target azimuth detection.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0023] Figure 3 This is a first schematic diagram of a virtual uniform array of three virtual antennas provided in another embodiment of this application;

[0024] Figure 4 This is a second schematic diagram of a virtual uniform array of three virtual antennas provided in another embodiment of this application;

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

[0026] Figure 6This is a second schematic diagram of a virtual uniform array of five virtual antennas provided in another embodiment of this application;

[0027] Figure 7 A first schematic diagram of a virtual uniform array of seven virtual antennas provided in another embodiment of this application;

[0028] Figure 8 This is a second schematic diagram of a virtual uniform array of seven virtual antennas provided in another embodiment of this application;

[0029] Figure 9 A flowchart of a target detection method provided in another embodiment of this application;

[0030] Figure 10 A schematic diagram of a virtual uniform array of three fixed transmitting antennas provided in another embodiment of this application;

[0031] Figure 11 A flowchart of a target detection method provided in another embodiment of this application;

[0032] Figure 12 This is a schematic diagram of the structure of a target detection device provided in an embodiment of this application;

[0033] Figure 13 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0035] It should be noted that the terms "first," "second," "third," "fourth," "actual," "preset," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] Figure 1 This is a flowchart illustrating a target detection method provided in an embodiment of this application. This embodiment is applicable to situations where target detection is performed using a radar antenna array. The method can be executed by a target detection device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0037] S110. 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.

[0038] The preset angle measurement accuracy or preset angle resolution can be a value set in advance according to actual needs. The antenna plate size requirements for both the transmitting and receiving antennas are constraints determined based on the actual hardware performance. The actual aperture of the transmitting antenna must meet the antenna plate size requirements, and the actual aperture of the receiving antenna must meet the antenna plate size requirements.

[0039] Specifically, the target virtual aperture, which is the required aperture of the virtual antenna array formed by the transmitting and receiving antennas, can be determined based on preset angle measurement accuracy and preset angle resolution. The relationship between preset angle measurement accuracy and preset angle resolution is as follows: Where Δθ is the preset angular resolution, and σ is the preset angle measurement accuracy. SNR is the signal-to-noise ratio after coherent accumulation at the antenna end, and a typical value can be substituted according to application requirements. k is a value related to the windowing of the receiving antenna, ranging from 0.89 to 3, and can be taken as 1 for estimation. Target virtual aperture λ is the wavelength.

[0040] For example, the apertures of the transmitting and receiving antennas can be determined based on the target virtual aperture, the antenna plate size requirements of the transmitting antenna, and the antenna plate size requirements of the receiving antenna. This ensures that the aperture of the virtual antenna array formed by the transmitting and receiving antennas is greater than or equal to the target virtual aperture, meeting preset angle measurement accuracy or preset angle resolution requirements. Furthermore, the apertures of both the transmitting and receiving antennas must satisfy the antenna plate size requirements. Specifically, in the virtual antenna array formed by the transmitting and receiving antennas, the relationship between the apertures of the virtual antenna array, the transmitting antenna aperture, and the receiving antenna aperture satisfies D... t +D r =D. Where D is the virtual antenna aperture, D t D is the aperture of the transmitting antenna. r This refers to the aperture of the receiving antenna. In practical applications, 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] For example, the transmitting antenna aperture includes other transmitting antennas besides the fixed transmitting antenna, and the receiving antenna aperture includes other receiving antennas besides the fixed receiving antenna. The positions of these other transmitting and receiving antennas need to be optimized. The optimization algorithm is not limited; for example, the interior point method can be used for position optimization. All transmitting and receiving antennas form a sparse array. The aperture of this sparse array meets the requirements of the target's virtual aperture, that is, it meets the preset angle measurement accuracy and preset angle resolution requirements. Therefore, it can accurately detect the target's azimuth and determine the specific azimuth. The virtual antenna array includes a virtual uniform array. The virtual uniform array has a large main-to-side lobe ratio, which can more accurately determine the target's approximate azimuth and avoid large deviations in the approximate azimuth. For example, the approximate azimuth should be within ±10 degrees of the angle bisector of true north, but it is identified as within ±10 degrees of the angle bisector of northwest, resulting in a large deviation. This solves the problem of large estimation deviations that may occur when using a sparse array with a low main-to-side lobe ratio for angle measurement, improves the accuracy of the coarse target azimuth measurement, and thus improves the stability of the target azimuth detection.

[0046] The technical solution of this application embodiment determines the target virtual aperture based on a preset angle measurement accuracy or preset angle resolution. Based on the target virtual aperture, the antenna plate size requirements of the transmitting antenna, and the antenna plate size requirements of the receiving antenna, the transmitting antenna aperture and the receiving antenna aperture are determined. Based on a preset number of virtual uniform antennas, the positions of fixed transmitting antennas within the transmitting antenna aperture and fixed receiving antennas within the receiving antenna aperture are determined, forming a virtual uniform array based on the fixed transmitting and receiving antennas. The positions of other transmitting antennas within the transmitting antenna aperture and other receiving antennas within the receiving antenna aperture are optimized 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 solution can form a virtual uniform array within a sparse array of all virtual antennas. The virtual uniform array improves the main-sidelobe ratio, increasing the accuracy of coarse azimuth measurement during target detection. The sparse array improves angle measurement accuracy and resolution, thereby enhancing the accuracy of target azimuth detection.

[0047] Figure 2 This is a flowchart illustrating another embodiment of a target detection method provided in this application. This embodiment is an optimization based on the above embodiment; solutions not described in detail in this embodiment are found in the above embodiment. Figure 2 As shown, the method in this embodiment of the application specifically includes the following steps:

[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] 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;

[0055] 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.

[0056] For example, when there are two fixed transmitting antennas, in order to form a virtual uniform array with a preset number of virtual uniform antennas, the number of fixed receiving antennas can be set to the preset number of virtual uniform antennas. The positions of the fixed receiving antennas can be set starting from a beginning position within the aperture of the receiving antenna. The beginning position is the position of the first fixed receiving antenna. The position of the second fixed receiving antenna is one wavelength away from the beginning position, the position of the third fixed receiving antenna is two wavelengths away from the beginning position, and so on, determining the positions of the first part of the fixed receiving antennas. The ending position is the position of the last fixed receiving antenna, located after the beginning position and at a distance equal to the aperture of the receiving antenna. The position of the fixed receiving antenna preceding the last fixed receiving antenna is one wavelength away from the ending position, the position of the next preceding fixed receiving antenna is two wavelengths away from the ending position, and so on, determining the positions of the second part of the fixed receiving antennas. The number of the first part of fixed antennas and the number of the second part of fixed antennas are equal or differ by one. Let the starting position within the transmitting antenna aperture be the position of the first fixed transmitting antenna. Let the position at a distance of a first interval from the starting position be the position of the second fixed transmitting antenna. The first interval is the distance from the starting position within the receiving antenna aperture to the position of the third-to-last fixed receiving antenna at the first half-wavelength position. The third interval is the smaller of the first interval and the second interval. If the first interval is 4 and the second interval is 3, then the third interval is 3, meaning the second fixed antenna is located at the position of the third-to-last fixed receiving antenna at the first half-wavelength position. If the first interval is 3 and the second interval is 4, then the third interval is 3, meaning the second fixed antenna is located at the position of the third-to-last fixed receiving antenna at the first half-wavelength position.

[0057] Specifically, assuming the preset number of virtual uniform antennas is K, the positions of the fixed receiving antennas are [0,λ,2λ,……,(KQ-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, and the target is selected in... 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 includes: The target virtual aperture is determined based on the preset angle measurement accuracy or preset angle resolution. The transmitting antenna aperture and the receiving antenna aperture are determined based on the target virtual aperture, the antenna plate size requirements of the transmitting antenna, and the antenna plate size requirements of the receiving antenna. Based on a preset number of virtual uniform antennas, the positions of fixed transmitting antennas set within the aperture of the transmitting antenna and fixed receiving antennas set within the aperture of the receiving antenna are determined, so as to form a virtual uniform array based on the fixed transmitting antennas and fixed receiving antennas. The positions of other transmitting antennas within the transmitting antenna aperture and the positions of other receiving antennas within the receiving antenna aperture are optimized to form a sparse array based on all transmitting antennas and all receiving antennas, and target detection is performed based on the virtual uniform array and the sparse array. Based on a preset number of virtual uniform antennas, the positions of the fixed transmitting antennas within the transmitting antenna aperture and the fixed receiving antennas within the receiving antenna aperture are determined, including: 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... 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. 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.

2. The method according to claim 1, characterized in that, Based on the target number, the positions of the two fixed transmitting antennas set within the transmitting antenna aperture, and the positions of the target number of fixed receiving antennas set within the receiving antenna aperture, are determined, including: 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. 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; 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.

3. The method according to claim 1, characterized in that, Based on the variables to be optimized and the positions of the remaining virtual uniform arrays to be constructed, the positions of other fixed receiving antennas are represented, including: 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 receiving antennas.

4. The method according to claim 1, characterized in that, The method further includes: Target detection is performed based on a virtual uniform array to determine the coarse azimuth angle of the target; Target detection is performed based on the sparse array and the coarse azimuth angle to determine the fine azimuth angle of the target.

5. The method according to claim 4, characterized in that, Target detection is performed based on the sparse array and the coarse azimuth angle to determine the fine azimuth angle of the target, including: Using the coarse azimuth as the center, the azimuth interval is determined based on the angular measurement accuracy of the virtual uniform array; 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.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: The actual virtual aperture of the virtual uniform array is determined based on the preset number of virtual uniform antennas. The angular accuracy of the virtual uniform array is determined based on the actual virtual aperture. 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.

7. A target detection device, characterized in that, The device includes: The aperture determination module is used to determine the target virtual aperture according to a preset angle measurement accuracy or a 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. The virtual uniform array construction module 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. The sparse array construction module 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. The virtual uniform array construction module, based on a preset number of virtual uniform antennas, determines the positions of fixed transmitting antennas within the transmitting antenna aperture and fixed receiving antennas within the receiving antenna aperture, including: 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... 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. 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.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and The memory is connected to the at least one processor for data processing; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the target detection method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the target detection method according to any one of claims 1-6.

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