Radar angle determination method and device based on heterogeneous uniform array, equipment, medium and product

Abstract

The invention discloses a radar angle determination method and device based on a heterogeneous uniform array, equipment, a medium and a product, and relates to the technical field of radars. The radar angle determination method based on the heterogeneous uniform array comprises the following steps: determining a first beam spectrum of a first uniform radar array and a second beam spectrum of a second uniform radar array; determining a beam spectrum deviation value of the first beam spectrum and the second beam spectrum, and determining an exponential attenuation operator according to the beam spectrum deviation value and a preset suppression factor; determining a grating lobe mutual exclusion spectrum according to the first beam spectrum and the exponential attenuation operator; and determining an angle threshold according to the grating lobe mutual exclusion spectrum and a preset numerical value, and determining a target angle according to the angle threshold and the grating lobe mutual exclusion spectrum. According to the embodiment of the invention, the low-sidelobe and high-resolution array layout of the first uniform radar array and the second uniform radar array is realized, meanwhile, the recognition accuracy of the target angle is improved, and the angle grating lobe effect can be better improved.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and in particular to a radar angle determination method, apparatus, equipment, medium, and product based on a heterogeneous uniform array. Background Technology

[0002] In traditional single-input single-output (SISO) radar systems, the antenna layout is relatively simple, typically employing a uniform linear array or phased array. While this layout meets the basic functional requirements of radar to some extent, its performance is limited when facing complex target environments and high-precision measurement requirements. Multiple-input multiple-output (MIMO) radar arrays enhance target detection, localization, and tracking capabilities through multiple transmit and receive antennas. The introduction of MIMO technology allows the radar system to utilize multiple transmit and receive antenna arrays to form multiple independent signal channels, thereby significantly improving the system's spatial resolution and target detection capabilities.

[0003] Existing MIMO radar array layout schemes are designed to meet different scenarios and performance requirements. These schemes each have their own characteristics, enabling different functions and performance indicators. Uniform linear array layout is one of the common MIMO radar array layout methods. Its characteristic is that the array elements are arranged at equal intervals along a straight line, forming a regular beam pattern, providing good directionality and spatial resolution, facilitating beam scanning and target localization. However, uniform linear array layouts are prone to grating lobes, and the array length is difficult to extend within a limited space, affecting angle measurement accuracy. Non-uniform arrays, such as random arrays or sparse arrays, can reduce the mutual coupling between antennas, reduce grating lobe effects, and improve angle measurement accuracy, but the array arrangement is irregular and relatively cumbersome. Sparse arrays reduce redundant spacing in the array by increasing the element spacing, minimizing redundant spacing and reducing spatial sidelobes without reducing angular resolution. This layout method is suitable for applications with limited hardware costs and the need to meet specific angular resolution requirements, but its performance may be affected in complex target environments, requiring more complex signal processing algorithms to compensate for the information loss caused by sparsity. Therefore, how to reduce the grating lobe effect and improve the accuracy of the target angle has become an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a radar angle determination method, apparatus, device, medium, and product based on a heterogeneous uniform array, to solve the problem in the prior art that it is impossible to accurately determine the target angle while reducing the grating lobe effect.

[0005] According to one aspect of the present invention, a radar angle determination method based on a heterogeneous uniform array is provided, wherein the method includes:

[0006] Determine the first beam spectrum of the first uniform radar array and the second beam spectrum of the second uniform radar array;

[0007] Determine the beam spectrum deviation between the first beam spectrum and the second beam spectrum, and determine the exponential attenuation operator based on the beam spectrum deviation and a preset suppression factor;

[0008] The grating lobe mutual exclusion spectrum is determined based on the first beam spectrum and the exponential attenuation operator.

[0009] An angle threshold is determined based on the grating lobe mutual repulsion spectrum and a preset value, and a target angle is determined based on the angle threshold and the grating lobe mutual repulsion spectrum.

[0010] According to another aspect of the present invention, a radar angle determination device based on a heterogeneous uniform array is provided, wherein the device comprises:

[0011] A beam spectrum determination module is used to determine the first beam spectrum of a first uniform radar array and the second beam spectrum of a second uniform radar array.

[0012] The operator determination module is used to determine the beam spectrum deviation between the first beam spectrum and the second beam spectrum, and to determine the exponential attenuation operator based on the beam spectrum deviation and a preset suppression factor.

[0013] A mutual exclusion spectrum determination module is used to determine the grating lobe mutual exclusion spectrum based on the first beam spectrum and the exponential attenuation operator;

[0014] An angle determination module is used to determine an angle threshold based on the grating lobe mutual repulsion spectrum and a preset value, and to determine a target angle based on the angle threshold and the grating lobe mutual repulsion spectrum.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the radar angle determination method based on a heterogeneous uniform array as described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the radar angle determination method based on a heterogeneous uniform array as described in any embodiment of the present invention.

[0020] According to another aspect of the present invention, embodiments of the present invention also provide a computer program product, the computer program product including a computer program, which, when executed by a processor, implements the radar angle determination method based on a heterogeneous uniform array according to any embodiment of the present invention.

[0021] The technical solution of this invention determines the first beam spectrum of a first uniform radar array and the second beam spectrum of a second uniform radar array, determines the beam spectrum deviation between the first and second beam spectra, determines an exponential attenuation operator based on the beam spectrum deviation and a preset suppression factor, determines a grating lobe mutual exclusion spectrum based on the first beam spectrum and the exponential attenuation operator, determines an angle threshold based on the grating lobe mutual exclusion spectrum and a preset value, and determines the target angle based on the angle threshold and the grating lobe mutual exclusion spectrum. This achieves a low sidelobe, high-resolution array layout for the first and second uniform radar arrays, while improving the accuracy of target angle identification and effectively mitigating the angle grating lobe effect.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a radar angle determination method based on a heterogeneous uniform array according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of a radar angle determination method based on a heterogeneous uniform array according to Embodiment 2 of the present invention;

[0026] Figure 3 This is a flowchart of a radar angle determination method based on a heterogeneous uniform array according to Embodiment 3 of the present invention;

[0027] Figure 4 This is an example diagram of a heterogeneous uniform array provided in Embodiment 3 of the present invention;

[0028] Figure 5 This is an example diagram of a heterogeneous uniform array pattern provided in Embodiment 3 of the present invention;

[0029] Figure 6 This is an example diagram of another heterogeneous uniform array pattern provided in Embodiment 3 of the present invention;

[0030] Figure 7 This is an example diagram of a grating lobe mutual exclusion spectrum provided in Embodiment 3 of the present invention;

[0031] Figure 8 This is a schematic diagram of a radar angle determination device based on a heterogeneous uniform array according to Embodiment 3 of the present invention;

[0032] Figure 9 This is a schematic diagram of the structure of an electronic device that implements the radar angle determination method based on a heterogeneous uniform array according to an embodiment of the present invention. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention 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 the invention 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 a 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.

[0035] Example 1

[0036] Figure 1This is a flowchart of a radar angle determination method based on a heterogeneous uniform array according to Embodiment 1 of the present invention. This embodiment is applicable to determining the angle of a real target in radar applications. The method can be executed by a radar angle determination device based on a heterogeneous uniform array, 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 first beam spectrum of the first uniform radar array and the second beam spectrum of the second uniform radar array.

[0038] In this context, both the first and second uniform radar arrays can be understood as arrays with uniformly distributed array elements, all arranged at equal intervals along a straight line, and exhibiting consistent excitation amplitude and linear phase change without additional weighting. In practical applications, the first and second uniform radar arrays can be MIMO radar arrays. In one embodiment, the first and second uniform radar arrays have the same signal wavelength but different element spacing. Element spacing refers to the straight-line distance between the centers of two adjacent elements; the spacing between all adjacent elements in both the first and second uniform radar arrays is exactly equal. Generally, the element spacing of the first and second uniform radar arrays can be the product of the signal wavelength and a preset wavelength coefficient; that is, the preset wavelength coefficients of the first and second uniform radar arrays are different. In one embodiment, the preset wavelength coefficients of both the first and second uniform radar arrays can be greater than 0.5. The first beam spectrum refers to the beam spectrum of the first uniform radar array, which is the energy distribution value calculated by beamforming at each angle of the first uniform radar array; the second beam spectrum refers to the beam spectrum of the second uniform radar array, which is the energy distribution value calculated by beamforming at each angle of the second uniform radar array.

[0039] In this embodiment, beamforming algorithms can be executed on the first uniform radar array and the second uniform radar array respectively. The first and second uniform radar arrays receive spatial signals for a period of time to obtain the time-domain received data of the array elements. The time-domain data is then averaged over time to obtain the covariance matrix. All possible target angles are obtained through angle traversal. The energy intensity corresponding to each angle point of the first uniform radar array is determined as the first energy intensity. Each angle point and the first energy intensity are arranged in angular order to obtain the beam spectrum as the first beam spectrum. Similarly, the energy intensity corresponding to each angle point of the second uniform radar array is determined as the second energy intensity. Each angle point and the second energy intensity are arranged in angular order to obtain the beam spectrum as the second beam spectrum.

[0040] S120. Determine the beam spectrum deviation of the first beam spectrum and the second beam spectrum, and determine the exponential attenuation operator based on the beam spectrum deviation and the preset suppression factor.

[0041] The beam spectrum deviation can be understood as the difference between the first and second beam spectra. The preset suppression factor refers to a pre-set suppression factor used to control the attenuation intensity. The preset suppression factor can be set according to operational requirements; the larger the preset suppression factor, the stronger the attenuation effect at locations where the first and second uniform radar arrays differ significantly. The exponential attenuation operator is used for energy attenuation at large differences in angles (grating lobes).

[0042] In this embodiment, the difference between the first beam spectrum and the second beam spectrum at the same angular point can be determined as the beam spectrum difference; alternatively, the difference between the second beam spectrum and the first beam spectrum at the same angular point can be determined as the beam spectrum difference, and the absolute value of the beam spectrum difference can be determined as the beam spectrum deviation. The negative of a preset suppression factor is determined, and the product of the negative factor and the beam spectrum deviation is used as the exponential term. An exponential function with a base of the natural constant is determined as the exponential attenuation operator.

[0043] S130. Determine the grating lobe mutual exclusion spectrum based on the first beam spectrum and the exponential attenuation operator.

[0044] Among them, the grating lobe mutual exclusion spectrum can be understood as the grating lobe mutual exclusion joint spectrum that fuses the first beam spectrum and the second beam spectrum. It is the result of fusing the two subarray beam spectra and is used to subsequently screen the true target angle. Its value represents the energy intensity at each angle after grating lobe suppression.

[0045] In one embodiment, the product of the first beam spectrum and the exponential attenuation operator can be determined, and this product is used as the grating lobe mutual exclusion spectrum. In another embodiment, the product of the second beam spectrum and the exponential attenuation operator can also be determined, and this product is used as the grating lobe mutual exclusion spectrum.

[0046] S140. Determine the angle threshold based on the grating lobe mutual repulsion spectrum and the preset value, and determine the target angle based on the angle threshold and the grating lobe mutual repulsion spectrum.

[0047] The preset value can be a value set in advance to adjust the angle threshold. Generally, the preset value can be set according to business needs. For example, the preset value can include, but is not limited to, 0.6, 0.7, or 0.8. The angle threshold can be understood as the threshold for judging the target angle. The target angle refers to the spatial orientation information of the real target relative to the radar (or array). Generally, the target angle is the azimuth angle, that is, the angle between the target on the horizontal plane and the radar reference direction.

[0048] In this embodiment, the product of the beam peak value in the grating lobe mutual exclusion spectrum and a preset value can be determined as the angle threshold. Peak values ​​in the grating lobe mutual exclusion spectrum that are greater than or equal to the angle threshold are retained, and the angles corresponding to the peak values ​​in the grating lobe mutual exclusion spectrum that are greater than or equal to the angle threshold are taken as the target angles.

[0049] In this embodiment of the invention, by determining the first beam spectrum of a first uniform radar array and the second beam spectrum of a second uniform radar array, the beam spectrum deviation between the first and second beam spectra is determined. An exponential attenuation operator is determined based on the beam spectrum deviation and a preset suppression factor. A grating lobe mutual exclusion spectrum is determined based on the first beam spectrum and the exponential attenuation operator. An angle threshold is determined based on the grating lobe mutual exclusion spectrum and a preset value. The target angle is determined based on the angle threshold and the grating lobe mutual exclusion spectrum. This achieves a low-sidelobe, high-resolution array layout for the first and second uniform radar arrays, while simultaneously improving the accuracy of target angle identification and effectively mitigating the angle grating lobe effect.

[0050] Example 2

[0051] Figure 2 This is a flowchart of a radar angle determination method based on a heterogeneous uniform array according to Embodiment 2 of the present invention. This embodiment is a further optimization and extension of the above-described embodiments and can be combined with various optional technical solutions in the above embodiments. Figure 2 As shown, the method includes:

[0052] S210. Execute a beamforming algorithm on the first uniform radar array, determine the energy intensity corresponding to each angle point in the preset angle range as the first energy intensity, and arrange each angle point and the first energy intensity in angular order to obtain the beam spectrum as the first beam spectrum.

[0053] The beamforming algorithm can be understood as a method for forming beams for a first uniform radar array and a second uniform radar array. For example, the beamforming algorithm may include, but is not limited to, conventional beamforming (CBF), minimum variance distortionless response (MVDR), etc. The preset angle range can be understood as a pre-set range of possible target angles.

[0054] In one embodiment, a beamforming algorithm can be executed on the first uniform radar array. The first uniform radar array receives spatial signals for a period of time, obtaining time-domain received data for the array elements. The time-domain data is then averaged over time to obtain a covariance matrix. The energy intensity corresponding to each angle point of the first uniform radar array within a preset angle range is determined as the first energy intensity. Each angle point and the first energy intensity are arranged in angular order to obtain a beam spectrum, which is then used as the first beam spectrum. In one embodiment, the first beam spectrum is... ;in, It is the first uniform radar array at the angle The beam energy spectrum intensity at that location (i.e., the first energy intensity). It is at the angle The conjugate transpose of the beamforming weight vector at the location; The weight vector is determined using a beamforming algorithm. It is the covariance matrix of the received signal from the first uniform radar array.

[0055] S220. Execute a beamforming algorithm on the second uniform radar array, determine the energy intensity corresponding to each angle point in the preset angle range as the second energy intensity, and arrange each angle point and the second energy intensity in angular order to obtain the beam spectrum as the second beam spectrum.

[0056] In one embodiment, a beamforming algorithm can be executed on the second uniform radar array. The second uniform radar array receives spatial signals for a period of time, obtaining time-domain received data for the array elements. Time-averaging of the time-domain data yields a covariance matrix. The energy intensity corresponding to each angle point of the second uniform radar array within a preset angle range is determined as the second energy intensity. The beam spectrum is obtained by arranging each angle point and the second energy intensity in angular order. In one embodiment, the second beam spectrum is... ;in, It is the second uniform radar array at the angle The beam energy spectrum intensity (i.e., the second energy intensity) at that location. It is at the angle The conjugate transpose of the beamforming weight vector at the location; The weight vector is determined using a beamforming algorithm. It is the covariance matrix of the received signal from the second uniform radar array.

[0057] S230. Determine the difference between the first beam spectrum and the second beam spectrum at the same angle point as the beam spectrum difference, and determine the absolute value of the beam spectrum difference as the beam spectrum deviation.

[0058] In one embodiment, the difference between the first beam spectrum and the second beam spectrum at the same angular point can be determined, and this difference is taken as the beam spectrum difference. The absolute value of the beam spectrum difference is taken as the beam spectrum deviation. In one embodiment, when the first beam spectrum is... The first beam spectrum is At that time, the beam spectrum difference is The beam spectrum deviation is .

[0059] S240. Determine the product of the beam spectrum deviation and the preset suppression factor as the first product, and determine the exponential attenuation operator according to the first product.

[0060] In this embodiment, the product of the beam spectrum deviation and the preset suppression factor can be used as the first product, and the negative of the first product can be used as the exponent term. An exponential function with the natural constant as the base can be determined as the exponential attenuation operator.

[0061] Among them, determining the exponential decay operator according to the first product includes:

[0062] The exponential decay operator is obtained by taking the negative of the first product as the exponent and the natural constant as the base.

[0063] In this embodiment, the negative of the first product can be determined as the exponent term, the natural constant as the base, and the exponential function of the negative of the first product as the exponent term can be used as the exponential decay operator. For example, when the preset suppression factor is... The first product is The opposite of the first product is The exponential decay operator is... .

[0064] S250. Determine the product of the first beam spectrum and the exponential attenuation operator as the grating lobe mutual exclusion spectrum.

[0065] In this embodiment, the product of the first beam spectrum and the exponential attenuation operator can be determined, and this product is used as the grating lobe mutual exclusion spectrum, i.e., the grating lobe mutual exclusion spectrum. .

[0066] S260. Determine the beam peak value in the grating lobe mutual exclusion spectrum, and use the product of the beam peak value and the preset value as the angle threshold.

[0067] In this embodiment, the beam peak value in the grating lobe mutual repulsion spectrum can be extracted, and the product of the beam peak value and a preset value can be used as the angle threshold. When the preset value is... The beam peak value is Angle threshold In one embodiment, the preset value may include, but is not limited to, 0.6, 0.7, and 0.8.

[0068] S270. Determine the beam amplitude in the grating lobe mutual exclusion spectrum that is greater than or equal to the angle threshold as the target beam amplitude, and take the angle corresponding to the target beam amplitude as the target angle.

[0069] In this embodiment, beam amplitudes greater than or equal to an angle threshold in the grating lobe mutual exclusion spectrum can be retained as target beam amplitudes, and the angle corresponding to the target beam amplitude can be determined as the target angle.

[0070] In this embodiment of the invention, a beamforming algorithm is executed on a first uniform radar array to determine the energy intensity corresponding to each angle point within a preset angle range as the first energy intensity. The beam spectrum is obtained by arranging each angle point and the first energy intensity in angular order. Similarly, a beamforming algorithm is executed on a second uniform radar array to determine the energy intensity corresponding to each angle point within a preset angle range as the second energy intensity. The beam spectrum is obtained by arranging each angle point and the second energy intensity in angular order. This process achieves the determination of the first and second beam spectra. By determining that the first and second beam spectra are within the same... The difference in angle points is used as the beam spectrum difference. The absolute value of the beam spectrum difference is determined as the beam spectrum deviation. The product of the beam spectrum deviation and the preset suppression factor is determined as the first product. The exponential attenuation operator is determined according to the first product. The product of the first beam spectrum and the exponential attenuation operator is determined as the grating lobe mutual exclusion spectrum. The beam peak value in the grating lobe mutual exclusion spectrum is determined. The product of the beam peak value and the preset value is used as the angle threshold. The beam amplitude value in the grating lobe mutual exclusion spectrum that is greater than or equal to the angle threshold is determined as the target beam amplitude value. The angle corresponding to the target beam amplitude value is used as the target angle. This improves the efficiency and accuracy of determining the target angle and enhances the user experience.

[0071] Example 3

[0072] Figure 3 This is a flowchart of a radar angle determination method based on a heterogeneous uniform array according to Embodiment 3 of the present invention. This embodiment, based on the above embodiments, uses subarray A as the first uniform radar array and subarray B as the second uniform radar array as an example to further illustrate a radar angle determination method based on a heterogeneous uniform array. In the prior art, uniform spacing... Antenna array in ( While achieving low sidelobe performance (indicating wavelength), the corresponding angular resolution is low due to the small overall effective aperture. In some cases, spurious peaks will appear in the array pattern, with amplitudes identical to the true main lobe, making it impossible to distinguish the true angle of the target. Sparse array layouts break the periodicity of the grating lobes through non-uniform arrangement while achieving an array aperture that meets angular resolution requirements. However, a significant drawback is that sparse arrays lead to main lobe broadening (-3dB width increases by 20%~50%) and an increase in sidelobe levels. The biggest difference between this invention and traditional solutions is that it combines the low sidelobe advantages of uniform arrays with the wide aperture advantages of sparse arrays, employing a uniform combination of two different spacings to achieve accurate angle estimation. Figure 3 As shown, the specific algorithm flow and method include:

[0073] Step 1: Design of a dual heterogeneous uniform array.

[0074] Specifically, two subarrays can be designed, denoted here as subarray A and subarray B.

[0075] Subarray A: Uniform linear array, spacing , ;

[0076] Subarray B: Uniform linear array, spacing , ;

[0077] The design principle is to ensure that the positions of the two subarray grating lobes are offset in angular space. In one embodiment, Figure 4 This is an example diagram of a heterogeneous uniform array provided according to Embodiment 3 of the present invention. Figure 4 As shown, subarray A (ULA1) and subarray B (ULA2) are heterogeneous uniform arrays, with hollow dots representing subarray A and solid dots representing subarray B. In one embodiment, Figure 5 This is an example diagram of a heterogeneous uniform array pattern provided in Embodiment 3 of the present invention, such as... Figure 5 The image shows a comparison of radiation patterns for heterogeneous uniform arrays (composed of two uniform linear arrays, ULA1 and ULA2). The horizontal axis (Az / deg) represents the azimuth range (from -60° to 60°), indicating the scanning angle. The vertical axis (Amp / dB) represents the energy intensity (in decibels); a higher value indicates stronger signal energy at that angle. The solid line (ULA1) is the radiation pattern of the first uniform linear array (subarray A); the asterisk (ULA2) is the radiation pattern of the second uniform linear array (subarray B). The main lobe at the target angle ( Nearby, both subarrays showed high-energy main lobes (peaks of the curves / asterisks), indicating that the energy of the real target at that angle was simultaneously captured by both subarrays. Grating lobes: Due to the different spacing between the two subarrays (3.5... and 3 Their grating lobes (high-energy peaks outside the main lobe) appear at different angles: for example, in Near the same angle, subarray A (ULA1) shows a grating lobe peak, but subarray B (ULA2) has very low energy at that angle; while at other angles (around 20°), subarray A (ULA1) also has low energy at the grating lobe peak of subarray B (ULA2).

[0078] In one embodiment, Figure 6 This is an example diagram of another heterogeneous uniform array pattern provided in Embodiment 3 of the present invention, such as... Figure 6 As shown, the horizontal axis (Az / deg) represents the azimuth range (-60° to 60°), indicating the scanning angle; the vertical axis (Amp / dB) represents the energy intensity (in decibels), with higher values ​​indicating stronger signal energy at that angle. The solid sphere (ULA1) represents the radiation pattern of the first uniform linear array; the hollow sphere (ULA2) represents the radiation pattern of the second uniform linear array. Both are heterogeneous uniform arrays (i.e., the element spacing, number of elements, and other parameters of the subarrays are different). Main lobe region: At certain angles (e.g., around -50° and 50°), both subarray radiation patterns simultaneously exhibit high energy peaks (main lobes), corresponding to the direction of the actual target. Due to the different subarray parameters, the energy distribution of the two subarrays (especially the grating lobe) is inconsistent at most angles: for example, around -20°, ULA1 has higher energy (possibly the grating lobe), but ULA2 has very low energy at this angle; while at other angles (e.g., around 20°), at the energy peak of ULA2, the energy of ULA1 is also at a lower level.

[0079] Step 2: Dual-channel beamforming. Calculate the beam spectrum for the received signals from subarrays A and B respectively.

[0080] ;

[0081] ;

[0082] in, It is the first uniform radar array at the angle The beam energy spectrum intensity at that location (i.e., the first energy intensity). It is at the angle The conjugate transpose of the beamforming weight vector at the location; The weight vector is determined using a beamforming algorithm. It is the covariance matrix of the signal received by the first uniform radar array; It is the second uniform radar array at the angle The beam energy spectrum intensity (i.e., the second energy intensity) at that location. It is at the angle The conjugate transpose of the beamforming weight vector at the location; The weight vector is determined using a beamforming algorithm. It is the covariance matrix of the received signal from the second uniform radar array.

[0083] Step 4: Grid lobe mutual exclusion spectrum calculation.

[0084] Normalized difference product operator (grid lobe mutual exclusion spectrum): ;in, Indicates inhibitory factor (recommended) This formula's main function is to determine the true target location. High output value, at the grid lobe It decays exponentially.

[0085] In one embodiment, Figure 7 This is an example diagram of a grating lobe mutual exclusion spectrum provided in Embodiment 3 of the present invention, as shown below. Figure 7 As shown, the horizontal axis (Az / deg) represents the azimuth range (-60° to 60°), indicating the scanning angle; the vertical axis (Amp / dB) represents the energy intensity (in decibels), with higher values ​​indicating stronger signal energy at that angle; the solid line represents the final beam spectrum after fusion processing (corresponding to the previous formula). ); The 10-degree and 12-degree targets are marked as the actual angular positions of the targets.

[0086] Step 4: Energy consistency criterion.

[0087] Specifically, a dynamic threshold (angle threshold) can be set. , The value can be adjusted according to the actual situation.

[0088] Step 5: Extracting the real target.

[0089] Specifically, only retain The peak value, and the angle corresponding to this peak value is the set of angles of the real target. .

[0090] Example 4

[0091] Figure 8 This is a schematic diagram of a radar angle determination device based on a heterogeneous uniform array according to Embodiment 3 of the present invention. Figure 8 As shown, the device includes: a beam spectrum determination module 81, an operator determination module 82, a mutually exclusive spectrum determination module 83, and an angle determination module 84.

[0092] Among them, the beam spectrum determination module 81 is used to determine the first beam spectrum of the first uniform radar array and the second beam spectrum of the second uniform radar array.

[0093] The operator determination module 82 is used to determine the beam spectrum deviation of the first beam spectrum and the second beam spectrum, and to determine the exponential attenuation operator based on the beam spectrum deviation and the preset suppression factor.

[0094] The mutual exclusion spectrum determination module 83 is used to determine the grating lobe mutual exclusion spectrum based on the first beam spectrum and the exponential attenuation operator.

[0095] Angle determination module 84 is used to determine the angle threshold based on the grating lobe mutual repulsion spectrum and a preset value, and to determine the target angle based on the angle threshold and the grating lobe mutual repulsion spectrum.

[0096] The technical solution of this invention involves a beam spectrum determination module that determines the first beam spectrum of a first uniform radar array and the second beam spectrum of a second uniform radar array; an operator determination module that determines the beam spectrum deviation between the first and second beam spectra; an exponential attenuation operator that is determined based on the beam spectrum deviation and a preset suppression factor; a mutual exclusion spectrum determination module that determines the grating lobe mutual exclusion spectrum based on the first beam spectrum and the exponential attenuation operator; an angle determination module that determines an angle threshold based on the grating lobe mutual exclusion spectrum and a preset value; and a target angle that is determined based on the angle threshold and the grating lobe mutual exclusion spectrum. This achieves a low-sidelobe, high-resolution array layout for the first and second uniform radar arrays, while simultaneously improving the accuracy of target angle identification and effectively mitigating the angle grating lobe effect.

[0097] In one embodiment, the beam spectrum determination module 81 includes:

[0098] The first beam spectrum determination unit is used to execute a beamforming algorithm on the first uniform radar array, determine the energy intensity corresponding to each angle point in the preset angle range as the first energy intensity, and arrange each angle point and the first energy intensity in the angle order to obtain the beam spectrum as the first beam spectrum;

[0099] The second beam spectrum determination unit is used to perform a beamforming algorithm on the second uniform radar array, determine the energy intensity corresponding to each angle point in the preset angle range as the second energy intensity, and arrange each angle point and the second energy intensity in angular order to obtain the beam spectrum as the second beam spectrum.

[0100] In one embodiment, the operator determination module 82 includes:

[0101] The deviation determination unit is used to determine the difference between the first beam spectrum and the second beam spectrum at the same angle point as the beam spectrum difference, and to determine the absolute value of the beam spectrum difference as the beam spectrum deviation amount.

[0102] The operator determination unit is used to determine the product of the beam spectrum deviation and the preset suppression factor as the first product, and to determine the exponential attenuation operator according to the first product.

[0103] In one embodiment, the operator determining unit is specifically used for:

[0104] The exponential decay operator is obtained by taking the negative of the first product as the exponent and the natural constant as the base.

[0105] In one embodiment, the mutual exclusion spectrum determination module 83 includes:

[0106] The mutual exclusion spectrum determination unit is used to determine the product of the first beam spectrum and the exponential attenuation operator as the grating lobe mutual exclusion spectrum.

[0107] In one embodiment, the angle determination module 84 includes:

[0108] The threshold determination unit is used to determine the beam peak in the grating lobe mutual exclusion spectrum and use the product of the beam peak and a preset value as the angle threshold.

[0109] An angle determination unit is used to determine the beam amplitude in the grating lobe mutual exclusion spectrum that is greater than or equal to the angle threshold as the target beam amplitude, and to take the angle corresponding to the target beam amplitude as the target angle.

[0110] In one embodiment, the first uniform radar array and the second uniform radar array have the same signal wavelength but different element spacing.

[0111] The radar angle determination device based on a heterogeneous uniform array provided in the embodiments of the present invention can execute the radar angle determination method based on a heterogeneous uniform array provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0112] Example 5

[0113] Figure 9 This is a schematic diagram of an electronic device that implements the radar angle determination method based on a heterogeneous uniform array according to embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, 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 invention described and / or claimed herein.

[0114] like Figure 9As 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, communicatively connected to the at least one processor 11. 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 from storage unit 18 into the RAM 13. 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.

[0115] 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 displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication 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.

[0116] 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 a radar angle determination method based on a heterogeneous uniform array.

[0117] In some embodiments, the radar angle determination method based on a heterogeneous uniform array can 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 can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the radar angle determination method based on a heterogeneous uniform array described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the radar angle determination method based on a heterogeneous uniform array by any other suitable means (e.g., by means of firmware).

[0118] 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.

[0119] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing 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 performed. 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.

[0120] In the context of this invention, 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 may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may 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 fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0121] 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).

[0122] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or 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 via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0123] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication 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.

[0124] In one embodiment, the present invention further includes a computer program product, which includes a computer program that, when executed by a processor, implements the radar angle determination method based on a heterogeneous uniform array according to any embodiment of the present invention.

[0125] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0126] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0127] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. 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 invention should be included within the scope of protection of this invention.

Claims

1. A radar angle determination method based on a heterogeneous uniform array, characterized in that, include: Determine the first beam spectrum of the first uniform radar array and the second beam spectrum of the second uniform radar array; Determine the beam spectrum deviation between the first beam spectrum and the second beam spectrum, and determine the exponential attenuation operator based on the beam spectrum deviation and a preset suppression factor; The grating lobe mutual exclusion spectrum is determined based on the first beam spectrum and the exponential attenuation operator. An angle threshold is determined based on the grating lobe mutual repulsion spectrum and a preset value, and a target angle is determined based on the angle threshold and the grating lobe mutual repulsion spectrum.

2. The method according to claim 1, characterized in that, Determining the first beam spectrum of the first uniform radar array and the second beam spectrum of the second uniform radar array includes: A beamforming algorithm is executed on the first uniform radar array to determine the energy intensity corresponding to each angle point in the preset angle range as the first energy intensity. The beam spectrum is obtained by arranging each angle point and the first energy intensity in the angular order. A beamforming algorithm is executed on the second uniform radar array to determine the energy intensity corresponding to each angle point in the preset angle range as the second energy intensity. The beam spectrum is obtained by arranging each angle point and the second energy intensity in angular order.

3. The method according to claim 1, characterized in that, The step of determining the beam spectrum deviation between the first beam spectrum and the second beam spectrum, and determining the exponential attenuation operator based on the beam spectrum deviation and a preset suppression factor, includes: The difference between the first beam spectrum and the second beam spectrum at the same angle point is determined as the beam spectrum difference, and the absolute value of the beam spectrum difference is determined as the beam spectrum deviation. The product of the beam spectrum deviation and the preset suppression factor is determined as the first product, and the exponential attenuation operator is determined according to the first product.

4. The method according to claim 3, characterized in that, The step of determining the exponential decay operator according to the first product includes: The exponent of the first product is used as the exponent, and the natural constant is used as the base to obtain the exponential decay operator.

5. The method according to claim 1, characterized in that, Determining the grating lobe mutual exclusion spectrum based on the first beam spectrum and the exponential attenuation operator includes: The product of the first beam spectrum and the exponential attenuation operator is determined as the grating lobe mutual exclusion spectrum.

6. The method according to claim 1, characterized in that, The step of determining an angle threshold based on the grating lobe mutual repulsion spectrum and a preset value, and determining a target angle based on the angle threshold and the grating lobe mutual repulsion spectrum, includes: Determine the beam peak value in the grating lobe mutual exclusion spectrum, and use the product of the beam peak value and a preset value as the angle threshold; The beam amplitudes in the grating lobe mutual exclusion spectrum that are greater than or equal to an angle threshold are determined as the target beam amplitudes, and the angles corresponding to the target beam amplitudes are determined as the target angles.

7. The method according to claim 1, characterized in that, The first uniform radar array and the second uniform radar array have the same signal wavelength, but different element spacing.

8. A radar angle determination device based on a heterogeneous uniform array, characterized in that, include: A beam spectrum determination module is used to determine the first beam spectrum of a first uniform radar array and the second beam spectrum of a second uniform radar array. The operator determination module is used to determine the beam spectrum deviation between the first beam spectrum and the second beam spectrum, and to determine the exponential attenuation operator based on the beam spectrum deviation and a preset suppression factor. A mutual exclusion spectrum determination module is used to determine the grating lobe mutual exclusion spectrum based on the first beam spectrum and the exponential attenuation operator; An angle determination module is used to determine an angle threshold based on the grating lobe mutual repulsion spectrum and a preset value, and to determine a target angle based on the angle threshold and the grating lobe mutual repulsion spectrum.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; 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 radar angle determination method based on a heterogeneous uniform array as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the radar angle determination method based on a heterogeneous uniform array as described in any one of claims 1-7.

11. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the radar angle determination method based on a heterogeneous uniform array according to any one of claims 1-7.

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