Millimeter wave radar array antenna

Abstract

The utility model discloses a millimeter wave radar array antenna which mainly solves the problems that a traditional millimeter wave radar antenna is large in size, high in cost, low in precision and poor in stability. The antenna array comprises a transmitting antenna array, a receiving antenna array and a mounting platform. The transmitting antenna array comprises a transmitting antenna sub-array and a transmitting control unit, the receiving antenna array comprises five receiving antenna sub-arrays and five receiving control units, and the mounting platform comprises three antenna mounting surfaces which form different included angles with the horizontal plane. The transmitting antenna sub-array and the transmitting control unit are connected through a transmitting circuit, the five receiving antenna sub-arrays and the five receiving control units are connected through a receiving connection circuit, and the transmitting antenna sub-array and the receiving antenna arrays are respectively placed on each mounting surface of the mounting platform after connection. According to the utility model, the signal coverage range can be increased, the echo signal receiving efficiency of the receiving antenna is improved, the size of the antenna is reduced, the antenna sidelobe is reduced, and the antenna can be used for unmanned aerial vehicle and automobile collision prevention, self-adaptive cruise control and blind area detection systems.

Description

Technical Field

[0001] This utility model belongs to the field of antenna technology, and in particular relates to a millimeter-wave radar antenna that can be used in automotive systems such as collision prevention, adaptive cruise control (ACC), and blind spot detection. Background Technology

[0002] Millimeter-wave radar features high resolution, wide bandwidth, and strong anti-jamming capabilities. When the electromagnetic waves emitted by the radar system encounter an obstacle, they are reflected. By capturing the reflected signals, the radar system can determine the distance, velocity, and angle of an object. Its operating frequency band is 76–81 GHz, with a primary operating frequency of 77 GHz. The wavelength of the 77 GHz frequency is approximately 3.9 millimeters; this shorter wavelength gives it stronger directionality, enabling high-resolution target identification capabilities in complex environments.

[0003] In millimeter-wave radar, antenna design plays a crucial role. Antennas in the 77GHz band typically require miniaturization, high gain, wide bandwidth, and multi-beam characteristics to meet diverse application scenarios. Currently, the main types of antennas used include: microstrip patch antennas, dielectric integrated waveguide (SIW) antennas, and array antennas, among which:

[0004] Microstrip patch antennas, with their simple structure, ease of integration, and mass production, are widely used in millimeter-wave radar antennas. However, traditional microstrip antennas have limited bandwidth at high frequencies and also suffer from low gain.

[0005] Integrated dielectric waveguide antennas (SIWs) achieve high gain and efficiency by embedding dielectric waveguides in a PCB, but they are complex in structure and expensive.

[0006] Array antennas, through the combination of multiple elements, can form a narrow beam in space, providing high gain and resolution. They are gradually becoming the mainstream in automotive radar to achieve longer detection ranges and more accurate angular resolution. However, due to the large number and complex arrangement of antenna elements, this type of antenna increases the cost and design difficulty of the system.

[0007] Currently, millimeter-wave radar faces several unresolved issues. Its development cost is high, and its price is expensive; therefore, reducing costs to achieve widespread application is crucial. Due to the limited space available for millimeter-wave radar installation, certain requirements are placed on its size. During operation, sidelobe levels in millimeter-wave radar antennas often cause a decrease in signal-to-noise ratio, affecting detection range and accuracy. Therefore, low sidelobe design and wide beamforming are issues that require special attention in millimeter-wave radar antenna design.

[0008] Patent document CN20110175648.9 discloses a multi-beam lens antenna, which consists of a lens plate, multiple dielectric lenses, one transmitting antenna, multiple receiving antennas, and a wireless transceiver module. It adopts a structure that combines the antenna with the lens. The overall design of this antenna is complex, its size is large, and it is not easy to mass-produce.

[0009] Patent document with application number CN201610630537.5 discloses a broadband millimeter-wave antenna array, which includes a first and a second radiating element and an excitation port. The overall structure of the antenna is simple, but it does not form an array and has a limited coverage distance.

[0010] Patent document with application number CN201811181719.4 discloses a microstrip array antenna system based on 77GHz millimeter-wave radar. The antenna system adopts a vertically polarized microstrip antenna layout with 3 transmit and 4 receive antennas, but the beamwidth of a single antenna is relatively narrow, which cannot meet all the difficulties of wide beam scanning of the antenna. Utility Model Content

[0011] The purpose of this invention is to address the shortcomings and deficiencies of existing technologies by proposing a millimeter-wave radar array antenna that reduces size, lowers cost, increases gain, expands beamwidth and signal coverage, and improves radar resolution.

[0012] To achieve the above objectives, the millimeter-wave radar antenna of this utility model includes a transmitting antenna array, a receiving antenna array, and a mounting platform, characterized in that:

[0013] The transmitting antenna array includes a transmitting antenna subarray and a transmitting control unit, used to complete one-dimensional line scanning 77GHz transmitting beamforming and scanning, and generate frequency-modulated continuous wave output signals;

[0014] The receiving antenna array includes five receiving antenna subarrays and five receiving control units, used to complete parallel five-channel one-dimensional line scanning 77GHz receiving beamforming and scanning, and to receive echo signals;

[0015] The transmitting antenna connection circuit is used to connect the transmitting antenna subarray and the transmitting control unit to form a transmitting signal loop.

[0016] The receiving antenna connection circuit is used to connect five receiving antenna subarrays and five receiving control units to form a receiving signal loop.

[0017] The described mounting platform includes three antenna mounting surfaces with different angles to the horizontal plane;

[0018] Furthermore, the angles of the three antenna mounting surfaces, which have different angles with the horizontal plane, are set as follows:

[0019] The angle between the mounting surface of the first antenna and the horizontal plane is 18°.

[0020] The second antenna mounting surface forms a 36° angle with the horizontal.

[0021] The angle between the mounting surface of the third antenna and the horizontal is 0°.

[0022] The second receiving antenna subarray, the second receiving control unit, and the fourth receiving antenna subarray and the fourth receiving control unit are located on the first mounting surface;

[0023] The first receiving antenna subarray, the first receiving control unit, and the fifth receiving antenna subarray and the fifth receiving control unit are located on the second mounting surface;

[0024] The third receiving antenna subarray and the third receiving control unit are located near the edge of the third mounting surface;

[0025] The transmitting antenna subarray and the transmitting control unit are located below the third receiving antenna subarray and the third receiving control unit, and near the lower edge of the third mounting surface.

[0026] Furthermore, the transmitting antenna subarray includes 16 transmitting units, each of which is a two-pattern parallel structure. The specific arrangement of the transmitting units on the circuit board is as follows:

[0027] The first, second, and third transmitting units are each spaced two unit intervals apart;

[0028] The third to fourteenth transmitting units are spaced one unit apart;

[0029] The fourteenth, fifteenth, and sixteenth transmission units are spaced two unit intervals apart;

[0030] The spacing between each unit is 2.4 mm.

[0031] Furthermore, the transmission control unit includes 16 configurable transmit and receive channels, which correspond to the 16 transmit units of the transmit antenna array, and the internal corresponding registers are configured to dynamically select parameters such as operating frequency, transmit bandwidth, and transmit gain by using the SPI protocol.

[0032] Furthermore, the five receiving antenna subarrays have the same structure, each receiving antenna subarray has 16 receiving units, which are arranged at equal intervals on the circuit board and cover 30° of elevation using a three-patch resonant series feeding method; each receiving antenna subarray has a scanning angle of 18°, and the five receiving subarrays together form an overall 90° azimuth coverage.

[0033] Furthermore, the five receiving control units have the same structure, and each receiving unit has 16 receiving channels that are respectively connected to the 16 groups of receiving units in the receiving subarray.

[0034] Compared with the prior art, this utility model has the following advantages:

[0035] Firstly, because this utility model installs the antenna subarray on three mounting surfaces with different included angles, compared to most coplanar mounting structures on the market, it not only increases the signal coverage range, allowing the antenna to better receive echo signals, but also reduces the size of the antenna, which can meet the requirements of a smaller installation space.

[0036] Secondly, because this utility model adopts an antenna unit structure with multiple microstrip patches connected in series, it not only improves the antenna beamwidth, but also has the advantage of low cost due to the low cost of the antenna microstrip patches.

[0037] Thirdly, the antenna elements in the transmitting antenna array of this utility model adopt a non-full array layout structure, which effectively reduces antenna sidelobes, improves antenna directivity, and enhances transmitting antenna gain.

[0038] Fourth, the multiple receiving antenna subarrays of this utility model adopt the same structural design, which not only meets the requirements of the application scenario, but also saves design costs and allows for mass production. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0040] Figure 2 This is a structural diagram of the transmitting antenna subarray of this utility model;

[0041] Figure 3 This is a structural diagram of the receiving antenna subarray of this utility model;

[0042] Figure 4 This is a structural diagram of the control unit of this utility model;

[0043] Figure 5a This is a schematic diagram of the actual installation of this utility model;

[0044] Figure 5b This is a structural diagram of the installation platform of this utility model;

[0045] Figure 6 This is a schematic diagram of the antenna coverage structure of this utility model;

[0046] Figure 7 This is the circuit diagram of the transmitting antenna of this utility model;

[0047] Figure 8 This is the circuit diagram of the receiving antenna of this utility model;

[0048] Figure 9 This is a schematic diagram of the receiving antenna unit structure of this utility model;

[0049] Figure 10 This is a simulation diagram of the bandwidth of the receiving antenna unit of this utility model;

[0050] Figure 11 This is a simulation diagram of the S-parameters of the receiving antenna unit of this utility model;

[0051] Figure 12 This is a simulation diagram of the E-plane beamwidth of the receiving antenna unit of this utility model;

[0052] Figure 13 This is a simulation diagram of the H-plane beamwidth of the receiving antenna unit of this utility model;

[0053] Figure 14 Simulation of the radiation pattern of the receiving antenna of this utility model at 0° phase control;

[0054] Figure 15 Simulation of the radiation pattern of the receiving antenna of this utility model at 9° phase control. Detailed Implementation

[0055] The embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0056] Reference Figure 1 This utility model includes a transmitting antenna array 1, a receiving antenna array 2, and a mounting platform 3.

[0057] The transmitting antenna array 1 includes a transmitting antenna subarray 11 and a transmitting control unit 12. The transmitting antenna subarray is used to transmit the radio frequency signal generated by the transmitting control unit into space in a specific beam form.

[0058] The receiving antenna array 2 includes five receiving antenna subarrays 21, 22, 23, 24, and 25 and five receiving control units 26, 27, 28, 29, and 30. These five receiving antenna subarrays are used to receive signals reflected from the target and convert them into electrical signals for subsequent processing. These five receiving control units are used to convert the received radio frequency signals into intermediate frequency signals, and then demodulate them to recover the target information.

[0059] The mounting platform 3 is used to mount the transmitting antenna array 1 and the receiving antenna array 2.

[0060] Reference Figure 2The transmitting antenna subarray 11 comprises 16 groups of transmitting antenna elements. Each group consists of two patches connected in parallel. The primary function of the patches is to convert electromagnetic signals into radiated waves. These electromagnetic waves propagate through space via the patches, forming the radar's detection signal. These 16 transmitting elements are arranged in a non-full array configuration to reduce sidelobe radiation intensity. This allows the array elements to focus radiated energy in certain directions while suppressing or reducing signals in others, thereby improving anti-interference capabilities. The specific array structure is as follows:

[0061] The first, second, and third transmitting units are each spaced two unit intervals apart, with each unit interval being 2.4 mm.

[0062] The third to fourteenth transmitting units are spaced one unit apart;

[0063] The fourteenth, fifteenth, and sixteenth transmission units are spaced two unit intervals apart;

[0064] The final array structure is formed with unit spacing of 1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 20. The maximum sidelobe of the transmitting unit is -20.3dB at 0° and -15.8dB at ±15°. The actual sidelobe suppression is better than that of a full array, and the beamwidth is less than 4.6° at all angles.

[0065] Reference Figure 3 The five receiving antenna subarrays 21, 22, 23, 24, and 25 have identical structures. Each receiving antenna subarray includes 16 receiving antenna elements responsible for horizontal scanning. Each receiving element is a series structure of three patches, and the patch material is the same as that of the transmitting element. In this example, the dielectric substrate used for the patches is Rogers' RO3003 patch, which is a high-performance material widely used in the RF and microwave fields and has excellent electrical performance. These five receiving antenna subarrays adopt a full-array arrangement, that is, each receiving element is spaced one unit spacing with the next receiving element. The unit spacing is 2.4 mm. Each receiving element beam covers an elevation angle of 30°, and each receiving antenna subarray covers a scanning angle of 18°.

[0066] Reference Figure 4The transmit control unit 12 and the five receive control units 26, 27, 28, 29, and 30 have the same structure. Each unit uses, but is not limited to, the integrated millimeter-wave radar chip ADT2011. This chip integrates a frequency synthesizer, a transmit unit, and a receive unit, and has a total of 16 configurable transmit and receive channels for connecting to 16 antenna elements of the transmit or receive antenna subarray. The T / R switching time of the transmit and receive channels is less than 45ns, the main operating frequency is 76-81GHz, the maximum transmit power of a single channel can reach 10dBm, the maximum intermediate frequency bandwidth can reach 100MHz, and the phase shift accuracy is 5.625°. Users can dynamically select parameters such as operating frequency, transmit bandwidth, transmit gain, and receive gain by configuring the corresponding internal registers using the SPI protocol.

[0067] Referring to Figure 5(a), the mounting platform 3 has three antenna mounting surfaces 31, 32, and 33 with different angles to the horizontal plane. The five receiving antenna subarrays 21, 22, 23, 24, and 25, the five receiving control units 26, 27, 28, 29, and 30, the transmitting antenna subarray 11, and the transmitting control unit 12 are mounted on the mounting surfaces of the mounting platform 3. As an example, its mounting structure is as follows:

[0068] The second receiving antenna subarray 22, the second receiving control unit 27, and the fourth receiving antenna subarray 24 and the fourth receiving control unit 29 are mounted on the first antenna mounting surface 31.

[0069] The first receiving antenna subarray 21, the first receiving control unit 26, and the fifth receiving antenna subarray 25 and the fifth receiving control unit 30 are mounted on the second antenna mounting surface 32.

[0070] The third receiving antenna subarray 23, the third receiving control unit 28, the transmitting antenna subarray 11, and the transmitting control unit 12 are mounted on the third mounting surface 33. The third receiving antenna subarray 23 and the third receiving control unit 28 are mounted near the upper edge of the third antenna mounting surface 33, and the transmitting antenna subarray 11 and the transmitting control unit 12 are mounted near the lower edge of the third antenna mounting surface 33.

[0071] Referring to Figure 5(b), in the mounting platform 3, the angle between the first antenna mounting surface 31 and the horizontal plane is, but not limited to, 18°±3°; the angle between the second antenna mounting surface 32 and the horizontal plane is, but not limited to, 36°±3°; and the angle between the third antenna mounting surface 33 and the horizontal plane is, but not limited to, 0°±3°. The relationship between the angles of these three antenna mounting surfaces and the horizontal plane is set such that the angle of the third antenna mounting surface 33 is smaller than the angle of the first antenna mounting surface 31, and the angle of the first antenna mounting surface 31 is smaller than the angle of the second antenna mounting surface 32. The difference between each pair of angles is the main lobe beamwidth of the receiving antenna subarray, which is 18°, to ensure that the five receiving antenna subarrays form an azimuth coverage with a maximum value of 90°.

[0072] The aforementioned non-coplanar mounting structure increases the coverage area of ​​the receiving antenna, such as... Figure 6 As shown. The transmitting antenna subarray 11, mounted on the third mounting surface 33, has a beamwidth of 30°, covering an elevation angle of -15° to 15°. The five receiving antenna subarrays 21, 22, 23, 24, and 25 each have a beamwidth of 18°. The receiving antenna subarray 23, mounted on the third antenna mounting surface 33, provides horizontal azimuth coverage of -9° to 9°. The two receiving antenna subarrays 21 and 25, mounted on the second antenna mounting surface 32, provide azimuth coverage of -45° to -27° and 27° to 45°, respectively. The two receiving antenna subarrays 22 and 24, mounted on the first antenna mounting surface 31, provide azimuth coverage of -27° to -9° and 9° to 27°, respectively. Together, the five receiving antenna subarrays provide azimuth coverage of 90° from -45° to 45°. This increased coverage area improves the efficiency of echo signal reception. Furthermore, the use of aluminum in the mounting platform 3 effectively reduces the system weight.

[0073] Reference Figure 7 The transmitting antenna connection circuit includes, in series, a sawtooth wave generator, a PLL frequency synthesizer, a first transmitting amplifier, a transmitting power divider, a transmitting fourth harmonic amplifier, and a second transmitting amplifier. The input terminal of the sawtooth wave generator is connected to the transmitting control unit 12, and the output terminal of the second transmitting amplifier is connected to the transmitting antenna subarray 11. The transmitting control unit 12 provides a control signal input to the sawtooth wave generator, which generates a linear frequency modulated signal. This signal is then fed into the PLL frequency synthesizer for frequency synthesis, generating a 20GHz local oscillator signal. The transmitting power divider generates two signals: one signal is passed through a fourth harmonic amplifier and then radiated through the antenna; the other signal serves as input to the next transmitting path.

[0074] Reference Figure 8The receiving antenna connection circuit includes five sets of identical circuits. Each set of circuits includes a first receiving amplifier, a receiving power divider, a receiving quadruple frequency multiplier, an intermediate frequency filter amplifier, a mixer, and a second receiving amplifier. The first receiving amplifier, the receiving power divider, and the receiving quadruple frequency multiplier are connected in series. The output of the quadruple frequency multiplier is connected to the first input terminal of the mixer. The output terminal of the second receiving amplifier is connected to the second input terminal of the mixer. The output terminal of the mixer is connected to the input terminal of the intermediate frequency filter amplifier. The output of the intermediate frequency filter amplifier is connected to an external signal processing module. The receiving power dividers in the five sets of circuits are connected in parallel. The input terminals of the five second receiving amplifiers are respectively connected to the five receiving antenna subarrays 21, 22, 23, 24, and 25. The input terminals of the five first receiving amplifiers are respectively connected to the five receiving control units 26, 27, 28, 29, and 30. The 20GHz signal output from the receiving control unit is amplified by the first receiving amplifier and then enters the receiving power divider to generate two output signals. One of the signals is frequency quadrupled and then mixed with the high-frequency signal received by the receiving antenna through a mixer to obtain an intermediate frequency signal. This intermediate frequency signal is then filtered and amplified before being sent to an external signal processing module for processing. The other signal serves as the local oscillator signal source input for the next receiving channel.

[0075] The effectiveness of this invention can be further illustrated by the following simulation results:

[0076] Simulation 1 simulates the bandwidth of the receiving antenna element with different numbers of patches, and the results are as follows. Figure 10 The blue curve ① represents the simulation curve of a four-pattern tandem antenna structure, and the orange curve ② represents the simulation curve of a three-pattern tandem antenna structure. From... Figure 10 As can be seen, when the gain decreases by 3dB, the simulated beamwidth of the three-patch antenna is 34.82°, with a gain of 11dB, while the simulated beamwidth of the four-patch antenna is 25.88°, with a gain of 12.86dB. The simulation comparison results show that the three-patch tandem antenna has a significant advantage in beamwidth. Although the four-patch tandem antenna slightly improves the gain, its beamwidth is relatively narrow. Considering the application scenario's requirements for antenna beamwidth, the receiving antenna unit of this invention adopts a three-patch tandem structure with a wider beam. Each patch has a thickness of 0.127mm, a standard dielectric constant of 3, and a loss tangent of 0.001. The antenna unit formed by this structure has excellent electrical performance and can meet the requirements of low loss and high stability in modern communication systems.

[0077] Simulation 2: The S-parameters of the receiving antenna element are simulated, and the results are as follows. Figure 11 .Depend on Figure 11As can be seen, the operating bandwidth of this receiving antenna element at a gain of -10dB is close to 6GHz, and the gain value of the S11 parameter at 77GHz reaches -20dB, indicating that this invention has good matching performance. The S-parameter is used to describe the scattering characteristics of signals in a network, and is widely used, especially in the RF and microwave frequency bands; the S11 parameter is the input reflection coefficient, representing the signal strength reflected from the antenna input, and is typically used to evaluate antenna matching performance.

[0078] Simulation 3 simulates the E-plane beamwidth of the receiving antenna element, and the results are as follows: Figure 12 ,from Figure 12 It can be seen that the maximum gain of the antenna element in the E-plane direction of the main lobe reaches 10dB. When the radiation gain decreases by 3dB, the radiation power angle coverage range is 23°, indicating that this utility model has the effect of high gain and good directivity.

[0079] Simulation 4: Beamwidth simulation was performed on the H-plane of the receiving antenna element, and the results are as follows. Figure 13 ,from Figure 13 It can be seen that when the antenna radiation gain decreases by 3dB, the angular range of the radiation power is 86°, indicating that this invention has a good radiation range in the horizontal direction.

[0080] Simulation 5: A radiation pattern simulation was performed on the receiving antenna array at 0° phased array, and the results are as follows. Figure 14 ,from Figure 14 As can be seen, the main lobe gain is 28.12dB, the maximum sidelobe gain is 14.05dB, and the beamwidth is 6.28°.

[0081] Simulation 6: A radiation pattern simulation was performed on the receiving antenna array with 9° phased array control. The results are as follows: Figure 15 The main lobe gain is 27.51dB, the maximum sidelobe gain is 14.7dB, and the beamwidth is 6.36°. Simulations 5 and 6 show that the sidelobe gain of the receiving antenna of this invention is much smaller than the main lobe gain, and the antenna has good directivity.

[0082] The above description is merely a specific example of this utility model and does not constitute any limitation on this utility model. Obviously, those skilled in the art, after understanding the content and principle of this utility model, may make various modifications and changes in form and details without departing from the principle and structure of this invention. However, these modifications and changes based on the concept of this utility model are still within the protection scope of the claims of this utility model.

Claims

1. A millimeter wave radar array antenna, comprising a transmitting antenna array (1), a receiving antenna array (2) and a mounting platform (3), characterized in that: the transmitting antenna array (1) comprises a transmitting antenna subarray (11), a transmitting control unit (12) and a transmitting antenna connection circuit (13) for completing one-dimensional linear scanning 77GHz transmitting beam forming and scanning to generate a frequency-modulated continuous wave output signal; the receiving antenna array (2) comprises five receiving antenna subarrays, five receiving control units and a receiving antenna connection circuit (34) for completing parallel five-way one-dimensional linear scanning 77GHz receiving beam forming and scanning to receive a return signal; the described mounting platform (3) comprises three antenna mounting surfaces with different angles with the horizontal plane; the second receiving antenna subarray (22), the second receiving control unit (27) and the fourth receiving antenna subarray (24), the fourth receiving control unit (29) are located on the first antenna mounting surface (31); the first receiving antenna subarray (21), the first receiving control unit (26) and the fifth receiving antenna subarray (25), the fifth receiving control unit (30) are located on the second antenna mounting surface (32); the third receiving antenna subarray (23) and the third receiving control unit (28) are located near the upper edge of the third antenna mounting surface (33); the transmitting antenna subarray (11) and the transmitting control unit (12) are located below the third receiving antenna subarray (23) and the third receiving control unit (28) and near the lower edge of the third antenna mounting surface (33).

2. The array antenna of claim 1, wherein the transmitting antenna subarray (11) comprises 16 transmitting units, each transmitting unit is a two-patch parallel antenna structure, and the specific array arrangement of the transmitting units on the circuit board is as follows: the first, second and third transmitting units are spaced apart by two unit spacings, respectively; the third to fourteenth transmitting units are spaced apart by one unit spacing, respectively; the fourteenth, fifteenth and sixteenth transmitting units are spaced apart by two unit spacings, respectively; the unit spacing is 2.4mm.

3. The array antenna of claim 1, wherein, the transmitting control unit (12) comprises 16 configurable transceiving channels corresponding to the 16 transmitting units of the transmitting antenna array, and dynamically selects the working frequency, transmitting bandwidth and transmitting gain parameters by configuring the internal corresponding registers using the SPI protocol.

4. The array antenna of claim 1, wherein, the five receiving antenna subarrays (21, 22, 23, 24, 25) are identical in structure, each receiving antenna subarray has 16 groups of receiving units arranged on the circuit board according to equal spacing and covers 30° in pitch according to the three-patch resonant series feeding mode; each receiving antenna subarray has a scanning angle of 18°, and five groups of receiving subarrays jointly constitute a total azimuth coverage of 90°.

5. The array antenna of claim 1, wherein, the five receiving control units (26, 27, 28, 29, 30) are identical in structure, and each receiving unit has 16 receiving channels connected to the 16 groups of receiving units of the receiving subarray.

6. The array antenna of claim 1, wherein, the three antenna mounting surfaces (31, 32, 33) with different angles with the horizontal plane are set as follows: the first antenna mounting surface (31) has an angle of 18°±3° with the horizontal plane, The second antenna installation surface (32) is 36°±3° from the horizontal. The third antenna installation surface (33) is 0°±3° from the horizontal.

7. The array antenna of claim 1, wherein, The second receiving antenna subarray (22), the second receiving control unit (27), and the fourth receiving antenna subarray (24), the fourth receiving control unit (29) are located on the first antenna installation surface (31), and the specific position distribution is as follows: The second receiving control unit (27) is located at the center of the first antenna installation surface (31) with the installation normal direction being -18°; The second receiving antenna subarray (22) is located around the control unit (27) and is connected with the control unit through a receiving antenna connection circuit (34); The fourth receiving control unit (29) is located at the center of the first antenna installation surface (31) with the installation normal direction being 18°; The fourth receiving antenna subarray (24) is located around the control unit (29) and is connected with the control unit through a receiving antenna connection circuit (34). The first receiving antenna subarray (21), the first receiving control unit (26), and the fifth receiving antenna subarray (25), the fifth receiving control unit (30) are located on the second antenna installation surface (32), and the specific position distribution is as follows: The first receiving control unit (26) is located at the center of the second antenna installation surface (32) with the installation normal direction being -36°; 8. The array antenna of claim 1, wherein, The first receiving antenna subarray (21) is located around the control unit (26) and is connected with the control unit through a receiving antenna connection circuit (34); The fifth receiving control unit (30) is located at the center of the second antenna installation surface (32) with the installation normal direction being 36°; The fifth receiving antenna subarray (25) is located around the control unit (30) and is connected with the control unit through a receiving antenna connection circuit (34). The third receiving antenna subarray (23) and the third receiving control unit (28) are located on the third antenna installation surface (33), and the specific position distribution is as follows: The third receiving control unit (28) is located at the upper edge of the third antenna installation surface (33) with the installation normal direction being 0°; The third receiving antenna subarray (23) is located around the control unit (28) and is connected with the control unit through a receiving antenna connection circuit (34).

9. The array antenna of claim 1, wherein, The transmitting antenna subarray (11) and the transmitting control unit (12) are located on the third antenna installation surface (33), and the specific position distribution is as follows: The transmitting control unit (12) is located at the lower edge of the third antenna installation surface (33) with the installation normal direction being 0°; The transmitting antenna subarray (11) is located around the transmitting control unit (12) and is connected with the control unit through a transmitting antenna connection circuit (13). ​ 10. The array antenna of claim 1, wherein: ​ ​ ​ ​ 11. The array antenna of claim 1, wherein, The transmitting antenna connection circuit (13) comprises, in sequence, a sawtooth wave generator, a PLL frequency synthesizer, a first transmitting amplifier, a transmitting power divider, a transmitting quadrupler, and a second transmitting amplifier, the input end of the sawtooth wave generator being connected with the transmitting control unit (12), and the output end of the second transmitting amplifier being connected with the transmitting antenna subarray (11).

12. The array antenna of claim 1, wherein, The receiving antenna connection circuit (34) comprises five groups of circuits with the same structure, each group of circuits comprising a first receiving amplifier, a receiving power divider, a receiving quadrupler, an intermediate frequency filter amplifier, a mixer, and a second receiving amplifier; the first receiving amplifier, the receiving power divider, and the receiving quadrupler are connected in sequence, the output of the quadrupler being connected to the first input end of the mixer, the output end of the second receiving amplifier being connected to the second input end of the mixer, the output end of the mixer being connected to the input end of the intermediate frequency filter amplifier, and the output of the intermediate frequency filter amplifier being connected to an external signal processing module; the receiving power dividers in the five groups of circuits are connected in parallel, the input ends of the five second receiving amplifiers being connected with five receiving antenna subarrays respectively, and the input ends of the five first receiving amplifiers being connected with five receiving control units respectively.

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