90 results about "Phase center" patented technology

The invention discloses a machine learning-based antenna phase center error compensation method, which comprises the steps of firstly obtaining frequency, attitude angle and temperature information, then obtaining a phase center error compensation value based on the obtained frequency, attitude angle and temperature information through a light-weight model obtained by pre-training, and finally obtaining a phase center error compensation value based on the phase center error compensation value. A compensated ranging result is determined. According to the compensation method, temperature and other physical field non-electromagnetic parameters are introduced to serve as input, the influence of in-orbit operation environment changes on the phase center is compensated, meanwhile, a machine learning model is adopted for calculating a compensation value, the machine learning model can approach a complex multi-dimensional nonlinear function, interpolation errors are eliminated, and compensation precision is remarkably improved.

The invention provides an ultra-short baseline calibration method, device and system, and belongs to the technical field of underwater acoustic measurement, and the ultra-short baseline calibration method comprises the following steps: according to an antenna phase center position, a carrier instantaneous attitude, a distance and azimuth information at each observation moment, and installation parameters of an ultra-short baseline acoustic transducer relative to an inertial navigation system, carrying out calibration on the ultra-short baseline; establishing a distance equation between the ultra-short baseline acoustic transducer and the ultra-short baseline acoustic beacon at each observation moment; establishing a residual equation of each distance equation; and solving the residual equation through a nonlinear least square method to obtain installation parameters. According to the method, the installation parameters of the ultra-short baseline acoustic beacon can be efficiently and accurately calibrated, and the problems that beacon laying and recycling operation is complex, cost is high, the operation period is long, efficiency is low, and the beacon is prone to drifting due to the influence of ocean currents are effectively solved.

The embodiment of the application provides a parameter inversion method, device and electronic equipment, wherein the parameter inversion method comprises: performing interference suppression on a received incomplete SAR signal to obtain a non-interference signal matrix; wherein the non-interference signal matrix comprises a plurality of non-interference pulse signals with time sequence continuity, and the incomplete SAR signal represents that the SAR signal is incomplete; sequentially performing data processing on each non-interference pulse signal to obtain pulse parameters of each non-interference pulse signal; the pulse parameters at least comprise a stationary phase center position, a termination point, a pulse bandwidth, a pulse signal frequency modulation rate and a peak position; based on the pulse parameters of each non-interference pulse signal, signal parameters of the incomplete SAR signal are inverted to obtain transmission parameters of the incomplete SAR signal; the signal parameters at least comprise a pulse width, a bandwidth, a frequency modulation rate, a pulse repetition interval and a pulse repetition frequency.

This invention discloses a method for correcting positioning errors of missile-borne SAR, specifically relating to the field of satellite positioning technology. It is used to solve the problem of unstable positioning error correction caused by the non-rigid deformation between the antenna phase center and the inertial navigation unit not entering the continuous solution chain during high-dynamic flight. By synchronously acquiring satellite positioning observation residuals and raw acceleration data, an acceleration gradient sequence is generated. In the first update cycle, the reference non-rigid deformation vector is extracted and a model degradation command is generated. In the second update cycle, the dynamic spatial offset of the antenna phase center is extrapolated, and then a Doppler frequency shift compensation sequence is generated by projecting along the instantaneous line-of-sight direction of the synthetic aperture radar and fed forward into the radar processor.

This invention discloses a broadband circularly polarized integrated feed transmission array antenna covering the entire Ka-band, comprising an array surface and an integrated feed. The phase center of the integrated feed coincides with the focal point of the array surface, illuminating the array surface perpendicularly and forming a 45-degree angle with the array surface in the horizontal direction. The array surface comprises multiple array elements of different sizes arranged linearly. Each array element includes two orthogonally arranged first and second dielectric substrates, which have the same height but different thicknesses. The integrated feed comprises a stacked first and second PCB board. A substrate integrated waveguide is disposed on the first PCB board with coupling slots, and a substrate integrated waveguide cavity and annular metal patches surrounding the substrate integrated waveguide cavity are disposed on the second PCB board. This invention achieves a wide axial ratio bandwidth and gain bandwidth, and has the advantages of low profile, light weight, easy fabrication, and low cost.

The invention discloses a complex multi-path underground vehicle automatic positioning method based on an improved SAR (synthetic aperture radar), relates to the technical field of radio frequency identification targets, and aims to analyze offsets of a physical center and a phase center of an antenna and calibrate the phase center of the antenna through relative movement between a tag and the antenna. The method comprises the following steps: firstly, carrying out multipath detection on a phase measurement value, and eliminating the influence of a multipath effect on the phase; secondly, normalization processing is carried out on the lowest point of the unwrapping phase, the problem of phase period ambiguity is solved, and fixed offset is eliminated; and finally, constructing a target function to realize positioning. Compared with a grid matching method, the method has the advantages that the objective function is directly optimized instead of matching the prior phase sequence of each grid point one by one. Meanwhile, the factor of environmental noise is also considered, and the positioning precision is further improved, so that the high-precision positioning of the target vehicle is realized under the conditions that the underground garage has no GPS and the multipath environment is complex.

The application discloses a kind of angle test method and device of radar equipment, storage medium and electronic device, the method comprises: receiving angle test request, wherein the angle test request is used to request the angle test of target radar equipment to be tested;In response to the angle test request, the target quantity of target antenna unit deployed in the target radar equipment is detected, and the target phase center of each target antenna unit is detected;According to the target quantity, the target phase center and target mapping relationship determine the target calibration center of the target radar equipment, wherein the target mapping relationship is established in advance according to the wavefront flat characteristic possessed by the phase center average phase pattern of radar equipment;The target radar equipment is tested using the target calibration center, and the above technical solution solves the problem that the angle test performance of target radar equipment is low in related art.

The application provides a metasurface array, which is composed of several metasurface subarrays of different shapes; the metasurface subarrays cannot coincide with the original metasurface subarrays after being rotated by 90°, or 180°, or 270°, or being mirror flipped, the application adopts irregular subarray division for a super large scale reflector array, compared with a traditional structure without subarrays, the number of bias lines is greatly reduced, that is, the number of control interfaces of the smart reflector is reduced, under the condition that the performance indicators such as scattering pattern gain and sidelobe are slightly reduced; compared with regular subarray division, the grating lobe level can be obviously suppressed due to breaking the periodicity of the phase center of the subarray, and the application can effectively reduce the system cost, power consumption and engineering implementation difficulty.

The application provides a satellite navigation signal antenna phase center calibration method and system, comprising: satellite inter-satellite link data is used for satellite precise clock difference estimation, and high-precision satellite clock difference of the inter-satellite link is obtained; the satellite inter-satellite link clock difference is fitted with a polynomial model, and the satellite inter-satellite link clock difference model coefficients, including clock difference deviation, clock speed and clock drift, are determined; the satellite inter-satellite link clock difference model is used to constrain the satellite clock difference parameters, the random walk estimation is carried out on the clock difference random term, the simplified dynamic orbit determination principle is used, the satellite orbit and the navigation signal antenna phase center deviation are jointly solved, and the on-orbit calibration of the satellite navigation signal (L band) antenna phase center deviation is realized. The method relieves the problem that the satellite antenna phase center deviation is related to the clock difference parameters, guarantees the accuracy of the satellite antenna phase center deviation correction, and supports the satellite precise orbit determination and the precise positioning service.

The invention provides an automatic adjustment method and system for carrier and closed-loop phases in a nuclear magnetic resonance gyroscope, and the method comprises the steps: building phase locking judgment standards based on amplitude proportionality coefficient, 129Xe nuclear spin locking signal amplitude and 131Xe nuclear spin locking signal amplitude maximization; a carrier phase center, a 129Xe closed-loop phase center and a 131Xe closed-loop phase center of the embedded alkali metal magnetometer are respectively determined through frequency sweeping operation, modulation signals which have different frequencies and are far away from a working frequency band are applied near the phase centers, and corresponding direct-current demodulation signal errors are obtained through real-time demodulation. And three independent PID controllers are used for processing the demodulation signal errors respectively, generating phase compensation quantities and feeding back and adjusting corresponding phases, and decoupling, automatic locking and real-time optimization of the three phases are achieved.

The application provides a single-step absolute antenna phase center calibration method and system with PCV constraint, comprising the following steps: establishing an antenna phase center calibration field based on a mechanical arm, forming a short baseline by using the mechanical arm and a static observation base pier, and collecting calibration data outdoors; constructing three-difference observation values, determining an observation model and a random model, and calculating the attitude of the antenna through mechanical arm data; for the three-difference observation values, a PCO approximate value is given, the observation value residual is calculated, then a spherical harmonic function is used to model the PCV, and the PCV value on the grid point is solved and output; according to the coupling between the PCO and the PCV, the phase model is expressed as different combinations of the PCO and the PCV, the minimum PCV constraint is applied, and the final consistent phase model result is obtained, so that the antenna phase center calibration is realized. The application has the advantages that the two-step estimation is reduced to one step, the data processing flow is simplified, the convergence speed of the antenna phase solution is improved, and the consistency of the antenna phase model calibration result is enhanced.

The application provides an antenna phase center automatic test system, comprising: an antenna transmitting subsystem for transmitting electromagnetic waves; an antenna receiving subsystem for receiving electromagnetic waves; a vector network analyzer for measuring the antenna amplitude and phase of the antenna transmitting subsystem and the antenna receiving subsystem based on the electromagnetic waves; a host computer for drawing an antenna directional diagram and analyzing the offset direction of the antenna center alignment position based on the antenna amplitude and phase measured by the vector network analyzer, and further for controlling a system controller; the system controller is used for realizing the motion control of the antenna transmitting subsystem and the antenna receiving subsystem; and an optical platform is used for mounting the antenna transmitting subsystem and the antenna receiving subsystem. The antenna phase center automatic test system can accurately measure the antenna phase center, has high measurement efficiency and measurement precision, has high integration degree, and can realize the mass production test of the antenna.

An antenna array has two columns of dipoles that are configured to radiate distinct signals. The top and bottom row of dipoles have a coupler that splits the power of each column such that each of the two dipoles at top and bottom radiate in both signals at a given power split ratio. The coupler provides for phase compensation so that the two radiated signals are phase aligned across the top and bottom row. Having the power shared at the top and bottom rows shifts the phase center away from the edge of the ground plane of the antenna’s reflector. The coupler is configured so that its coupling efficiency is greatest at the lowest frequency and least at its highest frequency. This improves the performance of the antenna array in the low frequencies while preserving antenna diversity between the two radiated signals.

The invention discloses a Grignard dual-bias antenna device and a focusing method based on a positioning tool. The device comprises an antenna device and the positioning tool. The antenna device comprises a main reflecting surface, an auxiliary reflecting surface, a feed source, a bracket, a feed source adjusting plate and an adjusting structure, the front face of the auxiliary reflecting face is an intersection face of an ellipsoid and a cone, the front face of the main reflecting face is an intersection face of a paraboloid and a cone, the perifocus of the ellipsoid coincides with the focus of the paraboloid, the far focus of the ellipsoid coincides with the phase center of the feed source, the main reflecting face is connected with the support, and the auxiliary reflecting face is connected with the support and the positioning tool through an adjusting structure. The reference of the device is simple and reliable, the processing and assembling precision is improved, and the focusing operation is simple. According to the device, four groups of boss surfaces are arranged on two sides of the main reflecting surface, and three groups of boss surfaces are arranged on two sides and the bottom of the auxiliary reflecting surface, so that a new entity reference surface is formed, antenna processing and assembling reference determination are facilitated, and processing and assembling precision is improved.

The invention belongs to the field of radar signal processing, and particularly relates to an experiment-based sum-difference asymmetric monopulse angle measurement parameter determination method and device. The method comprises the following steps: acquiring a complex echo of a sum channel target, a complex echo of an azimuth difference channel target and a complex echo of a pitch difference channel target of each scanning point given by an experiment; determining a first azimuth angle corresponding to the minimum complex echo of the azimuth difference channel target and a first pitch angle corresponding to the minimum complex echo of the pitch difference channel target, and determining the first azimuth angle and the complex echo of the first sum channel target corresponding to the first pitch angle; finding out all complex echoes of the sum channel target exceeding half of the complex echo value of the first sum channel target, and recording corresponding screening scanning points; calculating an equivalent phase center distance; and performing target angle estimation. According to the invention, the sum-difference asymmetric monopulse angle measurement precision is improved, and the radar target detection performance is improved.

The invention discloses a channel bit number near-field error correction method applied to a phased array, and the method is characterized in that the method comprises the steps: collecting a transmitting beam near-field distribution diagram corresponding to each channel in a near-field measurement mode for the phased array; the phase center two-dimensional coordinates of the transmitting beams of the corresponding channels are obtained according to the near-field distribution diagram of the transmitting beams of the channels, so that a phased array channel bit number sorting diagram is drawn, the drawn phased array channel bit numbers are compared with the set phased array channel bit numbers, whether errors occur or not is judged, and correction is carried out. According to the method, the actual physical position of the phased array channel can be accurately and efficiently judged, and the channel bit number of the phased array can be corrected.

The invention provides a high-precision detection method and device for air-ground undulating surface hidden disasters, and relates to the technical field of geological exploration. Synchronous acquisition of the multi-thread laser radar, the high-precision positioning and attitude determination system and the GPR host is realized through hardware triggering of the industrial personal computer, and a high-precision timestamp under a unified time reference is written into point cloud data and radar channel data. A three-dimensional point cloud model is constructed based on time alignment and coordinate transformation, a GPR antenna phase center coordinate sequence is obtained through space intersection in combination with installation parameters, and then an earth surface digital model is constructed. And carrying out elevation correction and near-surface delay correction on radar channel data by taking the earth surface digital model as a reference, executing Kirchhoff migration imaging, and outputting a migration profile, thereby improving the imaging precision and positioning reliability of hidden disaster detection under the undulating earth surface condition.

This paper presents a method and system for calibrating airborne radar based on a fiber optic gyroscope-based POS system. Relating to the field of airborne radar detection technology, it aims to efficiently calibrate the error between the phase center of the radar antenna and the reference center of the POS system when the fiber optic gyroscope-based POS system cannot be aligned in a static environment. The method includes: In a static state, the radar antenna and reference POS are mounted on an antenna test frame in an open area. The roll and pitch angles of the radar antenna are adjusted, the reference POS is initialized, and its three-dimensional attitude is recorded. The attitude relationship between the two is obtained using a total station. In a dynamic test run, the test frame is fixed to the test vehicle. The high-precision POS and reference POS are powered on and initialized. The vehicle travels at a specified speed, and multiple sets of convergent attitude information are recorded. The data is processed to obtain the attitude relationship. Combining the two attitude relationships, the installation misalignment angle between the radar antenna and the high-precision POS is calculated, completing the calibration. This method can efficiently achieve accurate calibration of airborne radar, ensuring operational performance.

The invention discloses a highly-integrated cylindrical surface near-far field transformation rapid calculation method and system, and the method comprises the following steps: S1, determining a mode for carrying out the cylindrical surface near-far field transformation of near-field measurement data, and carrying out the representation through a far-field electric field calculation formula; s2, according to the near-field measurement data, calculating to obtain a weighting coefficient compensated by the probe, performing acceleration processing by using FFT Fourier transform in the calculation process, and substituting the obtained weighting coefficient into a far-field electric field calculation formula to obtain a far-field result of the measured antenna; s3, the phase center of the antenna is obtained through calculation according to the far-field result in the S2, phase deviation caused by the phase center is compensated to the far-field result obtained through calculation in the S2, and finally the accurate far-field result of the tested antenna is obtained. The method comprises the processes of probe compensation, phase center calculation and compensation, FFT acceleration and the like, near-far field transformation simulation calculation of the tested antenna can be powerfully supported, and the accuracy of a calculation result is improved.

A radar feed source adjusting device relates to the field of radar antennas, in particular to installation and adjustment of a feed source. The function realization of the radar antenna requires that the phase center of the feed source needs to be located at the intersection point of the reflecting surface, and the axis of the feed source is coaxial with the axis of the reflecting surface. When the feed source is installed, the position of the feed source can be adjusted in the axis direction, and the axis direction of the feed source can be adjusted. The utility model discloses a radar feed source adjusting device. According to the technical scheme, four supporting rods on the edge of a reflecting surface are connected with a supporting connecting plate, and four single-rod ball hinge joints on the plate jointly fix a feed source. By independently adjusting the height of the single-rod ball joint, the rapid adjustment of the axial position and direction of the feed source is realized. The device has the advantages of being simple and convenient to operate, reliable in fixation, free of feed source damage and the like, and is suitable for the field of high-precision radar antennas.

The invention provides a four-transmitting four-receiving millimeter wave radar and a detection method thereof, the radar comprises an antenna group and a main control module, and phase centers corresponding to four receiving antennas in the antenna group are distributed at equal intervals along a preset horizontal direction; phase centers corresponding to the first, second and third transmitting antennas and phase centers corresponding to the fourth and third transmitting antennas are respectively distributed along a first preset direction and a second preset direction in a preset coordinate system; the main control module is used for executing the detection method; comprising the following steps: sequentially controlling second, first, third and fourth transmitting antennas to transmit radar signals to a to-be-detected target; when each receiving antenna samples an echo signal of the same transmitting antenna, analyzing the echo signal to obtain point cloud data; and performing phase compensation on the instantaneous horizontal angle and the instantaneous pitch angle of each point according to each transmitting antenna, the phase center of each transmitting antenna and each instantaneous speed to obtain a compensated horizontal angle and a compensated pitch angle, and combining the instantaneous distance and the instantaneous speed as sensing information.

The invention relates to the technical field of unmanned aerial vehicle communication, and discloses an unmanned aerial vehicle communication method based on low-orbit satellite communication and an unmanned aerial vehicle. The method comprises the following steps: establishing a communication subnet to share satellite measurement information, integrating multi-index weighted evaluation, and selecting an optimal main service satellite; calculating a phase compensation amount based on the virtual phase center to realize signal in-phase superposition, sending a composite signal by adopting a multi-user MIMO technology, and separating target data in combination with a cooperative interference elimination algorithm; when the satellite is predicted to be invisible, an unconfirmed data packet is forwarded through a connected new satellite node or a node with the longest visual time in the subnet, so that data loss caused by switching is avoided; discretizing the frequency spectrum units, randomly testing and evaluating the quality, marking high-quality frequency spectrum units, and dynamically adjusting the working frequency band in a probability migration mode. According to the method, the problems of link instability, low spectrum utilization rate, communication interruption and the like caused by high dynamics in a low earth orbit satellite scene can be effectively solved.

The invention discloses a chip antenna phase center alignment method, and belongs to the technical field of chip antennae, and the method comprises the steps: carrying out the pre-scanning of a phase pattern of a chip antenna through a scanning frame, carrying out the judgment of the position deviation of a phase center and an actual scanning center through the obtained phase pattern data, and adjusting the position of a scanning circle center, before testing, the position of the phase center of the antenna is determined through simulation, and a coordinate system is established by referring to the phase center obtained through simulation during testing. According to the center alignment method, the position of an actual phase center is confirmed by carrying out a phase pattern pre-scanning technology, so that the accuracy of data, such as a far-field pattern and spherical near-field amplitude phase data, obtained through spherical scanning is ensured; the problem that the phase center of the chip antenna cannot be confirmed through a simple geometric position is solved, and compared with an existing testing process, the problem that the phase center of the chip antenna is difficult to calibrate due to factors such as the structure and the size of the chip antenna is solved.

This invention relates to the field of laser detection and navigation positioning technology, and discloses a real-time noise reduction and in-situ calibration system and method for laser ranging sensors. The system includes an acquisition module, an extraction unit, a mapping unit, a control unit, and a compensation unit. The system extracts the zero-position calibration pulse generated by reflection within the optical window, calculates the waveform asymmetry parameter to construct a timing compensation operator for the receiving link, and the control unit adjusts the measurement echo detection threshold according to the pulse energy distribution parameter. The compensation unit uses the operator to correct the target echo phase centroid and uses the real-time phase center of the pulse as the timing start anchor point. This invention converts the ranging reference from static setting to dynamic physical reconstruction, and synchronously eliminates clock temperature drift and circuit delay deviation caused by ambient temperature rise during the ranging cycle, thereby eliminating the cumulative error caused by spatiotemporal reference drift in long-distance navigation.

The invention discloses an airborne radar calibration method and system based on a POS system of a fiber-optic gyroscope system, relates to the technical field of airborne radar detection, and aims to solve the problem that an error between a phase center of a radar antenna and a reference center of the POS system is efficiently calibrated when the POS system of the fiber-optic gyroscope system cannot be aligned in a static environment. The method comprises the steps that in a static state, a radar antenna and a reference POS are installed on an antenna test frame and placed in an open place, the roll angle and the pitch angle of the radar antenna are leveled, the reference POS is initialized, the three-dimensional attitude of the reference POS is recorded, and the attitude relation of the radar antenna and the reference POS is obtained through a total station; during dynamic running, the test frame is fixed to a matched vehicle, the high-precision POS and the reference POS are powered up and initialized, the vehicle runs at the specified speed, multiple sets of convergence heading attitude information are recorded, and data are processed to obtain the attitude relation of the vehicle; and calculating the installation misalignment angle of the radar antenna and the high-precision POS in combination with the two attitude relationships to complete calibration. According to the method, precise calibration of the airborne radar can be efficiently realized, and the working performance is guaranteed.

The application discloses a multi-antenna structure, comprising: a metal bottom plate comprising an integral bottom and a plurality of bending parts, each of which is grounded with the bottom and forms a plurality of antenna radiators, wherein the plurality of antenna radiators comprises: a first full-frequency antenna with a first equivalent phase center; a second full-frequency antenna with a second equivalent phase center, and the distance between the first equivalent phase center and the second equivalent phase center is 0.22 to 0.28 times the wavelength of the lowest frequency of the working frequency; a first PCB plate arranged on one side of the bottom facing the first full-frequency antenna and connected with the first full-frequency antenna; and a second PCB plate arranged on one side of the bottom facing the second full-frequency antenna and connected with the second full-frequency antenna. The application realizes high-isolation multi-antenna integration in the minimum physical space, and greatly reduces the manufacturing cost.

This invention relates to a high-temperature resistant radar-based fill level measurement device (1) with a transmitting / receiving component (11) for efficiently transmitting and receiving radar signals (S) in different frequency bands. HF1,2 R HF1,2 For this purpose, the transmitting / receiving component (11) is based on a waveguide (111), by means of which the temperature-sensitive high-frequency unit of the horizontal measuring device (1) is spaced apart from the potentially hot contents (2). Radar signal (S HF1,2 R HF1,2 The signal is transmitted and received via the end region of the waveguide (111). According to the invention, the waveguide (111) has an inner cross-section (D) through which only the lowest frequency radar or received signal (S) is transmitted. HF1 R HF1 ) is specifically propagated in the fundamental mode, while higher frequency band radar or received signals (S HF2 R HF2 The signal must propagate predominantly in a higher-order mode. To ensure that all frequency bands remain at a common phase center in the end region and are thus transmitted efficiently, according to the invention, an adjustment element (112) is arranged there, which directs the transmission of the radar signal (S) in the higher frequency band of the transmission direction. HF2 The mode is converted to a lower order mode. As a result of this design, the transmit / receive component (11) can be designed compactly and efficiently.

Antenna device, comprising: a plurality of transmitting antennas (21 to 23, 21a to 23a) aligned at a reference distance along an orientation direction, wherein the reference distance and the orientation direction are specified; a first receiving antenna (26, 26a) with an aperture width in the direction of orientation that is fixed to a first width that is smaller than the reference distance; and a plurality of second receiving antennas (24, 25, 24a, 25a), each having an aperture width in the direction of orientation which is fixed to a second width which is less than or equal to the first width, wherein the plurality of second receiving antennas is aligned at a distance which is less than the reference distance along the direction of orientation, wherein a distance along the direction of alignment between a phase center of the first receiving antenna and a phase center of a second receiving antenna, which is closest to the first receiving antenna among the plurality of second receiving antennas, is fixed to a length greater than or equal to a value obtained by multiplying the reference distance by a value obtained by subtracting 1 from the total number of transmitting antennas.

Embodiments of this application disclose a multibeam antenna. The multibeam antenna can implement beam coverage in at least two directions by feeding through at only one end. There is no need to dispose a complex feeding network, thereby facilitating miniaturization of the multibeam antenna. The multibeam antenna in the embodiments of this application includes: a substrate, an antenna element, a first guiding apparatus, and a second guiding apparatus. The antenna element, the first guiding apparatus, and the second guiding apparatus are disposed on the substrate. The antenna element includes a first pole and a second pole. The first pole is configured to receive a feeding signal. The second pole is grounded. The first guiding apparatus is configured to enable a first beam generated by the antenna element to radiate in a first direction. The second guiding apparatus is configured to enable a second beam generated by the antenna element to radiate in a second direction. A phase center of the antenna element is located at an intersecting point of a first axis and a second axis. The first axis passes through a phase center of the first guiding apparatus and is parallel to the first direction. The second axis passes through a phase center of the second guiding apparatus and is parallel to the second direction.

The invention discloses a multi-antenna structure which comprises a metal bottom plate which comprises a bottom and a plurality of bent parts which are integrally formed, each bent part is grounded with the bottom and forms a plurality of antenna radiators, and the plurality of antenna radiators comprise a first full-frequency antenna with a first equivalent phase center, a second full-frequency antenna with a second equivalent phase center and a third full-frequency antenna with a second equivalent phase center; the second full-frequency antenna is provided with a second equivalent phase center, and the distance between the first equivalent phase center and the second equivalent phase center is 0.22-0.28 times of the lowest working frequency wavelength of the second full-frequency antenna; the first PCB is arranged on one surface, facing the first full-frequency antenna, of the bottom and is connected with the first full-frequency antenna; and the second PCB is arranged on one surface, facing the second full-frequency antenna, of the bottom and is connected with the second full-frequency antenna. According to the invention, high-isolation multi-antenna integration in a minimum physical space is realized, and meanwhile, the manufacturing cost is greatly reduced.