阅读说明：本技术 测角方法以及雷达设备 (Angle measuring method and radar apparatus ) 是由 周沐 曹毅 于 2018-11-16 设计创作，主要内容包括：一种测角方法以及雷达设备,应用于雷达系统,用于降低测量目标点的第一角度的复杂度。方法包括：利用雷达设备获取目标点的N维天线数据,N为大于2的正整数；将N维天线数据进行降维,得到K维天线数据,K为小于N的正整数；根据K维天线数据计算目标点的第一角度,第一角度为目标点相对于雷达设备的角度。(An angle measurement method and a radar device are applied to a radar system and used for reducing complexity of measuring a first angle of a target point. The method comprises the following steps: acquiring N-dimensional antenna data of a target point by using radar equipment, wherein N is a positive integer greater than 2; reducing the dimension of the N-dimensional antenna data to obtain K-dimensional antenna data, wherein K is a positive integer smaller than N; and calculating a first angle of the target point according to the K-dimensional antenna data, wherein the first angle is the angle of the target point relative to the radar equipment.)

An angle measurement method, which is applied to a radar system, includes:

acquiring N-dimensional antenna data of a target point by using radar equipment, wherein N is a positive integer greater than 2;

reducing the dimension of the N-dimensional antenna data to obtain K-dimensional antenna data, wherein K is a positive integer smaller than N;

and calculating a first angle of the target point according to the K-dimensional antenna data, wherein the first angle is an angle of the target point relative to the radar equipment.

The method of claim 1, wherein the step of performing dimension reduction on the N-dimensional antenna data to obtain K-dimensional antenna data comprises:

splitting the N-dimensional antenna data into K subarray antenna data;

and reducing the dimension of the antenna data of the K sub-arrays through beam forming to obtain K-dimensional antenna data.

The method according to claim 1 or 2, wherein before the dimension reduction of the N-dimensional antenna data to obtain the K-dimensional antenna data, the method further comprises:

under the condition that the target point is located in a far-field area in a radiation area, calculating the N-dimensional antenna data through an angle Fast Fourier Transform (FFT) to obtain a second angle, wherein the second angle is an angle of the target point relative to the radar equipment, the precision of the second angle is lower than that of the first angle, and the radiation area is an area covered by the radar equipment through radiation of radar waveforms;

the step of reducing the dimensions of the antenna data of the K subarrays through beam forming to obtain K-dimensional antenna data comprises:

determining a beam forming vector corresponding to each of the K sub-arrays;

and multiplying the antenna data of each sub-array in the K sub-arrays by the beam forming vector corresponding to each sub-array to obtain the K-dimensional antenna data.

The method according to claim 1 or 2, wherein before the dimension reduction of the N-dimensional antenna data to obtain the K-dimensional antenna data, the method further comprises:

under the condition that the target point is located in a near field area in a radiation area, calculating the N-dimensional antenna data through beam forming to obtain the angle and the distance between each receiving antenna in the radar equipment and the target point, wherein the radiation area is an area covered by the radar equipment through radiation of radar waveforms;

the step of reducing the dimensions of the antenna data of the K subarrays through beam forming to obtain K-dimensional antenna data comprises:

determining the weight of each receiving antenna according to the angle and the distance between each receiving antenna and the target point;

determining a beam forming vector corresponding to each subarray in the K subarrays according to the weight of each receiving antenna;

and multiplying the antenna data of each sub-array in the K sub-arrays by the beam forming vector corresponding to each sub-array to obtain the K-dimensional antenna data.

The method of claim 1, wherein the step of performing dimension reduction on the N-dimensional antenna data to obtain K-dimensional antenna data comprises:

splitting the N-dimensional antenna data into M K-dimensional antenna data, wherein M is N-K + 1;

and reducing the dimension of the M K-dimensional antenna data through space smoothing to obtain the K-dimensional antenna data.

The method of claim 5, wherein the reducing dimensions of the M K-dimensional antenna data through spatial smoothing to obtain K-dimensional antenna data comprises:

determining a column vector of each K-dimensional antenna data in the M K-dimensional antenna data, and determining a conjugate transfer rank of the column vector of each K-dimensional antenna data;

and multiplying the column vector of each K-dimensional antenna data by the conjugate conversion rank of the corresponding column vector of each K-dimensional antenna data to obtain the K-dimensional antenna data.

The method of any of claims 1 to 6, wherein prior to said obtaining N-dimensional antenna data, the method further comprises:

acquiring the speed and the distance of a plurality of candidate points detected by the radar equipment;

and determining the target point by adopting a constant false alarm rate detection algorithm according to the speed and the distance of the candidate points.

The method according to any one of claims 1 to 7, wherein the acquiring, with the radar device, the N-dimensional antenna data of the target point comprises:

acquiring N-dimensional antenna data associated with a first speed and a first distance by using the radar equipment, wherein the first speed is the speed of the target point relative to the radar equipment, and the first distance is the distance between the target point and the radar equipment;

determining an echo intensity threshold from the N-dimensional antenna data associated with the first velocity and first distance;

according to the echo intensity threshold and echo signals of at least one candidate point close to the target point, obtaining a second distance and a second speed through calculation, wherein the distance between each candidate point close to the target point and the radar equipment is the second distance, and the difference value between the second distance and the first distance is within a preset distance range;

and using the N-dimensional antenna data associated with the first speed and the first distance and the N-dimensional antenna data associated with the second speed and the second distance as the N-dimensional antenna data of the target point.

The method of any one of claims 1 to 8, wherein said calculating a first angle of the target point from the K-dimensional antenna data comprises:

and calculating a first angle of the target point according to the K-dimensional antenna data and a super-resolution method.

A radar apparatus, characterized in that the radar apparatus comprises:

the receiving and sending module is used for acquiring N-dimensional antenna data of a target point, wherein N is a positive integer greater than 2;

the processing module is used for reducing the dimension of the N-dimensional antenna data to obtain K-dimensional antenna data, wherein K is a positive integer smaller than N; and calculating a first angle of the target point according to the K-dimensional antenna data, wherein the first angle is an angle of the target point relative to the radar equipment.

The radar device of claim 10, wherein the processing module is specifically configured to:

splitting the N-dimensional antenna data into K subarray antenna data;

and reducing the dimension of the antenna data of the K sub-arrays through beam forming to obtain K-dimensional antenna data.

The radar apparatus of claim 10 or 11, wherein the processing module is further configured to:

under the condition that the target point is located in a far-field area in a radiation area, calculating the N-dimensional antenna data through an angle Fast Fourier Transform (FFT) to obtain a second angle, wherein the second angle is an angle of the target point relative to the radar equipment, the precision of the second angle is lower than that of the first angle, and the radiation area is an area covered by the radar equipment through radiation of radar waveforms;

the processing module is specifically configured to:

determining a beam forming vector corresponding to each of the K sub-arrays;

and multiplying the antenna data of each sub-array in the K sub-arrays by the beam forming vector corresponding to each sub-array to obtain the K-dimensional antenna data.

The radar apparatus of claim 10 or 11, wherein the processing module is further configured to:

under the condition that the target point is located in a near field area in a radiation area, calculating the N-dimensional antenna data through beam forming to obtain the angle and the distance between each receiving antenna in the radar equipment and the target point, wherein the radiation area is an area covered by the radar equipment through radiation of radar waveforms;

the processing module is specifically configured to:

determining the weight of each receiving antenna according to the angle and the distance between each receiving antenna and the target point;

determining a beam forming vector corresponding to each subarray in the K subarrays according to the weight of each receiving antenna;

and multiplying the antenna data of each sub-array in the K sub-arrays by the beam forming vector corresponding to each sub-array to obtain the K-dimensional antenna data.

The radar device of claim 10, wherein the processing module is specifically configured to:

splitting the N-dimensional antenna data into M K-dimensional antenna data, wherein M is N-K + 1;

and reducing the dimension of the M K-dimensional antenna data through space smoothing to obtain the K-dimensional antenna data.

The radar device of claim 14, wherein the processing module is specifically configured to:

determining a column vector of each K-dimensional antenna data in the M K-dimensional antenna data, and determining a conjugate transfer rank of the column vector of each K-dimensional antenna data;

and multiplying the column vector of each K-dimensional antenna data by the conjugate conversion rank of the corresponding column vector of each K-dimensional antenna data to obtain the K-dimensional antenna data.

The radar apparatus of any of claims 10 to 15, wherein the transceiver module is further configured to:

acquiring the speed and the distance of a plurality of candidate points detected by the radar equipment;

and determining the target point by adopting a constant false alarm rate detection algorithm according to the speed and the distance of the candidate points.

The radar apparatus according to any one of claims 10 to 16, wherein the acquiring, with the radar apparatus, the N-dimensional antenna data of the target point includes:

acquiring N-dimensional antenna data associated with a first speed and a first distance by using the radar equipment, wherein the first speed is the speed of the target point relative to the radar equipment, and the first distance is the distance between the target point and the radar equipment;

determining an echo intensity threshold from the N-dimensional antenna data associated with the first velocity and the first distance;

according to the echo intensity threshold and echo signals of at least one candidate point close to the target point, obtaining a second distance and a second speed through calculation, wherein the distance between each candidate point close to the target point and the radar equipment is the second distance, and the difference value between the second distance and the first distance is within a preset distance range;

and using the N-dimensional antenna data associated with the first speed and the first distance and the N-dimensional antenna data associated with the second speed and the second distance as the N-dimensional antenna data of the target point.

The radar apparatus of any one of claims 10 to 17, wherein the processing module is specifically configured to:

and calculating a first angle of the target point according to the K-dimensional antenna data and a super-resolution method.

A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1 to 9.

A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method of any of claims 1 to 9.