Angle estimating method and radar system
An angle estimating method applied in a radar system. The radar system includes a first antenna array including M antennas. The angle estimating method includes steps of obtaining a plurality of beamforming weighting vectors; receiving signal from M antennas and forming a received vector; performing an augment operation on the received vector and obtaining an augmented received vector; computing correlation between the augmented received vector and the plurality of beamforming weighting vectors and obtaining a plurality of results accordingly; and determining an angle-of-arrival of an object according to the plurality of results.
1. An angle estimating method, applied in a radar system, wherein the radar system comprises a first antenna array and the first antenna array comprises M antennas, the angle estimating method comprising:
obtaining a plurality of beamforming weighting vectors corresponding to a plurality of beams, wherein a dimension of the plurality of beamforming weighting vectors is (2M−1), and the plurality of beams correspond to a plurality of specific angle of arrivals (AoAs);
receiving M antenna received signals corresponding to the M antennas of the first antenna array, wherein the M antenna received signals are formed as a received vector;
performing an augment operation on the received vector to obtain an augmented received vector, wherein a dimension of the augmented received vector is (2M−1);
computing correlation between the augmented received vector and the plurality of beamforming weighting vectors, to obtain a plurality of results corresponding to the plurality of beams; and
determining an AoA of an object according to the plurality of results.
2. The angle estimating method as claim 1 , wherein a beamforming weighting vector within the plurality of beamforming weighting vectors represents an array response corresponding to a specific AoA within the plurality of specific AoAs received by a second antenna array, and the second antenna array is equivalent to an antenna array having (2M−1) antennas.
3. The angle estimating method as claim 1 , wherein the step of performing the augment operation on the received vector to obtain the augmented received vector comprises:
performing a conjugate operation on (M−1) antenna received signals within the M antenna received signals, to obtain (M−1) conjugate signals; and
obtaining the augmented received vector as a vector formed by the (M−1) conjugate signals and the M antenna received signals.
4. The angle estimating method as claim 1 , wherein the M antenna received signals within the received vector are denoted as r 0 , r 1 , . . . , r M-1 , the received vector is related to a vector expressed as [r 0 , r 1 , . . . , r M-1 ], the augmented received vector is related to a vector expressed as [r M-1 *, . . . , r 1 *, r 0 , r 1 , . . . , r M-1 ], and the M antenna received signals are signals received by the M antennas of the first antenna array.
5. The angle estimating method as claim 1 , wherein the step of computing the correlation between the augmented received vector and the plurality of beamforming weighting vectors to obtain the plurality of results comprises:
performing an inner product operation on the augmented received vector and the plurality of beamforming weighting vectors, to obtain the plurality of results.
6. The angle estimating method as claim 1 , wherein the step of computing the correlation between the augmented received vector and the plurality of beamforming weighting vectors to obtain the plurality of results comprises:
computing a result corresponding to a beamforming weighting vector to be related to c i H r (A) ;
wherein r (A) represents the augmented received vector, c i represents the beamforming weighting vector, and c i H represents a conjugate transpose of c i .
7. The angle estimating method as claim 1 , wherein the step of determining the AoA of the object according to the plurality of results comprises:
obtaining a first result as a maximum of the plurality of results, wherein the first result is corresponding to a first beam; and
determining the AoA of the object to be related to a first specific AoA corresponding to the first result, wherein a difference between the AoA and the first specific AoA is smaller than a range, the range is related to a first beamwidth of the first beam.
8. A radar system, comprising:
a first antenna array, comprising M antennas, configured to receives M antenna received signals corresponding to the M antennas, wherein the M antenna received signals are formed as a received vector;
a processing unit, coupled to the first antenna array, configured to execute the following steps:
obtaining a plurality of beamforming weighting vectors corresponding to a plurality of beams, wherein a dimension of the plurality of beamforming weighting vectors is (2M−1), and the plurality of beams correspond to a plurality of specific angle of arrivals (AoAs);
performing an augment operation on the received vector to obtain an augmented received vector, wherein a dimension of the augmented received vector is (2M−1);
computing correlation between the augmented received vector and the plurality of beamforming weighting vectors, to obtain a plurality of results corresponding to the plurality of beams; and
determining an AoA of an object according to the plurality of results.
9. The radar system as claim 8 , wherein a beamforming weighting vector within the plurality of beamforming weighting vectors represents an array response corresponding to a specific AoA within the plurality of specific AoAs received by a second antenna array, and the second antenna array is equivalent to an antenna array having (2M−1) antennas.
10. The radar system as claim 8 , wherein the processing unit is further configured to execute the following steps, to perform the augment operation on the received vector to obtain the augmented received vector:
performing a conjugate operation on (M−1) antenna received signals within the M antenna received signals, to obtain (M−1) conjugate signals; and
obtaining the augmented received vector as a vector formed by the (M−1) conjugate signals and the M antenna received signals.
11. The radar system as claim 8 , wherein the M antenna received signals within the received vector are denoted as r 0 , r 1 , . . . , r M-1 , the received vector is related to a vector expressed as [r 0 , r 1 , . . . , r M-1 ], the augmented received vector is related to a vector expressed as [r M-1 *, r 1 *, r 0 , r 1 , . . . , r M-1 ], and the M antenna received signals are signals received by the M antennas of the first antenna array.
12. The radar system as claim 8 , wherein the processing unit is further configured to execute the following steps, to compute the correlation between the augmented received vector and the plurality of beamforming weighting vectors to obtain the plurality of results:
performing an inner product operation on the augmented received vector and the plurality of beamforming weighting vectors, to obtain the plurality of results.
13. The radar system as claim 8 , wherein the processing unit is further configured to execute the following steps, to compute the correlation between the augmented received vector and the plurality of beamforming weighting vectors to obtain the plurality of results:
computing a result corresponding to a beamforming weighting vector to be related to c i H r (A) ;
wherein r (A) represents the augmented received vector, c i represents the beamforming weighting vector, and c i H represents a conjugate transpose of c i .
14. The radar system as claim 8 , wherein the processing unit is further configured to execute the following steps, to determine the AoA of the object according to the plurality of results:
obtaining a first result as a maximum of the plurality of results, wherein the first result is corresponding to a first beam; and
determining the AoA of the object to be related to a first specific AoA corresponding to the first result, wherein a difference between the AoA and the first specific AoA is smaller than a range, the range is related to a first beamwidth of the first beam.