Radar system with sparse primary array and dense auxiliary array
This document describes techniques and components of a radar system with a sparse primary array and a dense auxiliary array. Even with fewer antenna elements than a traditional radar system, an example radar system has a comparable angular resolution at a lower cost, lower complexity level, and without aliasing. The radar system includes a processor and antenna arrays that can receive electromagnetic energy reflected by one or more objects. The antenna arrays include a primary subarray and an auxiliary subarray. The auxiliary subarray includes multiple antenna elements with a smaller spacing than the antenna elements of the primary subarray. The processor can determine, using the received electromagnetic energy, first and second potential angles associated with the one or more objects. The processor then associates, using the first and second potential angles, respective angles associated with each of the one or more objects.
1 . A radar system comprising one or more processors configured to:
determine, based on electromagnetic (EM) energy that is received at a first subarray of an antenna array, first potential angles of one or more objects that are reflecting the EM energy to the antenna array, the first subarray comprising multiple first antenna elements;
determine, based on the EM energy that is received at a second subarray of the antenna array, second potential angles of the one or more objects, the second subarray comprising multiple second antenna elements, the second antenna elements having a smaller spacing than the first antenna elements, a ratio of a spacing of adjacent antenna elements of the first antenna elements to a spacing of adjacent antenna elements of the second antenna elements being equal to an integer, the integer being equal to an exponential of two and greater than two; and
determine, based on the first potential angles and the second potential angles, a respective angle associated with each of the one or more objects.
2 . The radar system of claim 1 , wherein the first subarray and the second subarray are uniform linear arrays.
3 . The radar system of claim 1 , wherein the first subarray is positioned in an azimuth direction and the second subarray is positioned in line with the first subarray in the azimuth direction but offset along an elevation direction.
4 . The radar system of claim 1 , wherein the first subarray is positioned in an elevation direction and the second subarray is positioned in line with the first subarray in the elevation direction but offset along an azimuth direction.
5 . The radar system of claim 1 , wherein the first subarray and the second subarray are positioned in an elevation direction, and the second subarray overlaps with at least a portion of the first subarray.
6 . The radar system of claim 1 , wherein:
the first subarray comprises a first two-dimensional (2D) array with the multiple first antenna elements positioned in an azimuth direction and an elevation direction;
the first potential angles comprise first potential azimuth angles and first potential elevation angles;
the second subarray comprises a second 2D array with the multiple second antenna elements positioned in the azimuth direction and the elevation direction;
the second potential angles comprise second potential azimuth angles and second potential elevation angles;
a first ratio of an azimuth spacing of the first antenna elements in the azimuth direction to an azimuth spacing of the second antenna elements in the azimuth direction is equal to a first integer, the first integer is equal to an exponential of two and greater than two;
a second ratio of an elevation spacing of the first antenna elements in the elevation direction to an elevation spacing of the second antenna elements in the elevation direction is equal to a second integer, the second integer is equal to an exponential of two and greater than two; and
the angle comprises an azimuth angle and an elevation angle associated with each of the one or more objects.
7 . The radar system of claim 6 , wherein the first 2D array overlaps the second 2D array.
8 . The radar system of claim 6 , wherein the first 2D array is offset in the azimuth direction or elevation direction from the second 2D array.
9 . The radar system of claim 1 , wherein a field-of-view of the second subarray is based on the spacing of the second antenna elements.
10 . A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed, cause a processor of a radar system to:
determine, based on electromagnetic (EM) energy that is received at a first subarray of an antenna array, first potential angles of one or more objects that are reflecting the EM energy to the antenna array, the first subarray comprising multiple first antenna elements;
determine, based on the EM energy that is received at a second subarray of the antenna array, second potential angles of the one or more objects, the second subarray comprising multiple second antenna elements, the second antenna elements having a smaller spacing than the first antenna elements, a ratio of a spacing of adjacent antenna elements of the first antenna elements to a spacing of adjacent antenna elements of the second antenna elements being equal to an integer, the integer being equal to an exponential of two and greater than two; and
determine, based on the first potential angles and the second potential angles, a respective angle associated with each of the one or more objects.
11 . The non-transitory computer-readable storage medium of claim 10 , wherein the first subarray and the second subarray are uniform linear arrays.
12 . The non-transitory computer-readable storage medium of claim 10 , wherein the first subarray is positioned in an azimuth direction and the second subarray is positioned in line with the first subarray in the azimuth direction but offset along an elevation direction.
13 . The non-transitory computer-readable storage medium of claim 10 , wherein the first subarray is positioned in an elevation direction and the second subarray is positioned in line with the first subarray in the elevation direction but offset along an azimuth direction.
14 . The non-transitory computer-readable storage medium of claim 10 , wherein the first subarray and the second subarray are positioned in an elevation direction, and the second subarray overlaps with at least a portion of the first subarray.
15 . The non-transitory computer-readable storage medium of claim 10 , wherein:
the first subarray comprises a first two-dimensional (2D) array with the multiple first antenna elements positioned in an azimuth direction and an elevation direction;
the first potential angles comprise first potential azimuth angles and first potential elevation angles;
the second subarray comprises a second 2D array with the multiple second antenna elements positioned in the azimuth direction and the elevation direction;
the second potential angles comprise second potential azimuth angles and second potential elevation angles;
a first ratio of an azimuth spacing of the first antenna elements in the azimuth direction to an azimuth spacing of the second antenna elements in the azimuth direction is equal to a first integer, the first integer is equal to an exponential of two and greater than two;
a second ratio of an elevation spacing of the first antenna elements in the elevation direction to an elevation spacing of the second antenna elements in the elevation direction is equal to a second integer, the second integer is equal to an exponential of two and greater than two; and
the angle comprises an azimuth angle and an elevation angle associated with each of the one or more objects.
16 . The non-transitory computer-readable storage medium of claim 15 , wherein the first 2D array overlaps the second 2D array.
17 . The non-transitory computer-readable storage medium of claim 15 , wherein the first 2D array is offset in the azimuth direction or elevation direction from the second 2D array.
18 . The non-transitory computer-readable storage medium of claim 10 , wherein a field-of-view of the second subarray is based on the spacing of adjacent antenna elements of the second antenna elements.
19 . A method comprising:
determining, based on electromagnetic (EM) energy that is received at a first subarray of an antenna array, first potential angles of one or more objects that are reflecting the EM energy to the antenna array, the first subarray comprising multiple first antenna elements;
determining, based on the EM energy that is received at a second subarray of the antenna array, second potential angles of the one or more objects, the second subarray comprising multiple second antenna elements, the second antenna elements having a smaller spacing than the first antenna elements, a ratio of a spacing of adjacent antenna elements of the first antenna elements to a spacing of adjacent antenna elements of the second antenna elements being equal to an integer, the integer being equal to an exponential of two and greater than two; and
determining, based on the first potential angles and the second potential angles, a respective angle associated with each of the one or more objects.
20 . The method of claim 19 , wherein:
the first subarray comprises a first two-dimensional (2D) array with the multiple first antenna elements positioned in an azimuth direction and an elevation direction;
the first potential angles comprise first potential azimuth angles and first potential elevation angles;
the second subarray comprises a second 2D array with the multiple second antenna elements positioned in the azimuth direction and the elevation direction;
the second potential angles comprise second potential azimuth angles and second potential elevation angles;
a first ratio of an azimuth spacing of the first antenna elements in the azimuth direction to an azimuth spacing of the second antenna elements in the azimuth direction is equal to a first integer, the first integer is equal to an exponential of two and greater than two;
a second ratio of an elevation spacing of the first antenna elements in the elevation direction to an elevation spacing of the second antenna elements in the elevation direction is equal to a second integer, the second integer is equal to an exponential of two and greater than two; and
the angle comprises an azimuth angle and an elevation angle associated with each of the one or more objects.