Method and apparatus for determining angle and distance of target, radar and storage medium
Provided are a method and apparatus ( 700 ) for determining an angle and a distance of a target ( 104, 200 ), a radar ( 102, 800 ), and a storage medium. The method includes: a frequency diversity signal is transmitted to a target ( 104, 200 ), and a received signal reflected by the target ( 104, 200 ) is received; an equivalent received signal vector is determined; hole filling processing is performed based on the equivalent received signal vector, so as to determine a uniform received signal vector; an equivalent received signal equation is performed based on the uniform received signal vector, and an objective function and a constraint condition is established for solving an objective optimization problem of the equivalent received signal equation (S 240 ); and the objective optimization problem is solved to obtain an objective solution matrix, and the angle and the distance of the target is determined based on the objective solution matrix (S 250 ).
1. A method for determining an angle and a distance of a target, comprising:
transmitting a frequency diversity signal to the target by means of a transmitter of a local radar, and receiving, by means of a receiver of the local radar, a received signal reflected by the target, wherein the receiver comprises a coprime array, and a frequency offset of the frequency diversity signal has a same coprime structure as the coprime array of the receiver;
determining an equivalent received signal vector of an extended virtual frequency diversity array according to the frequency diversity signal and the received signal, wherein the extended virtual frequency diversity array contains holes;
performing hole filling processing based on the equivalent received signal vector, so as to determine a uniform received signal vector of a uniform virtual frequency diversity array not containing the holes;
determining an equivalent received signal equation based on the uniform received signal vector, and establishing a first objective function and a first constraint condition for solving an objective optimization problem of the equivalent received signal equation; and
solving the objective optimization problem to obtain an objective solution matrix, and determining the angle and the distance of the target base on the objective solution matrix.
2. The method for determining the angle and the distance of the target as claimed in claim 1 , wherein an offset array composed of a plurality of frequency offsets between transmission frequencies in the frequency diversity signal is the same as an offset array composed of a plurality of location offsets between array elements in the coprime array.
3. The method for determining the angle and the distance of the target as claimed in claim 1 , wherein the receiver comprises the coprime array, and the coprime array comprises:
a first sub-array, formed by uniformly arranging a plurality of array elements at a first array element interval; and
a second sub-array, formed by uniformly arranging a plurality of array elements at a second array element interval, wherein
the plurality of array elements of the first sub-array and the plurality of array elements of the second sub-array are collectively arranged in an array, so as to form the coprime array, and the first array element interval is not equal to the second array element interval.
4. The method for determining the angle and the distance of the target as claimed in claim 3 , wherein a first array element of the first sub-array and a first array element of the second sub-array are a same array element.
5. The method for determining the angle and the distance of the target as claimed in claim 1 , wherein the frequency of the frequency diversity signal comprises:
a first frequency diversity, formed by a first plurality of transmission frequencies which uniformly offset at a first unit frequency offset; and
a second frequency diversity, formed by a second plurality of transmission frequencies which uniformly offset at a second unit frequency offset, wherein
the first plurality of transmission frequencies of the first frequency diversity and the second plurality of transmission frequencies of the second frequency diversity are collectively arranged to form the frequency of the frequency diversity signal, and the first unit frequency offset is not equal to the second unit frequency offset.
6. The method for determining the angle and the distance of the target as claimed in claim 5 , wherein a first transmission frequency of the first frequency diversity and a first transmission frequency of the second frequency diversity may have a same frequency.
7. The method for determining the angle and the distance of the target as claimed in claim 1 , wherein the transmitter comprises a single antenna; and
transmitting the frequency diversity signal to the target by means of the transmitter of the local radar, comprises: transmitting the frequency diversity signal to the target by means of the single antenna of the transmitter of the local radar.
8. The method for determining the angle and the distance of the target as claimed in claim 1 , wherein the transmitter comprises a plurality of antennas; and
transmitting the frequency diversity signal to the target by means of the transmitter of the local radar, comprises: transmitting the frequency diversity signal to the target by means of the plurality of antennas of the transmitter of the local radar together.
9. The method for determining the angle and the distance of the target as claimed in claim 1 , wherein determining the equivalent received signal vector of the extended virtual frequency diversity array according to the frequency diversity signal and the received signal, wherein the extended virtual frequency diversity array contains holes, comprises:
establishing a coprime array model according to coprime structure information of the coprime array of the receiver, wherein the coprime array model is formed by two uniform sparse sub-arrays;
establishing a frequency diversity model according to the frequency diversity information of the frequency diversity signal transmitted by the transmitter;
determining a received signal vector of the coprime array according to the received signal, the frequency diversity model and the coprime array model;
determining a covariance matrix of the coprime array according to the received signal vector; and
vectorizing the covariance matrix to obtain the equivalent received signal vector of the extended virtual frequency diversity array, wherein the equivalent received signal vector contains steering vectors of the extended virtual frequency diversity array; and the extended virtual frequency diversity array contains holes.
10. The method for determining the angle and the distance of the target as claimed in claim 1 , wherein performing hole filling processing based on the equivalent received signal vector, so as to determine the uniform received signal vector of the uniform virtual frequency diversity array not containing the holes, comprises:
determining a non-negative received signal vector of a non-negative area in the extended virtual frequency diversity array according to the equivalent received signal vector;
determining a non-negative covariance matrix of the coprime array according to the non-negative received signal vector;
vectorizing the non-negative covariance matrix, so as to obtain a non-negative equivalent virtual array received signal vector; and
removing repetitive elements in the non-negative equivalent virtual array received signal vector, and rearranging remaining elements, so as to determine the uniform received signal vector of the uniform virtual frequency diversity array.
11. The method for determining the angle and distance of the target as claimed in claim 10 , wherein the non-negative equivalent virtual array received signal vector contains a steering vector of the coprime array and a steering vector of the frequency offset, wherein the steering vector of the coprime array and the steering vector of the frequency offset are decoupled from each other;
removing the repetitive elements in the non-negative equivalent virtual array received signal vector, and rearranging the remaining elements, so as to determine the uniform received signal vector of the uniform virtual frequency diversity array, comprises:
removing repetitive elements in the steering vector of the coprime array, and rearranging remaining elements, so as to obtain steering vectors of the coprime array not containing the holes;
removing repetitive elements in the steering vector of the frequency offset, and rearranging remaining elements, so as to obtain steering vectors of the frequency offset not containing the holes;
based on the steering vectors of the coprime array not containing the holes and the steering vectors of the frequency offset not containing the holes, determining the steering vector of the uniform virtual frequency diversity array not containing the holes; and
determining the uniform received signal vector of the uniform virtual frequency diversity array according to the steering vector of the uniform virtual frequency diversity array.
12. The method for determining the angle and the distance of the target as claimed in claim 1 , wherein establishing the first objective function and the first constraint condition for solving the objective optimization problem of the equivalent received signal equation, comprises:
establishing a noise-free received signal model of the extended virtual frequency diversity array according to the equivalent received signal equation;
determining an atomic norm of the noise-free received signal model, introducing a minimum convex relaxation atomic number, converting the atomic norm into a convex relaxation atomic norm, and determining a second objective function and a second constraint condition of an optimization problem for minimizing the convex relaxation atomic norm;
converting the optimization problem into a positive semi-definite problem, so as to determine a third objective function and a third constraint condition of the positive semi-definite problem; and
converting the positive semi-definite problem into an objective optimization problem for accommodating the number of elements in the extended virtual frequency diversity array to control a noise threshold value, so as to determine the first objective function and the first constraint condition of the objective optimization problem.
13. The method for determining the angle and the distance of the target as claimed in claim 1 , wherein solving the objective optimization problem to obtain the objective solution matrix, and determining the angle and distance of the target based on the objective solution matrix, comprises:
solving the objective optimization problem, so as to determine an objective solution matrix;
selecting corresponding elements from the objective solution matrix, so as to construct a covariance matrix of the uniform virtual frequency diversity array; and
performing estimation processing on the covariance matrix, so as to determine the angle and the distance of the target.
14. A radar, comprising a transmitter, a receiver and a processor, and the transmitter and the receiver being respectively connected with the processor, wherein:
the transmitter is configured to transmit a frequency diversity signal to a target, and a frequency offset of the frequency diversity signal has a first coprime structure;
the receiver comprises a coprime array, a second coprime structure of the coprime array is the same as the first coprime structure of the frequency offset of the frequency diversity signal, and each array element of the coprime array is configured to receive a received signal which is formed by reflecting the frequency diversity signal by the target; and
the processor is configured to execute following actions:
transmitting the frequency diversity signal to the target by means of the transmitter of a local radar, and receiving, by means of the receiver of the local radar, a received signal reflected by the target, wherein the receiver comprises the coprime array, and the first coprime structure of the frequency offset of the frequency diversity signal is the same as the second coprime structure of the coprime array of the receiver;
determining an equivalent received signal vector of an extended virtual frequency diversity array according to the frequency diversity signal and the received signal, wherein the extended virtual frequency diversity array contains holes;
performing hole filling processing based on the equivalent received signal vector, so as to determine a uniform received signal vector of a uniform virtual frequency diversity array not containing the holes;
determining an equivalent received signal equation based on the uniform received signal vector, and establishing a first objective function and a first constraint condition for solving an objective optimization problem of the equivalent received signal equation; and
solving the objective optimization problem to obtain an objective solution matrix, and determining the angle and the distance of the target base on the objective solution matrix.
15. The radar as claimed in claim 14 , wherein the coprime array of the receiver comprises:
a first sub-array, formed by uniformly arranging a plurality of array elements at a first array element interval; and
a second sub-array, formed by uniformly arranging a plurality of array elements at a second array element interval, wherein
the plurality of array elements of the first sub-array and the plurality of array elements of the second sub-array are collectively arranged in an array, so as to form the coprime array, and the first array element interval is not equal to the second array element interval.
16. The radar as claimed in claim 14 , wherein the frequency of the frequency diversity signal comprises:
a first frequency diversity, formed by a first plurality of transmission frequencies which uniformly offset at a first unit frequency offset; and
a second frequency diversity, formed by a second plurality of transmission frequencies which uniformly offset at a second unit frequency offset, wherein
the first plurality of transmission frequencies of the first frequency diversity and the second plurality of transmission frequencies of the second frequency diversity are collectively arranged to form the frequency of the frequency diversity signal, and the first unit frequency offset is not equal to the second unit frequency offset.
17. The radar as claimed in claim 14 , wherein the transmitter comprises a single antenna; and
the transmitter is configured to transmit the frequency diversity signal to the target by means of the single antenna.
18. The radar as claimed in claim 14 , wherein the transmitter comprises a plurality of antennas; and
the transmitter is configured to transmit the frequency diversity signal to the target by means of the plurality of antennas together.
19. A non-transitory computer-readable storage medium, wherein a computer program is stored thereon, and when executed by a processor, the computer program implements following actions:
transmitting a frequency diversity signal to a target by means of a transmitter of a local radar, and receiving, by means of a receiver of the local radar, a received signal reflected by the target, wherein the receiver comprises a coprime array, and a frequency offset of the frequency diversity signal has a same coprime structure as the coprime array of the receiver;
determining an equivalent received signal vector of an extended virtual frequency diversity array according to the frequency diversity signal and the received signal, wherein the extended virtual frequency diversity array contains holes;
performing hole filling processing based on the equivalent received signal vector, so as to determine a uniform received signal vector of a uniform virtual frequency diversity array not containing the holes;
determining an equivalent received signal equation based on the uniform received signal vector, and establishing a first objective function and a first constraint condition for solving an objective optimization problem of the equivalent received signal equation; and
solving the objective optimization problem to obtain an objective solution matrix, and determining the angle and the distance of the target base on the objective solution matrix.
20. The non-transitory computer-readable storage medium as claimed in claim 19 , wherein an offset array composed of a plurality of frequency offsets between transmission frequencies in the frequency diversity signal is the same as an offset array composed of a plurality of location offsets between array elements in the coprime array.