CN110333488A - A kind of wide angle beam scanning radar sensor of millimeter wave - Google Patents
A kind of wide angle beam scanning radar sensor of millimeter wave Download PDFInfo
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- CN110333488A CN110333488A CN201910666329.4A CN201910666329A CN110333488A CN 110333488 A CN110333488 A CN 110333488A CN 201910666329 A CN201910666329 A CN 201910666329A CN 110333488 A CN110333488 A CN 110333488A
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- 238000010586 diagram Methods 0.000 description 20
- 238000012360 testing method Methods 0.000 description 7
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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Abstract
The present invention relates to a kind of wide angle beam scanning radar sensors of millimeter wave, including sequentially connected Anneta module, RF receiving and transmission module, baseband module and host computer, the Anneta module is used to radiate and receive to free space the signal of a certain frequency, the RF receiving and transmission module is for generating radiation signal, and it is modulated to signal is received, the baseband module is used to modulated reception signal processing be target information signal, the host computer is used for displaying target information, the Anneta module uses broad beam dual-mode antenna array, for carrying out large-angle scanning and broadband frequency sweep；The RF receiving and transmission module is used to handle reception signal, obtains zero intermediate frequency signals；The baseband module is based on time division multiplexing theory and handles input signal.Compared with prior art, the present invention has many advantages, such as that broadband, large-angle scanning, investigative range are big, detection accuracy is quasi-.
Description
Technical field
The present invention relates to Radar Technology fields, more particularly, to a kind of wide angle beam scanning radar sensor of millimeter wave.
Background technique
With the development of the 5G communication technology, car networking technology, advanced driving assistance system is each on vehicle using being installed on
The sensor of formula various kinds carries out quiet, dynamic object identification, detecting and tracking, so as to allow driver in the most fast time
The danger that may occur is discovered, to arouse attention and improve the active safety technologies of safety.K-band radar is auxiliary in advanced driving
Proximity detection is mainly responsible in auxiliary system.
In microwave and millimeter wave radar system, in order to improve gain to promote overall performance, antenna is generally required by energy
It focuses on a very narrow space to radiate with direction of improvement, it is therefore desirable to use array antenna.Due to array day
The beam angle of line is very narrow, therefore to be aided with beam scanning capabilities and expand investigative range.
Present existing millimetre-wave radar sensor has the following deficiencies: with aerial array
1) beam angle of bay used in existing radar sensor is relatively narrow, it is difficult at the same realize large-angle scanning with
Higher gain；
2) existing K-band FMCW signal source swept bandwidth is only 250MHz；
3) existing the Digital Phased Array receiving front-end circuit is every has received corresponding intermediate-frequency section, the complexity of circuit all the way
Degree and higher cost.
To sum up, present millimetre-wave radar sensor cannot realize wideband wide scan, therefore sense with lesser size
The investigative range and detection accuracy of device are insufficient.
The patent of invention of Publication No. CN102435981A discloses a kind of 77GHz millimeter-wave automotive anticollision radar transmit-receive
Device, including Anneta module, radio-frequency module, signal processing module, peripheral module and power module.The transmitting of signal processing module
Signal synthesizer, filter and amplification are connected with balance module with radio-frequency module；The transmitting of the splitter and Anneta module of radio-frequency module
Controller is connected, and multichannel frequency mixer is connect with controller is received；Display and alarm signal module, digital signal processor module point
It is not connected with peripheral module.Anneta module works in 77GHz millimeter wave frequency band in such a way that lens and antenna combine, so that
System stability and sensitivity accuracy have obtained reliable guarantee；Signal processing module ensure that the accuracy of sampled data, effectively
Improve the dynamic range of signal；Using integration module component design radio-frequency module, realize receiving antenna high precision angle-measuring and
It is switched fast.
The invention has the disadvantage in that 1, Anneta module can only receive 77GHz millimeter wave frequency band；2, Anneta module is using saturating
The mode that mirror and antenna combine, it is big to occupy volume；3, signal processing module circuit is complicated.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of wide angle waves of millimeter wave
Beam scanning radar sensor.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of wide angle beam scanning radar sensor of millimeter wave, including sequentially connected Anneta module, RF receiving and transmission module,
Baseband module and host computer, the Anneta module are used to radiate and receive to free space the signal of a certain frequency, the radio frequency
Transceiver module is modulated for generating radiation signal, and to signal is received, and the baseband module is used for modulated reception
Signal processing is target information signal, and the host computer is used for displaying target information, which is characterized in that the Anneta module uses
Broad beam dual-mode antenna array, for carrying out large-angle scanning and broadband frequency sweep；The RF receiving and transmission module is used for reception signal
It is handled, obtains zero intermediate frequency signals；The baseband module is based on time division multiplexing theory and handles input signal.
Further, the broad beam dual-mode antenna array includes transmitting antenna array and receiving antenna array, the transmitting
Aerial array and receiving antenna array be based on antenna element carry out array arrangement, the antenna element include patch, floor and
Feeder line, the patch are located above floor；The floor is equipped with H-type groove, for fixing feeder line；The antenna element, which is equipped with, to be run through
Whole via hole, via hole and floor connect three face short circuit of patch.Feeder line is introduced by the H-type groove on floor and is fixedly connected with ground
Plate.
Further, the feeder line of each antenna element is connected in series in the transmitting antenna array and receiving antenna array.Into
One step reduces the beam angle in the face H, expands bandwidth while improving gain.
Further, the angle of the large-angle scanning are as follows: E surface wave beam width reaches ± 60 °, H surface wave beam width ± 45 °.
Further, the frequency range of the broadband frequency sweep is 22.7-24.1GHz.
Further, the RF receiving and transmission module includes signal source, four circuit receiver and intermediate frequency amplifier, the signal source
For generating the continuous wave of the frequency sweep within the scope of certain frequency, the four circuit receiver is used to receive and process four road signals, with
Four tunnel zero intermediate frequency signals are obtained, the intermediate frequency amplifier is for amplifying four tunnel zero intermediate frequency signals.
Further, the acquisition of four tunnel zero intermediate frequency signals specifically: four road signals are respectively adopted and local oscillation signal is mixed
Frequently, four tunnel zero intermediate frequency signals are obtained.The local oscillation signal is generated by signal source.
Further, the signal source includes sequentially connected phase-locked loop chip and transmitting chip.
Further, the four circuit receiver is made of parallel two pieces of Receiving chips.
Further, the baseband module includes sequentially connected Head switches circuit, analog to digital conversion circuit and FPGA fortune
Circuit is calculated, the Head switches circuit uses time division multiplexing idea, selects a switch equipped with four, and four tunnels reception signal is combined into one
Road, the complexity and cost of circuit are reduced to original a quarter；Analog-digital conversion circuit as described is promoted based on super-sampling principle
Signal-to-Noise, and convert analog signals into digital signal；The FPGA computing circuit is used to carry out operation to digital signal,
Obtain target information signal: distance, speed and the angle information of target.
Compared with prior art, the invention has the following advantages that
(1) broad beam dual-mode antenna array of the present invention is based on antenna element and carries out array arrangement, forms equivalent magnetic dipole
Structure, while antenna and feeding network can form dual resonance structure, have the advantages that broadband, large-angle scanning.
(2) the wide angle beam scanning radar sensor of millimeter wave of the present invention realizes ± 60 ° of investigative range and frequency range
For the broadband frequency sweep of 22.7-24.1GHz
(3) RF transmit-receive circuit of the present invention uses zero intermediate frequency reception technique, and Head switches circuit, which uses time division multiplexing, to be thought
To think, selects a switch to be combined into four tunnels reception signal all the way by four, the complexity and cost of circuit be reduced to original four/
One, greatly reduce the volume of radar sensor.
(4) Anneta module, RF receiving and transmission module and base band mould in the wide angle beam scanning radar sensor of millimeter wave of the present invention
The cooperation of block, and signal-to-noise ratio is promoted based on super-sampling principle, realize the receiving sensitivity of -132dBm and the maximum probe of 40m
Distance, investigative range is big, detection accuracy is quasi-.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the wide angle beam scanning radar sensor of millimeter wave of the present invention；
Fig. 2 is the structural schematic diagram of inventive antenna unit；
Fig. 3 is the connection schematic diagram of feeder line and H-type groove in inventive antenna unit；
Fig. 4 is 1 × 4 transmitting antenna array structure chart of the embodiment of the present invention；
Fig. 5 is 1 × 4 transmitting antenna array structure top view of the embodiment of the present invention；
Fig. 6 is 1 × 4 launching antenna array array structure bottom view of the embodiment of the present invention；
Fig. 7 is 4 × 4 receiving antenna array structure charts of the embodiment of the present invention；
Fig. 8 is 4 × 4 receiving antenna array array structure bottom views of the embodiment of the present invention；
Fig. 9 is the antenna S11 parameter schematic diagram of the embodiment of the present invention；
Figure 10 is 1 × 4 face transmitting antenna array E directional diagram of the embodiment of the present invention；
Figure 11 is 1 × 4 face transmitting antenna array H directional diagram of the embodiment of the present invention；
Figure 12 is 4 × 40 ° of the face receiving antenna array E directional diagrams of the embodiment of the present invention；
Figure 13 is 4 × 4 20 ° of the face receiving antenna array E directional diagrams of the embodiment of the present invention；
Figure 14 is 4 × 4-20 ° of the face receiving antenna array E directional diagrams of the embodiment of the present invention；
Figure 15 is 4 × 4 40 ° of the face receiving antenna array E directional diagrams of the embodiment of the present invention；
Figure 16 is 4 × 4-40 ° of the face receiving antenna array E directional diagrams of the embodiment of the present invention；
Figure 17 is 4 × 4 60 ° of the face receiving antenna array E directional diagrams of the embodiment of the present invention；
Figure 18 is 4 × 4-60 ° of the face receiving antenna array E directional diagrams of the embodiment of the present invention；
Figure 19 is the RF receiving and transmission module functional block diagram of the embodiment of the present invention；
Figure 20 is the baseband module functional block diagram of the embodiment of the present invention；
Figure 21 is the schematic diagram of a scenario of distant object of embodiment of the present invention test；
Figure 22 is the result figure of distant object of embodiment of the present invention test；
Figure 23 is the schematic diagram of a scenario of short distance of embodiment of the present invention wide-angle target detection；
Figure 24 is the result figure of short distance of embodiment of the present invention wide-angle target detection；
Figure 25 is the result figure that single goal of the embodiment of the present invention tests the speed；
Figure 26 is the schematic diagram of a scenario of multiple target of embodiment of the present invention test；
Figure 27 is the result figure of multiple target of embodiment of the present invention test.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment 1
As shown in Figure 1, this implementation provides a kind of wide angle beam scanning radar sensor of millimeter wave, including broad beam receives and dispatches day
Linear array, RF transmit-receive circuit, baseband circuit and host computer.The sheet that the radar sensor uses high-performance FMCW signal source to export
Shake signal, and dual-mode antenna uses the framework of one transmitter and four receivers, and dual-mode antenna realized in K-band using equivalent magnetic current principle ±
60 ° or more of beam angle.The received four roads signal of antenna exports four tunnel zero intermediate frequency signals after being mixed with local oscillation signal, utilizes base
After the high-speed ADC of super-sampling principle samples its intermediate-freuqncy signal, high speed is carried out into FPGA and is calculated in real time.This hair
The bright wide angle beam scanning radar sensor of millimeter wave realizes ± 60 ° of investigative range, and falls sharply 3/4 basis in circuit scale
On, realize the receiving sensitivity of -132dBm and the maximum detectable range of 40m.The sensitivity of receiver is directly related to entirely
The detection range of system, the reception minimum signal of receiver is calculated as follows all the way: Pmin=kTBF wherein, k=1.38 × 10-
23J/K is Boltzmann constant, and T=290K is noise temperature, and B is the noise bandwidth of system, and F is the noise coefficient of receiver,
The noise of system is dispersed on each discrete FFT point, the noise bandwidth of each FFT frequency point has with ShiShimonoseki after FFT
System: B=1/ts, ts=1ms are the scan period, substitute into formula, and the minimum signal that receives for obtaining system is -132dBm.
Compared to existing millimetre-wave radar sensor, the wide angle beam scanning radar sensor of millimeter wave of the present invention has
The advantages that broadband, large-angle scanning, investigative range are big, detection accuracy is quasi- can satisfy vehicle net, in advanced driving assistance system
The demand of low coverage detection radar.
Each module is described in detail below:
1, Anneta module
Anneta module is broad beam dual-mode antenna array, the form that the present embodiment Anneta module uses single-shot four to receive is wrapped
A transmitting antenna array and four receiving antenna arrays are included, the transmitting antenna array and receiving antenna array are based on antenna list
Member carries out array arrangement,
As shown in Fig. 2, antenna element opens the floor of H-type groove (H-shape shot) by the patch (Patch) of top layer
(GND), load the feeder line (feedline) of T-type line terminal and through entirety, via hole (Vias) group in three face of patch is set
At.Floor is used for circuit ground.The patch of top layer is connected by via hole with three face short circuit of floor, and patch and floor formation one are half-open
The cavity put.As shown in figure 3, feeder line is introduced by the H-type groove on floor and is fixedly connected with floor.In Fig. 3, the size point of each component
Not are as follows:
Patch length and width l1For 4.6mm, w1For 2.6mm；
H-type groove periphery length and width l2For 0.4mm, w2For 1.7mm, H-type groove centre whippletree length and width l3For 0.1mm, w3For 1.3mm；
Feeder line blocks the end length and width l of H-type groove4For 0.3mm, w4For 1.9mm, feeder line width l6For 0.5mm；
Among H-type groove whippletree to feeder line end distance l5For 0.35mm；
Crossing pore radius r is 0.1mm, and adjacent vias center of circle spacing d is 0.4mm.
As shown in Figure 5 and Figure 6, transmitting antenna array uses 1 × 4 antenna element submatrix, and feeder network is using series connection feedback
Line form further reduces the beam angle in the face H, expands bandwidth while improving gain.
As shown in figure 4, the patch of all antenna elements is fixed in the 1 × 4 of transmitting antenna array antenna element submatrix
It being mounted on patch support plate, three face of patch of each antenna element is equipped with the via hole through patch support plate, and connect with floor,
By the short circuit of three face of patch.Patch support plate is divided into close-connected two layers, and in the present embodiment, upper layer material is RO4350, lower layer's material
Matter is RO4450.The feeder line of transmitting antenna array is fixedly mounted on feeder line support plate, and in the present embodiment, the material of feeder line support plate is
RO4350。
As shown in figure 8, receiving antenna array is listed on the direction of the face E, using 41 × 4 antenna element submatrixs, 4 submatrixs with
6mm is spacing (d) arrangement, and the beam scanning effect of all angles is realized by the phase of control port.Each antenna element
The feeder network of battle array is using series connection feeder line form, and output is four road signals respectively.
As shown in fig. 7, receiving antenna array includes 41 × 4 antenna element submatrixs, the patch of all antenna elements is equal
It is fixedly mounted on patch support plate, three face of patch of each antenna element is equipped with the via hole through patch support plate, and and floor
Connection, by the short circuit of three face of patch.Patch support plate is divided into close-connected two layers, and in the present embodiment, upper layer material is RO4350, under
Layer material is RO4450.The feeder line of transmitting antenna array is fixedly mounted on feeder line support plate, in the present embodiment, the material of feeder line support plate
Matter is RO4350.
As shown in figure 9, the frequency range of transmitting antenna array and receiving antenna array broadband frequency sweep is 22.7-24.1GHz.
In the present embodiment, the resonance point of antenna can be designed as 24.1GHz, the resonance frequency point of feeding network is designed as
23.5GHz forms double resonance and constitutes broadband.
The face the E direction of transmitting antenna array, the face H directional diagram are respectively as shown in Figure 10,11.The face receiving antenna array E is different
The directional diagram of angle is as shown in figures 12-18.
2, RF receiving and transmission module
As shown in figure 19, RF receiving and transmission module includes signal source, four circuit receiver and intermediate frequency amplifier (THS4524).
Signal source is equipped with sequentially connected frequency converter (fref), phase-locked loop chip (PLL ADF4158), transmitting chip
(BGT24MTR11) and balun, for generating the continuous locking phase wave of the frequency sweep within the scope of certain frequency.It is used in the present embodiment
Signal source is high-performance FMCW signal source.
Four circuit receiver is made of parallel two pieces of Receiving chips (BGT24MR2), for receiving and processing four roads letter
Number, to obtain four tunnel zero intermediate frequency signals.The acquisition of four tunnel zero intermediate frequency signals specifically: local oscillation signal and four road signals is respectively adopted
Mixing, obtains four tunnel zero intermediate frequency signals.
Intermediate frequency amplifier (putting in preposition, THS4524) is for amplifying four tunnel zero intermediate frequency signals.
When operation, the transmitting terminal of RF receiving and transmission module: frequency converter generates signal (fref) sequentially enter phase-locked loop chip, hair
After core shooting piece and balun, transmitting signal (TxAnt) is obtained, is sent into transmitting antenna array；
The receiving end of RF receiving and transmission module: two parallel Receiving chips receive two groups of input signals respectively:
RxAnt1, RxAnt2 and RxAnt1, RxAnt1 and one generated by RF receiving and transmission module transmitting terminal and pass through power amplifier
The local oscillation signal of amplification.It receives chip to be mixed with four road signals to local oscillation signal is respectively adopted, obtains four tunnel zero intermediate frequency signals, so
Afterwards, intermediate frequency amplifier amplifies four tunnel zero intermediate frequency signals, and amplified signal is finally sent to baseband module.
3, baseband module
Baseband module includes that sequentially connected Head switches circuit, analog to digital conversion circuit, FPGA computing circuit and agreement turn
Change chip, Head switches circuit includes Full differential operational amplifier and four selects a switch for merging four road signals；Modulus turns
It changes circuit and is based on super-sampling principle promotion signal signal-to-noise ratio, and convert analog signals into digital signal；FPGA computing circuit is used
In carrying out operation to digital signal, the distance, speed and angle information of target are obtained, and send to through protocol conversion chip upper
Machine.
As shown in figure 20, amplified four tunnel zero intermediate frequency signals, be four road orthogonal differential signals, i.e. four road complex signals,
Per all the way including orthogonal I, Q two parts, I, Q are respectively a pair of of differential lines transmission again, totally 16 lines.
In the present embodiment, four select a switch using two-way double-pole four throw switch (TMUX1109), and analog to digital conversion circuit uses
Modulus conversion chip (ADC, LTC2292), FPGA computing circuit use FPGA (X7A35T).
When operation, amplified four tunnel zero intermediate frequency signals through two-way double-pole four throw switch merge into it is time-multiplexed all the way just
Sub-signal (totally 4 lines) feeding Full differential operational amplifier (THS4552) of reporting to the leadship after accomplishing a task carries out differential amplification.Amplified signal is sent into
Modulus conversion chip is converted into digital signal, obtained discrete data read and handled by FPGA after through protocol conversion chip (USB
Communication chip, FT2232) data packet that is converted to usb protocol is sent to host computer.
4, host computer
In the present embodiment, host computer receives the data packet of usb protocol, and plot and display goes out the distance, speed and angle of target
Information；And pass through the operating status of communication control radio circuit, baseband circuit.
The present embodiment is additionally provided with the test experiments to the wide angle beam scanning radar sensor of millimeter wave of the present invention, including such as
Under:
Time domain echo-signal when as shown in figure 21 and figure, for using radar sensor of the present invention detection distant object
Waveform and treated distance measurement result, it can be seen that in 35m to there is a stronger echo-signal spectral line between 36m, mesh at this time
For target distance probably in 35m or so, the echo-signal in the position that distance is 19m is time of outdoor machine of air-conditioner on the metope of left side in figure
Wave signal, remaining clutter are the echo of the targets such as right side greenbelt.
As shown in figure 23 and figure 24, time domain echo letter when short distance wide-angle target is detected for radar sensor of the present invention
Number waveform and treated distance measurement result, it can be seen that when target and radar emission direction are in close to 60 ° of angles, remain to shielding
Biggish target echo is observed on curtain, illustrates reachable ± 60 ° of the investigative range of the radar.
It as shown in figure 25, is the velocity measurement in radar sensor search coverage someone's regression backward of the present invention.
The drawing area of top two is the radar time domain echo-signal of frequency sweep ascent stage and decline stage respectively, distinguishes FFT to the two
Signal later is plotted in the drawing area of lower section, by comparing the difference of peak value after FFT twice, can convert to obtain target
Velocity information.
It as shown in Figure 26 and Figure 27, is radar sensor of the present invention progress multiple target test as a result, target is two respectively
A corner reflector, equivalent RCS are 1m2 or so.Program is drawn by continuously measuring the location information of target in a period of time
At the two dimensional image about speed and time, to characterize the motion track information of target.Two bright broken lines are exactly two in figure
There is the straight line for being parallel to time shaft in the track that the distance of a target changes over time at 31m, illustrate this target away from
Change from not changing over time, this is reflecting to form by distant place background grove.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of wide angle beam scanning radar sensor of millimeter wave, including sequentially connected Anneta module, RF receiving and transmission module, base
Band module and host computer, the Anneta module are used to radiate and receive to free space the signal of a certain frequency, and the radio frequency is received
Hair module is modulated for generating radiation signal, and to signal is received, and the baseband module is used to believe modulated reception
Number processing is target information signal, and the host computer is used for displaying target information, which is characterized in that the Anneta module is using wide
Beam receive-and-transmit antenna array, for carrying out large-angle scanning and broadband frequency sweep；The RF receiving and transmission module be used for receive signal into
Row processing, obtains zero intermediate frequency signals；The baseband module is based on time division multiplexing theory and handles input signal.
2. the wide angle beam scanning radar sensor of a kind of millimeter wave according to claim 1, which is characterized in that the width wave
Beam dual-mode antenna array includes transmitting antenna array and receiving antenna array, the transmitting antenna array and the equal base of receiving antenna array
Array arrangement is carried out in antenna element, the antenna element includes patch, floor and feeder line, and the patch is located above floor；
The floor is equipped with H-type groove, for fixing feeder line；The antenna element is equipped with through whole via hole, and via hole and floor will paste
Three face short circuit of piece connection.
3. the wide angle beam scanning radar sensor of a kind of millimeter wave according to claim 2, which is characterized in that the transmitting
The feeder line of each antenna element is connected in series in aerial array and receiving antenna array.
4. the wide angle beam scanning radar sensor of a kind of millimeter wave according to claim 1, which is characterized in that the width angle
The angle of scanning are as follows: E surface wave beam width reaches ± 60 °, H surface wave beam width ± 45 °.
5. the wide angle beam scanning radar sensor of a kind of millimeter wave according to claim 1, which is characterized in that the broadband
The frequency range of frequency sweep is 22.7-24.1GHz.
6. the wide angle beam scanning radar sensor of a kind of millimeter wave according to claim 1, which is characterized in that the radio frequency
Transceiver module includes signal source, four circuit receiver and intermediate frequency amplifier, and the signal source is for generating within the scope of certain frequency
The continuous wave of frequency sweep, the four circuit receiver is for receiving and processing four road signals, to obtain four tunnel zero intermediate frequency signals, it is described in
Audio amplifier is for amplifying four tunnel zero intermediate frequency signals.
7. the wide angle beam scanning radar sensor of a kind of millimeter wave according to claim 6, which is characterized in that four tunnel
The acquisition of zero intermediate frequency signals specifically: four road signals are respectively adopted and are mixed with local oscillation signal, obtain four tunnel zero intermediate frequency signals.
8. the wide angle beam scanning radar sensor of a kind of millimeter wave according to claim 6, which is characterized in that the signal
Source includes sequentially connected phase-locked loop chip and transmitting chip.
9. the wide angle beam scanning radar sensor of a kind of millimeter wave according to claim 6, which is characterized in that four tunnel
Receiver is made of parallel two pieces of Receiving chips.
10. the wide angle beam scanning radar sensor of a kind of millimeter wave according to claim 1, which is characterized in that the base
Band module includes sequentially connected Head switches circuit, analog to digital conversion circuit and FPGA computing circuit, the Head switches circuit
A switch is selected equipped with four, for merging four road signals；Analog-digital conversion circuit as described is based on super-sampling principle promotion signal signal-to-noise ratio,
And convert analog signals into digital signal；The FPGA computing circuit is used to carry out operation to digital signal, obtains target letter
Information signal.
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