Method and apparatus for determining angle and distance of target, radar and storage medium

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.

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.