RADAR ANTENNA FOR USE IN A MINIATURE UNMANNED AERIAL VEHICLE

Abstract

A radar antenna suitable for a drone is provided, which is able to compensate for the agility of drone motion. The radar antenna contains a sandwich of two printed circuit boards between three conductive plates. A first printed circuit board comprises a preferably circular array of first antenna elements such as dipoles. A second printed circuit board, parallel to the first printed circuit board, comprises an array of second antenna elements. One of the array of first antenna elements and the array of second antenna elements is an array of transmission antenna elements and the other an array of reception antenna elements. The first printed circuit board is located below the second printed circuit board. Three conductive plates are used to shape the antenna patterns from the antenna elements so that the main lobes of the antenna patterns are directed obliquely downwards and the antenna patterns from the different array at least partly overlap, suppressing vertical side lobes. A first conductive plate separates the first and second printed circuit boards. A second conductive plate is located above the second printed circuit board, extending radially outward beyond the first conductive plate. A third conductive plate is located below the first printed circuit board. The first conductive plate extends radially outward beyond the third conductive plate.

Claims

1. A radar antenna for a miniature unmanned aerial vehicle, comprising: a first printed circuit board having a first array of antenna elements situated at positions thereon, wherein the positions of antenna elements of the first array of antenna elements lie within a first predetermined distance range, from a central axis perpendicular to the first printed circuit board, and wherein individual antenna elements of the first array of antenna elements each lie in differing directions from the central axis; a second printed circuit board, which is parallel to the first printed circuit board, wherein the second printed circuit board having a second array of antenna elements situated at positions therein, wherein the positions of antenna elements of the second array of antenna elements lie within a second predetermined distance range from the central axis, and wherein individual antenna elements of the second array of antenna elements each lie in differing directions from the central axis, and wherein first element distances in the first predetermined distance range are smaller than second element distances in the second predetermined range; wherein one array of the first array of antenna elements and the second array of antenna elements is an array of transmission antenna elements, and the other array is an array of reception antenna elements; wherein the radar antenna further comprises: a first electrically conductive ring or plate that is: located between the first printed circuit board and the second printed circuit board, and blocks lines of sight from the antenna elements of the first array to the antenna elements of the second array; and a second electrically conductive ring or plate; wherein the second printed circuit board lies between the second electrically conductive ring or plate and the first electrically conductive ring or plate, and wherein the second electrically conductive ring or plate extends radially outward beyond the first electrically conductive ring or plate; and a third electrically conductive ring or plate, wherein the first printed circuit board lies between the third electrically conductive ring or plate and the first electrically conductive ring or plate, and wherein the first electrically conductive ring or plate extends radially outward beyond the third electrically conductive ring or plate.

2. The radar antenna according to claim 1, further comprising an electrically conductive cylinder that is concentric with the central axis and extends between the first electrically conductive ring or plate and the third electrically conductive ring or plate, wherein the electrically conductive cylinder has a radius smaller than a lower distance limit of the first predetermined distance range, so that all antenna elements of the first array of antenna elements lie radially outside the electrically conductive cylinder.

3. The radar antenna according to claim 2, further comprising transmission electronics situated on the first printed circuit board and within the electrically conductive cylinder, wherein the first antenna elements are transmission antenna elements that are coupled to the transmission electronics.

4. The radar antenna according to claim 1, further comprising an electrically conductive cylinder that is concentric with the central axis and extends between the first electrically conductive ring or plate and the second electrically conductive ring or plate, wherein the electrically conductive cylinder has a radius smaller than a lower distance limit of the second predetermined distance range, so that all antenna elements of the second array of antenna elements lie radially outside the electrically conductive cylinder.

5. The radar antenna according to claim 4, further comprising reception electronics situated on the second printed circuit board and within the electrically conductive cylinder, wherein the second antenna elements are reception antenna elements that are coupled to the reception electronics.

6. The radar antenna according to claim 1, wherein the first electrically conductive ring or plate extends radially beyond radial positions of all the antenna elements of the first array of antenna elements and all the antenna elements of the second array of antenna elements.

7. The radar antenna according to claim 1, wherein the third electrically conductive ring or plate has a frustrated cone form and widens, in a direction away from the first printed circuit board.

8. The radar antenna according to claim 1, wherein the first array of antenna elements and the second array of antenna elements are both circular arrays, wherein positions of antenna elements of the first array of antenna elements lie at a same first distance from the central axis, wherein positions of antenna elements of the second array of antenna elements lie at a same second distance from the central axis, wherein at least the first electrically conductive ring or plate and the third electrically conductive ring or plate both have a circular outer perimeter.

9. The radar antenna according to claim 1, wherein positions of antenna elements of the first array of antenna elements and/or positions of antenna elements of the second antenna elements are located at evenly spaced angles in relation to the central axis.

10. The radar antenna according to claim 1, wherein the antenna elements of the first array of antenna elements and/or the antenna elements of the second array of antenna elements are dipole antenna elements.

11. A radar antenna according to claim 1, wherein the second array of antenna elements comprises more antenna elements than the first array of antenna elements.

12. A radar system, comprising: a radar antenna, for a miniature unmanned aerial vehicle, comprising: a first printed circuit board having a first array of antenna elements situated at positions thereon, wherein the positions of antenna elements of the first array of antenna elements lie within a first predetermined distance range from a central axis perpendicular to the first printed circuit board, and wherein individual antenna elements of the first array of antenna elements each lie in differing directions from the central axis; a second printed circuit board, which is parallel to the first printed circuit board, wherein the second printed circuit board having a second array of antenna elements situated at positions therein, wherein the positions of antenna elements of the second array of antenna elements lie within a second predetermined distance range from the central axis, and wherein individual antenna elements of the second array of antenna elements each lie in differing directions from the central axis, and wherein first element distances in the first predetermined distance range are smaller than second element distances in the second predetermined range; wherein one array of the first array of antenna elements and the second array of antenna elements is an array of transmission antenna elements, and the other array is an array of reception antenna elements; wherein the radar antenna further comprises: a first electrically conductive ring or plate that is: located between the first printed circuit board and the second printed circuit board, and blocks lines of sight from the antenna elements of the first array to the antenna elements of the second array; and a second electrically conductive ring or plate; wherein the second printed circuit board lies between the second electrically conductive ring or plate and the first electrically conductive ring or plate, and wherein the second electrically conductive ring or plate extends radially outward beyond the first electrically conductive ring or plate; and a third electrically conductive ring or plate, wherein the first printed circuit board lies between the third electrically conductive ring or plate and the first electrically conductive ring or plate, and wherein the first electrically conductive ring or plate extends radially outward beyond the third electrically conductive ring or plate; transmission electronics; and reception electronics, wherein the reception and transmission electronics being coupled to the arrays of first and second antenna elements respectively, or to the arrays of second and first antenna elements respectively.

13. The radar system according to claim 12, further comprising a processing system coupled to the reception electronics and the transmission electronics, wherein the processing system is configured to cause the transmission electronics to supply a transmission signal or signals to selectable ones or combinations of the first array of antenna elements, and wherein the reception electronics are coupled to the second array of antenna elements.

14. The radar system according to claim 12, further comprising a processing system configured to synthesize a radar image of a surface below the radar system from reflected signals received by the reception electronics.

15. The radar system according to claim 12, further comprising an orientation sensor, wherein the transmission electronics and/or the reception electronics and/or the processing system are configured to compensate radar operation for rotation sensed by the orientation sensor.

16. A miniature unmanned aerial vehicle (UAV) comprising: a plurality of propellers configured to provide upward thrust, a UAV body connected to the plurality of propellers; and a radar antenna, hanging from the UAV body and comprising: a first printed circuit board having a first array of antenna elements situated at positions thereon, wherein the positions of antenna elements of the first array of antenna elements lie within a first predetermined distance range from a central axis perpendicular to the first printed circuit board, and wherein individual antenna elements of the first array of antenna elements each lie in differing directions from the central axis; a second printed circuit board, which is parallel to the first printed circuit board, wherein the second printed circuit board having a second array of antenna elements situated at positions therein, wherein the positions of antenna elements of the second array of antenna elements lie within a second predetermined distance range from the central axis, and wherein individual antenna elements of the second array of antenna elements each lie in differing directions from the central axis, and wherein first element distances in the first predetermined distance range are smaller than second element distances in the second predetermined range; wherein one array of the first array of antenna elements and the second array of antenna elements is an array of transmission antenna elements, and the other array is an array of reception antenna elements; wherein the radar antenna further comprises: a first electrically conductive ring or plate that is: located between the first printed circuit board and the second printed circuit board, and blocks lines of sight from the antenna elements of the first array to the antenna elements of the second array; and a second electrically conductive ring or plate; wherein the second printed circuit board lies between the second electrically conductive ring or plate and the first electrically conductive ring or plate, and wherein the second electrically conductive ring or plate extends radially outward beyond the first electrically conductive ring or plate; and a third electrically conductive ring or plate, wherein the first printed circuit board lies between the third electrically conductive ring or plate and the first electrically conductive ring or plate, and wherein the first electrically conductive ring or plate extends radially outward beyond the third electrically conductive ring or plate: wherein the first printed circuit board is positioned below the second printed circuit board of the radar antenna hanging from the UAV body.

17. The miniature UAV according to claim 16, wherein the propellers are located in a same horizontal plane, at positions along a vertical projection of a periphery of the first array of antenna elements and the second array of antenna elements structures on the horizontal plane, wherein the propellers rotate around vertical axes.

Description

BRIEF DESCRIPTION OF THE DRAWING

[0025] These and other objects and advantageous aspects will become apparent from a description of exemplary embodiments, with reference to the following figures

[0026] FIG. 1a shows a miniature UAV comprising an antenna

[0027] FIG. 1b shows an antenna structure in side view

[0028] FIG. 2 shows an antenna structure in bottom view

[0029] FIG. 3 shows an embodiment with interior cylinders

[0030] FIG. 4 shows a radar system

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS

[0031] FIG. 1a shows a miniature UAV comprising propellers 50, a UAV body 52 and an antenna structure hanging from UAV body 52. The depicted UAV is an agile rotary-wing UAV, with propellers 50 that are rotated around vertical axes, with the antenna structure positioned horizontally between the rotation axes of propellers 50, so that the UAV has no predetermined horizontal front, side and back relative to horizontal motion. The antenna structure also has no predetermined horizontal front, side and back relative to horizontal motion. The antenna structure is configured to provide transmission and reception antenna patterns with main lobe directions 54, 56 that are directed obliquely downwards, for example at an angle to the vertical between forty five and seventy five degrees. Preferably, downward side lobes along the vertical direction should be minimal, to avoid reception of strong perpendicular reflection from the ground.

[0032] FIGS. 1b and 2 show an exemplary embodiment of an antenna structure in side view cross-section and bottom view respectively. The antenna structure comprises first and second, parallel printed circuit boards 10, 12 and first and second circular arrays of antenna elements on printed circuit boards 10, 12 respectively. In normal use, the surfaces of first and second printed circuit boards 10, 12 will be oriented horizontally, with second printed circuit board 12 above first printed circuit board 10, as shown in FIG. 1a. Preferably, all antenna elements in the first circular array have the same shape, e.g. a dipole shape, and similarly all antenna elements in the second circular array have the same shape. An arbitrary point on an antenna element may be referred to as the position of the antenna element, corresponding points on different antenna elements being referred to as the positions of the different antenna elements. The shapes of the antenna elements in the first circular array may be the same as those in the second circular array, but this is not necessary. Antenna elements 100, 120 will typically consist of conductor planes and/or tracks, e.g. dipoles, on the surface of first and second printed circuit boards 10, 12, but for the sake of illustration they are symbolically indicated as rectangles.

[0033] As shown in FIG. 2, a first circular array of transmission antenna elements 100 (only one labeled) along a first circle is provided on first printed circuit board 10. A second circular array of reception antenna elements 120 (not shown in FIG. 2) is provided along a second circle on second printed circuit board 12. The first and second printed circuit boards 10, 12 may be circular as well. Preferably the positions of the antenna elements 100, 120 are evenly spaced along the circles. If the array contains N antenna elements, the positions of the antenna elements may be spaced by three hundred sixty degrees divided by N along the circle. In an embodiment, the first and second circular array contain sixteen and thirty two antenna elements respectively. Preferably, radar wavelengths are used that are larger than the spacing between the positions of the antenna elements, for example with a wavelength between the spacing and twice the spacing.

[0034] The first and second arrays are coaxial around a central axis perpendicular to the surfaces of printed circuit boards 10, 12. The radius of the first circular array, i.e. the distance from the central axis to the positions of transmission antenna elements 100 of the first circular array, is smaller than the corresponding radius of the second circular array, containing the reception antenna elements 120. When the first and second printed circuit boards are circular, their radii may be larger than those of the circular arrays.

[0035] Furthermore the antenna structure comprises a first and second circular electrically conductive plate 14, 16, in parallel with first and second printed circuit boards 10, 12. First and second circular electrically conductive plate 14, 16 may be made of metal. First electrically conductive plate 14 is located between first and second printed circuit boards 10, 12 and second printed circuit board 12 is located between first and second electrically conductive plate 14, 16, i.e. second electrically conductive plate 16 is located above second printed circuit board 12 in normal use. The antenna structure comprises a further electrically conductive plate 18 (not shown in FIG. 2), e.g. of metal, below first printed circuit board 10. Further electrically conductive plate will also be referred to as a beam shaper. Optionally, as shown further electrically conductive plate 18 has the form of a frustrated electrically conductive cone surface, first printed circuit board 12 being located between first electrically conductive plate 14 and further electrically conductive plate 18. The radius of the electrically conductive cone surface widens with increasing distance from first printed circuit board 12.

[0036] The antenna elements 100, 120 of one of the first and second array of antenna elements serve as transmission antennas and the antenna elements 100, 120 of the other array serves as array of antenna elements serves as an array of reception antennas. The elevation angle of the peak strength of the main lobes of the transmission and reception antenna patterns (the angle with the direction normal to the surface of the first and second printed circuit boards) is directed obliquely downward (e.g. at an angle between forty five and seventy five degrees with the vertical), and the main antenna pattern lobes of the reception and transmission antenna patterns at least partly overlap as a function of the elevation angle. The lobe width need not be very narrow. For example a lobe width of about forty degrees may be used. Preferably, downward transmission and/or reception along the vertical direction should be minimal, to avoid reception of strong perpendicular reflection from the ground.

[0037] It has been found that conductive plates 14, 16, 18 can be used to ensure these requirements. In general terms, elevation angle of the peak strength of the main lobe of the antenna pattern of antenna elements between an upper and lower conductive plate (e.g. plates 14, 16) becomes more downward directed when the radius of the upper conductive plate (e.g. plate 16) increases and more upward directed when the radius of the lower conductive plate (e.g. plate 14) increases. The effect of changes of the radius of a plate is strongest when the radius of the plate is about the same as the radius of the array of antenna elements between the plates. This allows tuning of the elevation angle of the peak strength of the main lobe. For much larger and much smaller radii the effect levels off. Typically, achieving an obliquely downward directed elevation angle of the peak strength of the main lobe, the radius of the upper conductive plate (e.g. plate 16) will be larger than the radius of the array of antenna elements and the radius of the lower conductive plate (e.g. plate 14) will be smaller than the radius of the array of antenna elements.

[0038] To reduce cross-talk between transmission and reception, the radius of first electrically conductive plate 14 should preferably be at least so large that first electrically conductive plate 14 blocks the direct line of sight between antenna elements on first printed circuit board 10 and second printed circuit board 12. Simulation and measurement have shown that first electrically conductive plate 14 does not need to extend further to achieve acceptable cross-talk reduction. Also, the design freedom of the radius of first electrically conductive plate 14 is limited because it acts as upper plate and as lower plate for the antenna elements on first printed circuit board 10 and second printed circuit board 12 respectively, with opposite effect on the lobe direction.

[0039] Using a further electrically conductive plate 18 in the form of a frustrated electrically conductive cone surface below first printed circuit board 10 has the advantage that it provides for an additional design parameter (the angle of the cone) that can be used to adjust the elevation angle of the peak strength of the main lobe to make the main antenna pattern lobes of the reception and transmission antenna patterns at least partly overlap as a function of the elevation angle and reduce vertical side lobes. Adjustment of the distance between first and second electrically conductive plates 14 and 16 and between first electrically conductive plate 14 and the top of further electrically conductive plate 18 may be used to adjust the impedance of the antenna elements. If the electrically conductive plates are too close to each other, the impedance may become very small. First and second printed circuit boards 10, 12 may lie midway between the adjacent conductive plates, or their position may be varied to adjust the impedance. Impedance adjustment may be used for example to match the antenna element impedance to the impedance of the transmitter and the receiver circuit. But the antenna pattern also depends on the distance between the plate. Therefore the radii of the plates may be selected for a pre-selected distance.

[0040] In the illustrated embodiment, the radius of first circular electrically conductive plate 14 is larger than the radius of the first circular array. The radius of second circular electrically conductive plate 16 is larger than the radius of the second circular array.

[0041] The actual dimensions of a concrete antenna may be selected experimentally or by means of simulation, by adjusting the dimensions to obtain at least partly overlapping main lobes in a desired elevation range, and optionally using the dimensions to optimize factors like lobe overlap, lobe width and suppression of lobes in undesired directions (e.g. directly vertical from the antenna). In an embodiment for a 9.8 GHz radar, the requirements were realized using radii of first and second electrically conductive plates 14 and 16 of seventy nine and a hundred twenty two millimeter and further electrically conductive plate 18 having a top radius of forty five millimeter and a bottom diameter of seventy millimeter.

[0042] An elevation angle of the peak strength of the main lobe of about fifty five degrees to the downward vertical was realized in this way. In this embodiment, the distance between first and second electrically conductive plates 14 and 16 and between first electrically conductive plate 14 and the top of further electrically conductive plate 18 is twenty millimeter, first and second printed circuit boards 10, 12 lying midway. It should be noted this combination of dimensions is merely an example. Different combinations of dimensions may also be used to obtain obliquely downward directed, at least partly overlapping antenna lobes. For a different frequency radar, the dimensions may be scaled accordingly.

[0043] A conical dielectric cover (not shown) may be used over printed circuit boards 10, 12 and first and second circular electrically conductive plate 14, 16 and optionally beam shaper 18. In this embodiment the perimeters of printed circuit boards 10, 12 and first and second circular electrically conductive plate 14, 16 preferably substantially lies on the cone.

[0044] In the illustrated embodiment first and second circular electrically conductive plate 14, 16 are flat plates and further electrically conductive plate 18 is cone shaped. Instead of a cone shape a curved shape may be used. Another alternative for the cone shape is a flat further electrically conductive plate 18 may be used, but this makes the design possibilities for beam shaping less flexible. Similarly, electrically conductive plate 14, 16 may deviate from flat shapes, e.g. by using a plate with a cone shaped or curved perimeter e.g. a downward or upward curved or angled perimeter. This may make beam shaping slightly more flexible. FIG. 3 shows an embodiment wherein first and second electrically conductive cylinders 30, 32 have been added (e.g. metal cylinders). First and second electrically conductive cylinder 30, 32 extend between further electrically conductive plate 18 and first electrically conductive plate 14 and from first electrically conductive plate 14 to second electrically conductive plate 16 respectively. Second electrically conductive cylinder 32 electrically connects first and second electrically conductive plates 14, 16. First electrically conductive cylinder 30 electrically connects first electrically conductive plate 14 and further electrically conductive plate 18. In an embodiment, first and second electrically conductive plates 14, 16 and further electrically conductive plate 18 extend through the interior of first and second electrically conductive cylinder 30, 32. Alternatively, one or more of first and second electrically conductive plates 14, 16 and further electrically conductive plate 18 may be present only outside first and/or second electrically conductive cylinder 30, 32.

[0045] The axis of first and second electrically conductive cylinder 30, 32 coincides with the central axis of the circular arrays. The radius of first electrically conductive cylinder 30 is smaller than the radius of the first circular array, so that the transmission antenna elements 100 lie outside first electrically conductive cylinder 30. The radius of second electrically conductive cylinder 32 is smaller than the radius of the second circular array, so that the reception antenna elements 120 lie outside second electrically conductive cylinder 32. First and second electrically conductive cylinder 30, 32 serve as electromagnetic shields between antenna elements 100, 120 and electronics within first and second electrically conductive cylinder 30, 32, and counteract wave propagation between the conductive plates, e.g. from the side in the direction from which a reflected wave arrives to an antenna element on the opposite side of the plate. Preferably, the radius of second electrically conductive cylinder 32 is larger than the radius of first electrically conductive cylinder 30.

[0046] First and second printed circuit boards 10, 12 are mechanically connected to first and second electrically conductive cylinder 30, 32 respectively. In an embodiment, first electrically conductive cylinder 30 may comprise two cylinder parts, connected to the upper and lower surfaces of first printed circuit board 10. In another embodiment, first printed circuit board 10 may contain two or more parts fitted through slots in first electrically conductive cylinder 30. Mutatis mutandis, the same constructions may be used for second electrically conductive cylinder 32 and second printed circuit board 10.

[0047] FIG. 4 shows a radar system, comprising the first and second circular array 46, 48, a processing system 40 and reception and transmission electronics 42, 44. Processing system 40 is coupled to reception and transmission electronics 42, 44. Although connection lines are shown, it should be noted that wireless coupling may be used and that processing system 40 may be located remotely from reception and transmission electronics 46, 48, e.g. in a ground based control unit. Processing system 40 may comprise one or more programmable computers and storage device(s) with computer programs to make the one or more programmable computers perform the functions of processing system 40.

[0048] Reception electronics 42 has inputs coupled to the reception antenna elements of second circular array 48. By way of example amplifiers have been shown between reception electronics 42 and the reception antenna elements, which may be considered to be part of reception electronics 42. Transmission electronics 44 has outputs coupled to the transmission antenna elements of first circular array 46. Transmission electronics 44 may contain output amplifiers (not shown) with outputs coupled to the transmission antenna elements.

[0049] Transmission electronics 44 may be located on first printed circuit board 10 at least partly inside first electrically conductive cylinder 30. Reception electronics 42 may be located on second printed circuit board 12 at least partly inside second electrically conductive cylinder 32. Processing system 40 may be located on either, or distributed over both or remotely.

[0050] In operation, a UAV carries the antenna structure. As shown in FIG. 1, the UAV may comprise a plurality of propellers attached to a body that carries the antenna structure, the plurality of propellers being configured to provide upward trust. Processing system 40 causes transmission electronics 44 to supply transmission signals to the transmission antenna elements in first circular array. In an embodiment transmission electronics 44 may be configured to generate frequency modulated transmission signals for FMCW (frequency modulated continuous wave) radar operation. In an embodiment transmission electronics 44 are configured to supply a transmission signal to a one of transmission antenna element at a time, successively to different ones of the transmission antenna elements to steer the transmitted beam in successively different directions. In another embodiment, the same transmission signal may be supplied simultaneously to a plurality of transmission antenna elements to form an antenna beam from plurality of transmission antenna elements, optionally with adapted phase and/or amplitudes to direct or shape the beam. The resulting beam is directed radially and downward from the antenna structure, with a peak as function of radial direction. Transmission electronics 44 may be configured to scan the beam direction along a series of radial directions.

[0051] Because the transmission antenna elements are located in an array at different angles from the central axis (i.e. so that lines from the different antenna elements to where the central axis intersects the plane of the printed circuit board form different angles with each other), the radial direction of the antenna pattern can easily be steered to compensate for rotation around the axial direction due to rotation of the UAV that carries the antenna structure. The UAV may comprise a plurality of propellers in a same horizontal plane, located at positions along a vertical projection of the periphery of the antenna structure on that plane, wherein the propellers rotate around vertical axes. In order to be suitable for such a UAV, the antenna has to be small and light weight so that the propellers are able to keep the antenna in the air

[0052] Such a UAV can unpredictably rotate around the vertical direction, even while the UAV moves in a straight line, or change course without turning. An antenna that has the ability to compensate for this by electronically adapting the beam direction has the advantage that it makes it possible to overcome the effect of unpredictable movement and rotation. In an embodiment, the antenna structure contains a sensor in the UAV for measuring a rotation angle of the antenna structure around the axial direction, the sensor being coupled to transmission electronics 44. The transmission electronics 44 may be configured to adapt the beam direction in response to sensed angle changes so as to compensate the radial direction the beam for rotation of the antenna structure. The beam direction can be adapted by shifting the assignment of different transmitted signals to antenna elements along the circular array, and optionally by shifting the relative phase of the signals.

[0053] Reception electronics 42 receives reflection signals from the reception antenna elements. Preferably, reception electronics 42 processes reflection signals from a plurality of reception antenna elements in parallel. When FMCW is used, the reflection signals may be mixed with a copy of the transmitted signals to obtain beat signals with frequency components corresponding to objects at different distances. By computing linear combinations of the reflection signals before or after mixing (preferably digitally), radial direction selective reflection signals may be computed. Because the reception antenna elements are located in an array at different angles from the central axis, signals from a combination of reception antenna elements can be used to resolve reflections from different radial directions. Reception electronics 42 or processing system 40 may be configured to compensate the reflection signals for sensed rotation, like the transmission signals, e.g. by summing reflection signals that have been multiplied by factors determined using the sensed rotation angle, according to predetermined functions of the rotation angle, or by accounting for the rotation in radar image computation. In addition, the UAV may be moved and processing system 40 may be configured to combine results from reflection signals obtained at different positions to construct a synthetic radar image.

[0054] It is preferred to use the antenna elements on first printed circuit board 10 as transmission antenna elements and the antenna elements on second printed circuit board 12 as reception antenna elements. Because second printed circuit board 12 has a larger radius, more antenna elements can be provided on second printed circuit board 12, enabling use of signal processing to obtain a higher resolution. Alternatively, the antenna elements on first printed circuit board 10 may be used as reception antenna elements and the antenna elements on second printed circuit board 12 as transmission antenna elements.

[0055] Although embodiments with circular arrays on printed circuit boards 10, 12 have been shown, wherein the distance from the position of each antenna element to the central axis of the array is the same, alternatively the distances may vary within a predetermined range of distances, such as in a polygonal or elliptical array, and/or the angular spacing between the positions of successive antenna elements may vary. It is preferred that the antenna elements are positioned so that, for any given orientation of the antenna structure the antenna elements in the arrays can be selected to transmit and receive waves in all radial directions relative to the antenna. The distances and/or spacing may be different on the first and/or second printed circuit board 10, 12.