A dual-frequency shared-aperture antenna structure, comprising: a first metal layer, a first dielectric layer, a second metal layer, a second dielectric layer and a third metal layer, the first metal layer, the first dielectric layer, the second metal layer, the second dielectric layer and the third metal layer being connected layer by layer, the second metal layer being configured to be grounded, and the first metal layer and the second metal layer comprising a metal hole plated with metal and being connected via said metal hole, wherein the first metal layer is provided with a plurality of penetrating slits to define a plurality of first high-frequency antennas and low-frequency antennas through the slits, the low-frequency antennas surrounding the first high-frequency antennas, and the low-frequency antennas having an operating frequency smaller than that of the first high-frequency antennas, wherein the slits further define a plurality of second high-frequency antennas, the second high-frequency antennas being provided at a distance from the low-frequency antennas, and the first high-frequency antennas and the second high-frequency antennas having a same operating frequency, and wherein the low-frequency antennas are arranged in a rectangular array, each of the second high-frequency antennas being located at a geometric center of four adjacent low-frequency antennas, and a spacing between two adjacent low-frequency antennas satisfying the following formula: d 1 < λ 1 / 1 + cos θ 1 where d 1 denotes a geometric center spacing between two adjacent low-frequency antennas, λ 1 denotes a wavelength of low-frequency antenna operating frequency in free space, and θ 1 denotes a scanning angle of the low-frequency antennas, wherein a geometric center spacing between two adjacent first high-frequency antennas or a spacing between two adjacent second high-frequency antennas satisfies the following formula: d 2 < √ 2 / 2 λ 2 / 1 + cos θ 2 where d 2 denotes a geometric center spacing between two adjacent first high-frequency antennas or between two adjacent second high-frequency antennas, the geometric center spacing between two adjacent first high-frequency antennas being equal to that between two adjacent second high-frequency antennas, λ 2 denotes a wavelength of the operating frequency of the first high-frequency antennas or the second high-frequency antennas in free space, the wavelength of the first high-frequency antenna operating frequency in free space being equal to that of the second high-frequency antenna operating frequency in free space, and θ 2 denotes a scanning angle of the first high-frequency antennas or the second high-frequency antennas. wherein the first metal layer is provided with a plurality of penetrating slits to define a plurality of first high-frequency antennas and low-frequency antennas through the slits, the low-frequency antennas surrounding the first high-frequency antennas, and the low-frequency antennas having an operating frequency smaller than that of the first high-frequency antennas, wherein the slits further define a plurality of second high-frequency antennas, the second high-frequency antennas being provided at a distance from the low-frequency antennas, and the first high-frequency antennas and the second high-frequency antennas having a same operating frequency, and wherein the low-frequency antennas are arranged in a rectangular array, each of the second high-frequency antennas being located at a geometric center of four adjacent low-frequency antennas, and a spacing between two adjacent low-frequency antennas satisfying the following formula: d 1 < λ 1 / 1 + cos θ 1 where d 1 denotes a geometric center spacing between two adjacent low-frequency antennas, λ 1 denotes a wavelength of low-frequency antenna operating frequency in free space, and θ 1 denotes a scanning angle of the low-frequency antennas, wherein a geometric center spacing between two adjacent first high-frequency antennas or a spacing between two adjacent second high-frequency antennas satisfies the following formula: d 2 < √ 2 / 2 λ 2 / 1 + cos θ 2 where d 2 denotes a geometric center spacing between two adjacent first high-frequency antennas or between two adjacent second high-frequency antennas, the geometric center spacing between two adjacent first high-frequency antennas being equal to that between two adjacent second high-frequency antennas, λ 2 denotes a wavelength of the operating frequency of the first high-frequency antennas or the second high-frequency antennas in free space, the wavelength of the first high-frequency antenna operating frequency in free space being equal to that of the second high-frequency antenna operating frequency in free space, and θ 2 denotes a scanning angle of the first high-frequency antennas or the second high-frequency antennas.