CN111123220B - Multi-channel amplitude and phase calibration method and system for millimeter wave radar - Google Patents
Multi-channel amplitude and phase calibration method and system for millimeter wave radar Download PDFInfo
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- CN111123220B CN111123220B CN201911198377.1A CN201911198377A CN111123220B CN 111123220 B CN111123220 B CN 111123220B CN 201911198377 A CN201911198377 A CN 201911198377A CN 111123220 B CN111123220 B CN 111123220B
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Classifications
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
Abstract
The invention discloses a multi-channel amplitude-phase calibration method and system of a millimeter wave radar. The multi-channel amplitude and phase calibration method of the millimeter wave radar comprises the following steps of; s1, respectively obtaining amplitude and phase reference values of each path of transmitting channel and each path of receiving channel; and step S2, when the radar works normally, calibrating the amplitude and the phase of the corresponding transmitting channel and the corresponding receiving channel at regular time according to the reference values of the amplitude and the phase of each transmitting channel and each receiving channel. The multi-channel amplitude and phase calibration method of the millimeter wave radar can enable the millimeter wave radar to have the same angle measurement performance with the millimeter wave radar in different temperature environments, overcome the defects of temperature change and time variation of the measurement index of the multi-channel MIMO system millimeter wave radar, and improve the overall measurement performance of a radar system.
Description
Technical Field
The invention relates to a multi-channel amplitude-phase (amplitude and phase are abbreviated as below) calibration method of a millimeter wave radar, and also relates to a corresponding multi-channel amplitude-phase calibration system of the millimeter wave radar, belonging to the technical field of radars.
Background
The existing millimeter wave radar is mostly realized by adopting a single radar chip integrated with a plurality of transceiving channels. In some special applications, such as high angular resolution applications, more transmit and receive channels are required to guarantee the high angular resolution requirements of the radar system measurement.
Currently, under the condition that the number of channels of a single radar chip is limited, a plurality of radar chips are commonly cascaded synchronously to form a plurality of transmitting and receiving channels, so that the use requirement of high angular resolution of radar system measurement is met. Even under the condition of synchronous design, the output signals of the radar chips cause temperature variation and time-varying errors of transfer functions of the active power amplification circuits of the radar chips to the amplitude and the phase of the radio frequency signals due to individual differences of the radar chips and non-uniformity of the temperature of the radar circuit board, so that the relation between the amplitude and the phase of the channels is unstable, and the accuracy of estimating the target angle information by utilizing the amplitude and the phase information of the target echo signals is reduced.
MIMO (Multiple-Input Multiple-Output) technology refers to using Multiple transmitting antennas and receiving antennas at a transmitting end and a receiving end, respectively, so that signals are transmitted and received through the Multiple antennas at the transmitting end and the receiving end, thereby achieving higher communication quality at a lower cost. As MIMO technology has achieved great success in the field of mobile communications, technicians have begun to attempt to extend MIMO technology to the field of radar detection for target detection, location tracking, and the like.
Disclosure of Invention
The invention aims to provide a multichannel amplitude-phase calibration method of a millimeter wave radar.
The invention aims to provide a multi-channel amplitude and phase calibration system of the millimeter wave radar.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
according to a first aspect of an embodiment of the present invention, there is provided a multi-channel amplitude and phase calibration method of a millimeter wave radar, including the steps of:
s1, respectively obtaining amplitude and phase reference values of each path of transmitting channel and each path of receiving channel;
and step S2, when the radar works normally, calibrating the amplitude and the phase of the corresponding transmitting channel and the corresponding receiving channel at regular time according to the reference values of the amplitude and the phase of each channel of the transmitting channel and the receiving channel.
Preferably, when the reference values of the amplitude and the phase of each path of the transmitting channel are obtained, one path of receiving channel is selected from the N paths of receiving channels as a calibration receiving channel, the calibration receiving channel receives the transmitting signals of each path of transmitting channel respectively, and the transmitting signals are conditioned to generate the reference values of the amplitude and the phase of each path of transmitting channel.
Preferably, when the reference values of the amplitude and the phase of each path of the receiving channel are obtained, one path of transmitting channel is selected from M paths of transmitting channels as a calibration transmitting channel, one path of transmitting calibration signals are coupled to the calibration transmitting channel, the calibration transmitting signals are sequentially transmitted and coupled to N paths of receiving channels to be calibrated, and the N paths of receiving channels condition the transmitting calibration signals to generate the reference values of the amplitude and the phase of each path of receiving channels.
Preferably, when calibrating the amplitude and the phase of each path of the transmitting channel, the processing and control unit respectively adjusts the output signal power and the initial phase of each path of the transmitting channel, so that the amplitude and the phase of each path of the transmitting channel are consistent with the reference values of the amplitude and the phase of the corresponding transmitting channel.
Preferably, when calibrating the amplitude and the phase of each path of the receiving channel, the transmitting calibration signal is received through N paths of receiving channels to be calibrated, and the actual values of the amplitude and the phase of each path of receiving channel generated after the transmitting calibration signal is conditioned are multiplied by error coefficients corresponding to the corresponding receiving channels respectively.
Preferably, the error coefficient corresponding to each path of the receiving channel is expressed as:
S σ ＝S Rn /S′ Rn
wherein S' Rn Representing the actual values of the amplitude and phase of each path of the receiving channel obtained when the radar normally works and calibrating each path of the receiving channel; s is S Rn And a reference value for the amplitude and phase of each of the receive channels.
According to a second aspect of the embodiment of the present invention, a multi-channel amplitude-phase calibration system of a millimeter wave radar is provided, including M channels of transmitting channels and N channels of receiving channels generated by cascading multiple pieces of millimeter wave radar chips, an output end of each channel of transmitting channels is connected to a microstrip array transmitting antenna, an input end of each channel of receiving channels is connected to a microstrip array receiving antenna, and an input end of each channel of transmitting channels and an output end of each channel of receiving channels are respectively connected to a signal processing and controlling unit;
one receiving channel is arbitrarily selected from the N receiving channels as a calibration receiving channel, and is used for respectively receiving the transmitting signals of the M transmitting channels to be calibrated under different temperature conditions, and transmitting the reference values and the actual values which are generated corresponding to the amplitude and the phase of the M transmitting channels to be calibrated after the transmitting signals are conditioned to the signal processing and controlling unit, wherein the signal processing and controlling unit respectively adjusts the output signal power and the initial phase of each transmitting channel to be calibrated, so that the amplitude and the phase of each transmitting channel are consistent with the reference values of the amplitude and the phase of the corresponding transmitting channel;
and the signal processing and controlling unit eliminates temperature variation and time variation errors existing in the amplitude and the phase of each receiving channel according to the error coefficient of each receiving channel to be calibrated.
Wherein preferably, the multichannel amplitude and phase calibration system further comprises a first single-pole double-throw switch and a second single-pole double-throw switch;
connecting the calibration transmitting channel with the movable contact of the first single-pole double-throw switch, wherein two stationary contacts of the first single-pole double-throw switch are respectively connected with the microstrip array transmitting antenna and a receiving internal calibration network, and the receiving internal calibration network is respectively connected with the input end of each path of receiving channel to be calibrated through a first coupling circuit;
and connecting the calibration receiving channel with the movable contact of the second single-pole double-throw switch, wherein two fixed contacts of the second single-pole double-throw switch are respectively connected with the microstrip array receiving antenna and the internal transmission calibration network, and the internal transmission calibration network is respectively connected with the output end of each path of transmission channel to be calibrated through a second coupling circuit.
Preferably, each path of the receiving channel is provided with a first active conditioning circuit, and the first active conditioning circuit comprises a low-noise amplifier, a mixer and an analog-to-digital converter which are sequentially connected.
Preferably, each path of the emitting channel is provided with a second active conditioning circuit, and the second active conditioning circuit comprises a signal emitter and a power amplifier which are connected in sequence.
Aiming at the millimeter wave radar of the type that multiple chips are cascaded to form multiple transmitting and multiple receiving channels, the millimeter wave radar multichannel amplitude-phase calibration method provided by the invention uses any receiving channel as a receiving calibration channel to calibrate the amplitude and phase of all transmitting channels at fixed time; and using any one path of transmitting channel as a transmitting calibration channel to calibrate the amplitude and phase of all receiving channels in a timing way. The multi-channel amplitude and phase calibration method of the millimeter wave radar can enable the millimeter wave radar to have the same angle measurement performance with the normal temperature environment under different temperature environments, and overcomes the defects of temperature change and time change of millimeter wave radar measurement indexes in a multi-channel MIMO system.
Drawings
Fig. 1 is a flowchart of a multi-channel amplitude and phase calibration method of a millimeter wave radar provided by the invention;
FIG. 2 is a schematic diagram of a millimeter wave radar system employing M-way transmit channels and N-way receive channels generated by cascading two millimeter wave radar chips;
fig. 3 is a schematic diagram of a calibration network for a transmitting channel in the multi-channel amplitude-phase calibration system of the millimeter wave radar provided by the invention;
fig. 4 is a schematic diagram of a calibration network for a receiving channel in the multi-channel amplitude-phase calibration system of the millimeter wave radar provided by the invention.
Detailed Description
The technical contents of the present invention will be described in further detail with reference to the accompanying drawings and specific examples.
In order to solve the problem of variation of amplitude and phase among channels along with temperature and time when the number of channels is expanded by cascading a plurality of existing radar chips, as shown in fig. 1, the invention provides a multi-channel amplitude-phase calibration method of a millimeter wave radar, which comprises the following steps:
and S1, respectively obtaining the amplitude and phase reference values of each path of transmitting channel and each path of receiving channel.
When the amplitude and phase of the transmitting channel and the receiving channel of each radar chip are calibrated, the consistency of each path of transmitting channel and receiving channel of the radar chip is considered to be better in a microwave darkroom environment with constant room temperature (generally 15 ℃) and the amplitude value and the phase value of each path of transmitting channel and receiving channel in the state are taken as the amplitude value and the phase reference value of each transmitting channel and receiving channel.
Taking an M-channel transmitting N-channel receiving MIMO system radar system as an example, when the reference values of the amplitude and the phase of each channel transmitting channel are obtained, randomly selecting one channel from the N channels receiving channels as a calibration receiving channel, respectively coupling each channel transmitting signals, connecting the channels in series, connecting the channels to the calibration receiving channel through an analog switch on-off, and sequentially opening each channel in the M channels to be calibrated transmitting channels to form a closed loop with the calibration receiving channel. And respectively receiving the transmitting signals of each path of transmitting channel through the calibration receiving channel, conditioning the transmitting signals to generate digital signals, and transmitting the digital signals to the signal processing and control unit for storage. Wherein, the digital signal generated after the transmitting signal of each transmitting channel is received and conditioned by the calibration receiving channel is the reference value of the amplitude and the phase of each transmitting channel, and the reference value of the amplitude and the phase of the M transmitting channels is used as S Tm Representation (m E [1, M)]) The reference value sequence of the amplitude and the phase of M paths of transmitting channels is expressed as S T1 ，S T2 …S Tm 。
When the reference values of the amplitude and the phase of each receiving channel are obtained, one transmitting channel is selected from M transmitting channels as a calibration transmitting channel, the calibration transmitting channel is coupled with one transmitting calibration signal, and the signals are sequentially transmitted and coupled to N receiving channels to be calibrated through a conductive circuit to construct N signal loops. The transmitting calibration signal is output through the calibration transmitting channel, the N paths of receiving channels to be calibrated simultaneously receive the transmitting calibration signal, and the transmitting calibration signal is conditioned to generate a digital signalAnd transmitting the data to a signal processing and control unit for storage. Wherein, the digital signal generated by conditioning the transmitting calibration signal through N paths of receiving channels to be calibrated is the reference value of the amplitude and the phase of each path of receiving channel, and the reference value of the amplitude and the phase of the N paths of transmitting channels is used as S Rn Representation (n E [1, N)]) The sequence of reference values of the amplitude and phase of the N-way transmit channel is denoted S R1 ，S R2 …S Rn 。
And step S2, when the radar works normally, calibrating the amplitude and the phase of the corresponding transmitting channel and the corresponding receiving channel at regular time according to the reference values of the amplitude and the phase of each transmitting channel and each receiving channel.
When the radar chip works in different temperature environments, in order to keep the radiation performance index of the radar chip consistent with the calibration time, the amplitude and the phase of the M paths of transmitting channels and the N paths of receiving channels are required to be calibrated at fixed time according to the reference values of the amplitude and the phase of each transmitting channel and each receiving channel, so that the amplitude and the phase error of the radar system caused by temperature change and time change among the channels are compensated at fixed time, and the problem that the system measurement index error of the radar system is increased after the radar system works for a long time in different environments is solved.
When the amplitude and the phase of each path of transmitting channel are calibrated, the output signal power and the initial phase of each path of transmitting channel are respectively adjusted through a processing and control unit, so that the amplitude and the phase of each path of transmitting channel are consistent with the reference values of the amplitude and the phase of the corresponding transmitting channel when the radar normally works in different temperature environments.
When calibrating the amplitude and phase of each receiving channel, the radar receives the transmitting calibration signal through N channels to be calibrated, conditions the transmitting calibration signal to generate digital signals, transmits the digital signals to a signal processing and controlling unit, and multiplies the digital signals transmitted by each receiving channel by the error coefficient S corresponding to the receiving channel σ And eliminating temperature variation and time-varying errors existing in the amplitude and the phase of the receiving channel. Error coefficient S corresponding to each path of receiving channel σ Expressed as:
S σ ＝S Rn /S′ Rn (1)
wherein S' Rn The method comprises the steps of representing digital signals obtained when calibrating each path of receiving channel during normal operation of the radar, wherein the digital signals are actual values of amplitude and phase of each path of receiving channel; s is S Rn For each receive channel's amplitude and phase reference values. Namely S' Rn Can be expressed as A' σn exp′(jω σn )，A′ σn Actual values representing the amplitude of each receive channel exp' (jω) σn ) Representing the actual value of the phase of each receive channel; s is S Rn Can be expressed as A σn exp(jω σn )，A σn Reference value exp (jω) representing the amplitude of each channel σn ) A reference value representing the phase of each receive channel.
Aiming at the millimeter wave radar of the type that multiple chips are cascaded to form multiple transmitting and multiple receiving channels, the multi-channel amplitude-phase calibration method of the millimeter wave radar provided by the invention utilizes any one receiving channel as a receiving calibration channel to calibrate the amplitude and phase of all transmitting channels at fixed time; and using any one path of transmitting channel as a transmitting calibration channel to calibrate the amplitude and phase of all receiving channels in a timing way. The multi-channel amplitude and phase calibration method of the millimeter wave radar can enable the millimeter wave radar to have the same angle measurement performance under different temperature environments as that under normal temperature environments, and overcomes the defects of temperature change and time change of the measurement index of the multi-channel MIMO system millimeter wave radar.
In addition, the invention also provides a multichannel amplitude-phase calibration system of the millimeter wave radar, which comprises M paths of transmitting channels and N paths of receiving channels, wherein the M paths of transmitting channels and the N paths of receiving channels are generated by cascading a plurality of millimeter wave radar chips, the output end of each path of transmitting channel is connected with a microstrip array transmitting antenna, the input end of each path of receiving channel is connected with a microstrip array receiving antenna, and the input end of each path of transmitting channel and the output end of each receiving channel are respectively connected with a signal processing and controlling unit.
And the signal processing and controlling unit adjusts the output signal power and the initial phase of each path of transmission channel to be calibrated respectively, so that the amplitude and the phase of each path of transmission channel are consistent with the corresponding reference values of the amplitude and the phase of the transmission channel when the radar normally works in different temperature environments.
And the signal processing and controlling unit eliminates temperature variation and time variation errors of the amplitude and the phase of each receiving channel according to the error coefficient of each receiving channel to be calibrated.
The signal processing and controlling unit can adopt a combination of a microprocessor ((Micro Processor Unit, MPU) and a digital signal processor (Digital Signal Processing, DSP), and respectively obtain the reference values of the amplitude and the phase of each path of transmitting channel and each path of receiving channel through the signal processing and controlling unit, and when the radar works normally, the signal processing and controlling unit calibrates the amplitude and the phase of the corresponding transmitting channel and the corresponding receiving channel at fixed time according to the reference values of the amplitude and the phase of each path of transmitting channel and receiving channel.
In order to avoid the loss of one path of transmitting channel and one path of receiving channel after the design of the calibration channel is carried out, a single-pole double-throw switch can be adopted to carry out time-sharing multiplexing design on the main channel and the calibration channel, and a radar internal closed loop is constructed in the calibration working mode. Therefore, the switching of the radar in the normal working mode and the calibration working mode is completed through the single-pole double-throw switch, the single-pole double-throw switch has the characteristics of high frequency and high speed, the switching between channels can be completed rapidly within a few microseconds, and when the radar works normally, the internal channel calibration can be carried out sequentially at intervals of about 5 minutes, and the time is only a few milliseconds.
The selected calibration transmitting and calibration receiving channels are controlled to be connected or disconnected with the corresponding microstrip array transmitting and receiving antennas through the single-pole double-throw switch, so that the problem that the receiving channels are saturated and the signal quality of the calibration loop is affected due to the fact that the microstrip array transmitting and receiving antennas radiate to form a closed loop in space is avoided. The calibration transmitting channel is connected with the movable contact of a first single-pole double-throw switch, two stationary contacts of the first single-pole double-throw switch are respectively connected with the microstrip array transmitting antenna and the receiving internal calibration network, and the receiving internal calibration network is respectively connected with the input end of each channel of receiving channels to be calibrated through a first coupling circuit. And connecting the calibration receiving channel with the movable contact of a second single-pole double-throw switch, wherein two stationary contacts of the second single-pole double-throw switch are respectively connected with a microstrip array receiving antenna and an internal transmission calibration network, and the internal transmission calibration network is respectively connected with the output end of each path of transmission channel to be calibrated through a second coupling circuit.
Each path of receiving channel is provided with a first active conditioning circuit, and comprises a low-noise amplifier, a mixer and an analog-to-digital converter which are sequentially connected, wherein the input end of each path of receiving channel is connected with a microstrip array receiving antenna for receiving electromagnetic wave signals in a space; namely, the radar chip generates and transmits an electromagnetic wave signal, when the electromagnetic wave signal is radiated to a certain object in space through the microstrip array transmitting antenna, a target echo signal is generated and received through the microstrip array receiving antenna, and finally a digital signal is formed through the amplification function of the low-noise amplifier, the frequency-reducing function of the mixer (reducing the frequency of the target echo signal) and the analog-to-digital conversion function of the analog-to-digital converter.
Each path of emission channel is provided with a second active conditioning circuit, and the second active conditioning circuit comprises a signal emitter and a power amplifier which are sequentially connected, and the output end of each path of emission channel is connected with a microstrip array emission antenna for radiating electromagnetic wave signals to space. After the transmitting signals output by each path of transmitting channels are transmitted by the signal transmitter, the transmitting signals are amplified by the power amplifier and are radiated to space by the microstrip array transmitting antenna. The amplitude and the phase of the M paths of transmitting channels are controlled by a signal processing and controlling unit, and the amplitude and the phase of the target echo signals of the N paths of receiving channels are transmitted to the signal processing and controlling unit for signal processing.
The following takes an example of a multi-channel amplitude-phase calibration system of the millimeter wave radar, which adopts M paths of transmitting channels and N paths of receiving channels generated by cascading two millimeter wave radar chips, and combines fig. 2-4 to explain the structure and the working principle of the multi-channel amplitude-phase calibration system of the millimeter wave radar.
As shown in fig. 2 to 4, two millimeter wave radar chips 1 and 4 are cascaded to generate M-path transmitting and N-path receiving channel high resolution MIMO millimeter wave radar, wherein each radar chip is provided withWay reception channel 2, and->The first active conditioning circuit 8 of each receiving channel comprises a low noise amplifier, a mixer and an analog-to-digital converter which are sequentially connected, the input end of the low noise amplifier is connected with a microstrip array receiving antenna 5 for receiving electromagnetic wave signals in space, the second active conditioning circuit 9 of each receiving channel comprises a signal transmitter and a power amplifier which are sequentially connected, and the output end of the power amplifier is connected with a microstrip array transmitting antenna 6 for radiating the electromagnetic wave signals to space. The amplitude and phase parameters of the M paths of transmitting channels are controlled by the signal processing and control unit 12, and the N paths of receiving channels receive target echo signals and transmit the target echo signals to the signal processing and control unit 12 for signal processing.
As shown in fig. 3, before the radar leaves the factory, the reference value of the N-channel receiving channel 7 needs to be calibrated in an ideal normal temperature environment. When the second active conditioning circuit 9 of the selected calibration transmitting channel is used for calibrating the N paths of receiving channels 7 to be calibrated, the movable contact A and the stationary contact of the first single-pole double-throw switch 10 are required to be connectedC is connected, at this time, the transmitting calibration signal is output through the calibration transmitting channel, amplified in amplitude and modulated in phase by the second active conditioning circuit 9, and then sequentially reaches the first coupling circuit 11 corresponding to each receiving channel after passing through the first single-pole double-throw switch 10 and the receiving internal calibration network 16, the transmitting calibration signal is coupled to generate certain attenuation and then is simultaneously received by the receiving channel 7 to be calibrated, after passing through the first active conditioning circuit 8 of each receiving channel to be calibrated, a digital signal is generated and transmitted to the signal processing and control unit 12, the amplitude and phase information of the transmitting calibration signal, namely the amplitude and phase reference value sequence of the N receiving channels, is recorded in the signal processing and control unit 12 (S R1 ，S R2 …S Rm )。
In normal operation after radar assembly, in order to eliminate temperature variation and time-varying errors of the amplitude and phase of the N-channel receiving channel 7, the overall performance of the radar system is kept consistent with that in normal temperature test before delivery, and the amplitude and phase of the N-channel receiving channel are required to be configured to be consistent with reference values. Firstly, the movable contact A of the first single-pole double-throw switch 10 is configured to be connected with the fixed contact C, a calibration transmitting channel is started, and an actual value sequence (S 'of the amplitude and the phase of the N paths of receiving channels 7 is obtained' R1 ，S’ R2 …S’ Rm ) Then calculating an error sequence S of N paths of receiving channels according to a formula (1) σ . The radar is configured into a normal working mode, the movable contact A of the first single-pole double-throw switch 10 is configured to be connected with the fixed contact B, and the second active conditioning circuit 9 for calibrating the transmitting channel is used as a common transmitting channel. In the normal operation mode, the N-channel error sequence S is multiplied whenever the N-channel receive channel receives a frame of data σ To eliminate temperature and time-varying errors of the N paths of receiving channels.
As shown in fig. 4, before the radar leaves the factory, the reference value of the M-channel transmitting channel 13 needs to be calibrated in an ideal normal temperature environment. When the first active conditioning circuit 8 of the selected calibration receiving channel is used for calibrating M paths of transmission channels 13 to be calibrated, the movable contact A and the fixed contact B of the second single-pole double-throw switch 14 are required to be connected, and only one path of transmission to be calibrated is opened at the same timeWhen a certain transmitting channel to be calibrated is opened, transmitting signals are attenuated to a certain degree and then transmitted to the second single-pole double-throw switch 14 through the transmitting internal calibration network 17 through the coupling circuits 15, and then the transmitting signals are received and conditioned by the first conditioning circuit 8 of the calibrating receiving channel to generate digital signals which are stored in the signal processing and controlling unit 12. When the M-channel emission channels 13 are calibrated, each channel emission channel in the emission channels 13 to be calibrated needs to be opened M times in turn to obtain M-channel emission channel amplitude and phase reference values (S T1 ，S T2 …S Tm ) Sequence.
In normal operation after the radar is assembled, in order to eliminate temperature variation and time-varying errors of the amplitude and the phase of the M-path transmitting channel 13, the overall performance of the radar is kept consistent with that of normal temperature test before delivery, and the amplitude and the phase of the M-path transmitting channel are required to be configured to be consistent with reference values. Firstly, the movable contact A of the second single-pole double-throw switch 14 is configured to be connected with the fixed contact B, each path of transmitting channel is opened in sequence in a time-sharing way, and the amplitude and phase information sequence (S 'of M paths of transmitting channels 13 is obtained at the first active conditioning circuit 8 of the calibration receiving channel' T1 ，S’ T2 …S’ Tm ) Then according to (S' T1 ，S’ T2 …S’ Tm ) With amplitude and phase reference sequences (S T1 ，S T2 …S Tm ) By comparing, the M-way transmission channel 13 is sequentially amplitude and phase compensated by the signal processing and control unit 12 to the amplitude and phase reference sequence (S T1 ，S T2 …S Tm ) And the temperature variation and time-varying errors of the M paths of transmitting channels are eliminated by the method.
The multi-channel amplitude and phase calibration method and system of the millimeter wave radar provided by the invention are described in detail. Any obvious modifications thereof, which would be apparent to those skilled in the art without departing from the true spirit of the present invention, would fall within the scope of the present patent claims.
Claims (9)
1. The multi-channel amplitude-phase calibration system of the millimeter wave radar is characterized by comprising a first single-pole double-throw switch, a second single-pole double-throw switch and M paths of transmitting channels and N paths of receiving channels, wherein the M paths of transmitting channels and the N paths of receiving channels are generated by cascading of a plurality of millimeter wave radar chips, the output end of each path of transmitting channel is connected with a microstrip array transmitting antenna, the input end of each path of receiving channel is connected with a microstrip array receiving antenna, and the input end of each path of transmitting channel and the output end of each receiving channel are respectively connected with a signal processing and controlling unit;
one receiving channel is arbitrarily selected from the N receiving channels as a calibration receiving channel, and is used for respectively receiving the transmitting signals of M transmitting channels to be calibrated under different temperature conditions, and transmitting the reference values and actual values which are generated corresponding to the amplitudes and phases of the M transmitting channels to be calibrated after the transmitting signals are conditioned to the signal processing and controlling unit, wherein the signal processing and controlling unit respectively adjusts the output signal power and the initial phases of each transmitting channel to be calibrated, so that the amplitudes and phases of each transmitting channel are consistent with the reference values of the amplitudes and phases of the corresponding transmitting channels;
one path of transmitting channel is arbitrarily selected from the M paths of transmitting channels as a calibration transmitting channel and is used for outputting transmitting calibration signals under different temperature conditions, so that N paths of receiving channels to be calibrated respectively receive the transmitting calibration signals under corresponding temperature conditions, reference values and actual values of amplitudes and phases of the N paths of receiving channels to be calibrated, which are generated correspondingly after the transmitting calibration signals are conditioned, are transmitted to a signal processing and controlling unit, error coefficients of each path of receiving channels to be calibrated are obtained, and the signal processing and controlling unit eliminates temperature variation and time variation errors existing in the amplitudes and phases of each path of receiving channels according to the error coefficients of each path of receiving channels to be calibrated;
the calibration transmitting channel is connected with the movable contact of the first single-pole double-throw switch, two stationary contacts of the first single-pole double-throw switch are respectively connected with the microstrip array transmitting antenna and the receiving internal calibration network, and the receiving internal calibration network is respectively connected with the input end of each path of receiving channel to be calibrated through a first coupling circuit; the calibration receiving channel is connected with the movable contact of the second single-pole double-throw switch, two stationary contacts of the second single-pole double-throw switch are respectively connected with the microstrip array receiving antenna and the internal transmission calibration network, and the internal transmission calibration network is respectively connected with the output end of each path of transmission channel to be calibrated through a second coupling circuit, so that the condition that the receiving channel is saturated and the signal quality of the calibration loop is affected due to the fact that a closed loop is formed by the radiation of the transmission antenna of the microstrip array and the transmission and receiving antenna of the microstrip array is avoided.
2. The millimeter wave radar multichannel amplitude and phase calibration system of claim 1, wherein:
each path of receiving channel is provided with a first active conditioning circuit, and the first active conditioning circuit comprises a low noise amplifier, a mixer and an analog-to-digital converter which are connected in sequence.
3. The millimeter wave radar multichannel amplitude and phase calibration system of claim 1, wherein:
and each path of emission channel is provided with a second active conditioning circuit which comprises a signal emitter and a power amplifier which are sequentially connected.
4. A multi-channel amplitude and phase calibration method of a millimeter wave radar, used in the multi-channel amplitude and phase calibration system of the millimeter wave radar according to any one of claims 1 to 3, characterized by comprising the following steps:
s1, respectively obtaining amplitude and phase reference values of each path of transmitting channel and each path of receiving channel;
and step S2, when the radar works normally, calibrating the amplitude and the phase of the corresponding transmitting channel and the corresponding receiving channel at regular time according to the reference values of the amplitude and the phase of each channel of the transmitting channel and the receiving channel.
5. The method for calibrating the multichannel amplitude and phase of the millimeter wave radar according to claim 4, wherein the method comprises the following steps:
when the reference values of the amplitude and the phase of each path of the transmitting channel are obtained, one path of receiving channel is selected from N paths of receiving channels as a calibration receiving channel, the calibration receiving channel receives the transmitting signals of each path of transmitting channel respectively, and the transmitting signals are conditioned to generate the reference values of the amplitude and the phase of each path of transmitting channel.
6. The method for calibrating the multichannel amplitude and phase of the millimeter wave radar according to claim 4, wherein the method comprises the following steps:
when the reference values of the amplitude and the phase of each path of receiving channel are obtained, one path of transmitting channel is selected from M paths of transmitting channels as a calibration transmitting channel, the calibration transmitting channel is coupled with one path of transmitting calibration signal and sequentially transmitted and coupled to N paths of receiving channels to be calibrated, and the N paths of receiving channels condition the transmitting calibration signal to generate the reference values of the amplitude and the phase of each path of receiving channel.
7. The method for calibrating the multichannel amplitude and phase of the millimeter wave radar according to claim 4, wherein the method comprises the following steps:
when the amplitude and the phase of each path of the transmitting channel are calibrated, the output signal power and the initial phase of each path of the transmitting channel are respectively adjusted through a processing and control unit, so that the amplitude and the phase of each path of the transmitting channel are consistent with the reference values of the amplitude and the phase of the corresponding transmitting channel.
8. The method for calibrating the multichannel amplitude and phase of the millimeter wave radar according to claim 6, wherein the method comprises the following steps:
and when calibrating the amplitude and the phase of each path of receiving channel, simultaneously receiving the transmitting calibration signal through N paths of receiving channels to be calibrated, and multiplying the actual values of the amplitude and the phase of each path of receiving channel generated after conditioning the transmitting calibration signal by the error coefficients corresponding to the corresponding receiving channels.
9. The method for calibrating the multichannel amplitude and phase of the millimeter wave radar according to claim 8, wherein the method comprises the following steps:
the error coefficient corresponding to each path of receiving channel is expressed as:
S σ ＝S Rn /S ′ Rn
wherein S is ′ Rn Representing the actual values of the amplitude and phase of each path of the receiving channel obtained when the radar normally works and calibrating each path of the receiving channel; s is S Rn And a reference value for the amplitude and phase of each of the receive channels.
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| CN112615680B (en) * | 2020-12-10 | 2023-03-14 | 上海移远通信技术股份有限公司 | Phase calibration method and device of transmitting channel and network equipment |
| CN112763997B (en) * | 2021-02-02 | 2022-05-10 | 北京理工大学 | Automatic amplitude and phase calibration method, system, device and medium for digital monopulse radar |
| CN113835073A (en) * | 2021-11-29 | 2021-12-24 | 湖南宜通华盛科技有限公司 | Phased array weather radar and method and system for correcting transmitting amplitude and phase thereof |
| CN115940988B (en) * | 2022-11-17 | 2024-03-26 | 中国电子科技集团公司第二十九研究所 | Ultra-thin broadband transceiver array calibration network and application method thereof |
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