CN111295596A - Method and device for measuring angle of millimeter wave radar and storage medium - Google Patents
Method and device for measuring angle of millimeter wave radar and storage medium Download PDFInfo
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- CN111295596A CN111295596A CN201980005381.3A CN201980005381A CN111295596A CN 111295596 A CN111295596 A CN 111295596A CN 201980005381 A CN201980005381 A CN 201980005381A CN 111295596 A CN111295596 A CN 111295596A
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/62—Sense-of-movement determination
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Abstract
A method, equipment and storage medium for measuring angle of millimeter wave radar, through obtaining the multiframe measured data that the multichannel millimeter wave radar gathers, wherein each frame of measured data includes the subdata of the multichannel (S101); acquiring multi-channel target distance information and target speed information according to each frame of measurement data (S102); and performing multi-frame superposition processing according to the multi-channel target distance information and the target speed information of the multi-frame measurement data with preset frame numbers to obtain an angle measurement result (S103). The angle measurement is carried out by combining multi-frame measurement data, so that the problem that the angle measurement result is greatly influenced by errors existing in single-frame measurement data can be avoided, and the angle measurement precision and the robustness of the millimeter wave radar can be improved.
Description
Technical Field
The embodiment of the invention relates to the field of radar, in particular to an angle measuring method and device of a millimeter wave radar and a storage medium.
Background
In recent years, radar systems have received increasing attention, for example, as applied to driver assistance systems. The millimeter wave radar plays more and more important roles including a lane keeping function, a rear vehicle anti-collision function and the like in a driver assistance system due to unique advantages of being all-weather, long in acting distance and the like. For the millimeter wave radar, the accuracy of target angle measurement directly influences the accuracy and robustness of the assistant driving function, and further influences the safety of an assistant driving system.
Currently, when a multi-receiving-channel millimeter wave radar system carries out angle measurement, a beam forming and spectrum estimation mode is mostly adopted. The beam forming method performs beam forming on angles in a beam coverage area, and an angle corresponding to a peak position is used as an angle measurement value. A spectrum estimation method, for example, a Multiple signal classification (MUSIC) method, calculates a power spectrum corresponding to each angle by performing an operation such as eigenvalue decomposition on a received signal, and an angle corresponding to a peak of a spectrum is used as an angle measurement value.
In the existing angle measurement method, although the beam forming method is simple and easy to implement and has small calculation amount, the angle resolution is very low and is easily influenced by noise; the spectral estimation method is relatively complex although the angle measurement accuracy is high under the condition that the snapshot number and the signal-to-noise ratio are large enough, and the loss of the angle measurement accuracy is serious under the non-ideal condition.
Disclosure of Invention
The embodiment of the invention provides an angle measurement method and device of a millimeter wave radar and a storage medium, which are used for improving the angle measurement precision and robustness of the millimeter wave radar.
A first aspect of an embodiment of the present invention provides an angle measurement method for a millimeter wave radar, including:
acquiring multi-frame measurement data acquired by a multi-channel millimeter wave radar, wherein each frame of measurement data comprises multi-channel subdata;
acquiring multi-channel target distance information and target speed information according to each frame of measurement data;
and performing multi-frame superposition processing according to multi-channel target distance information and target speed information of multi-frame measurement data with preset frame numbers to obtain an angle measurement result.
A second aspect of an embodiment of the present invention provides a millimeter wave radar including: a plurality of transmit channels, a plurality of receive channels, a memory, and a processor;
the plurality of transmitting channels and the plurality of receiving channels are used for collecting measurement data;
the memory is used for storing program codes;
the processor calls the program code, and when the program code is executed, performs the following:
acquiring multi-frame measurement data acquired by a multi-channel millimeter wave radar, wherein each frame of measurement data comprises multi-channel subdata;
acquiring multi-channel target distance information and target speed information according to each frame of measurement data;
and performing multi-frame superposition processing according to multi-channel target distance information and target speed information of multi-frame measurement data with preset frame numbers to obtain an angle measurement result.
A third aspect of an embodiment of the present invention is to provide a movable platform, including:
a body;
the power system is arranged on the machine body and used for providing power; and
the millimeter wave radar according to the second aspect.
A fourth aspect of an embodiment of the present invention provides a movable platform, including:
a body;
the power system is arranged on the machine body and used for providing power;
the millimeter wave radar is arranged on the machine body, comprises a plurality of transmitting channels and a plurality of receiving channels and is used for acquiring measurement data;
a memory for storing program code;
a processor calling the program code, the program code when executed operable to:
acquiring multi-frame measurement data acquired by a multi-channel millimeter wave radar, wherein each frame of measurement data comprises multi-channel subdata;
acquiring multi-channel target distance information and target speed information according to each frame of measurement data;
and performing multi-frame superposition processing according to multi-channel target distance information and target speed information of multi-frame measurement data with preset frame numbers to obtain an angle measurement result.
A sixth aspect of embodiments of the present invention provides a computer-readable storage medium having stored thereon a computer program for execution by a processor to perform the method of the first aspect.
In the angle measurement method, the device, and the storage medium of the millimeter wave radar provided by this embodiment, multi-frame measurement data acquired by a multi-channel millimeter wave radar is obtained, where each frame of measurement data includes sub-data of multiple channels; acquiring multi-channel target distance information and target speed information according to each frame of measurement data; and obtaining an angle measurement result according to the multi-channel target distance information and the target speed information of the multi-frame measurement data with preset frame numbers. The embodiment carries out angle measurement by combining multi-frame measurement data, can avoid great influence on an angle measurement result caused by errors of single-frame measurement data, and can improve the angle measurement precision and robustness of the millimeter wave radar.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a flowchart of an angle measurement method of a millimeter wave radar according to an embodiment of the present invention;
FIG. 2 is a diagram of a frame of data of a probe signal according to an embodiment of the present invention;
fig. 3 is a flowchart of an angle measurement method of a millimeter wave radar according to another embodiment of the present invention;
fig. 4 is a flowchart of an angle measurement method of a millimeter wave radar according to another embodiment of the present invention;
fig. 5 is a flowchart of an angle measurement method of a millimeter wave radar according to another embodiment of the present invention;
fig. 6 is a structural diagram of a millimeter wave radar according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The angle measurement method of the millimeter wave radar provided by the embodiment of the invention can be applied to movable platforms such as vehicles and unmanned aerial vehicles, and particularly can be applied to driver assistance systems of vehicles. Dispose multichannel millimeter wave radar on the movable platform, multichannel millimeter wave radar detects the target through the frequency variation in launching millimeter wave radio signal and the analysis back wave, and usable a plurality of transmitting channel launch millimeter wave radio detection signal receives the echo signal by the target reflection through a plurality of receiving channel to acquire measured data, improved the measurement of radar efficiency. In some embodiments, the multi-channel millimeter wave radar may be a Frequency Modulated Continuous Wave (FMCW) radar. Optionally, the detection signal transmitted by the transmission channel is a chirp continuous wave, such as a sawtooth wave chirp signal or a symmetric triangular wave chirp signal.
The embodiment of the invention provides an angle measuring method of a millimeter wave radar. Fig. 1 is a flowchart of an angle measurement method for a millimeter wave radar according to an embodiment of the present invention. As shown in fig. 1, the angle measurement method of the millimeter wave radar in the present embodiment may include:
s101, obtaining multi-frame measurement data collected by the multichannel millimeter wave radar, wherein each frame of measurement data comprises multichannel subdata.
The main execution body of the method in this embodiment may be a signal processing unit of the multichannel millimeter wave radar, or may be a processor (for example, an onboard processor) of a movable platform carrying the multichannel millimeter wave radar, that is, the multichannel millimeter wave radar receives multiple frames of measurement data and then sends the multiple frames of measurement data to the processor of the movable platform, and the processor of the movable platform performs data processing to obtain an angle measurement result.
In this embodiment, the probe signal transmitted by the transmitting channel uses a predetermined number of chirp signals (chirp signals) as a frame of data, as shown in fig. 2, and accordingly, a predetermined number of echo signals received by the multiple receiving channels can be used as a frame of measurement data, that is, each frame of measurement data includes sub-data of multiple channels.
And S102, acquiring multi-channel target distance information and target speed information according to each frame of measurement data.
In this embodiment, the measurement data of the millimeter wave radar generally includes two-dimensional information, that is, target distance information and target speed information, and the multi-channel target distance information and target speed information may be obtained by performing two-dimensional fourier transform on the distance dimension and the speed dimension on each frame of measurement data.
Specifically, for any frame of measurement data, performing two-dimensional Fourier transform on the subdata of each channel of the measurement data respectively to obtain single-channel target distance information and single-channel target speed information; and acquiring multi-channel target distance information and target speed information according to the target distance information and the target speed information of each channel.
In this embodiment, Fast Fourier Transform (FFT) is performed on the sub-data of each channel in the distance dimension, which is equivalent to performing focusing on the distance dimension on the signal, and target distance information can be obtained; because one frame of measurement data comprises a plurality of frequency modulation continuous wave signals which form data of speed dimension, after the data is subjected to fast Fourier transform, a two-dimensional result of distance and speed can be obtained, wherein the abscissa and the ordinate are the distance and the speed respectively, and target distance information and target speed information can be obtained from the two-dimensional result of the distance and the speed.
Step S103, performing multi-frame superposition processing according to multi-channel target distance information and target speed information of multi-frame measurement data with preset frame numbers, and obtaining an angle measurement result.
In the embodiment, multi-frame superposition processing is performed by combining multi-frame measurement data, that is, the angle measurement result is obtained according to multi-channel target distance information and target speed information of multi-frame measurement data with preset frames, and the angle measurement result is less influenced by the single-frame data, so that the influence of an error of the single-frame measurement data generated by noise on the angle measurement result is reduced, and the angle measurement precision and the robustness of the millimeter wave radar are improved. The multi-frame measurement data with the preset frame number is adjacent multi-frame measurement data.
In an alternative embodiment, as shown in fig. 3, the performing multi-frame stacking processing according to the target distance information and the target speed information of multiple channels of the multi-frame measurement data with preset number of frames in step S103 to obtain the angle measurement result may specifically include:
step S201, acquiring a beam forming result according to multi-channel target distance information and target speed information of each frame of measurement data;
step S202, performing incoherent superposition on the beam forming result corresponding to the multi-frame measurement data with the preset frame number, obtaining the peak position in the incoherent superposition result, and taking the angle corresponding to the peak position as the angle measurement result.
In this embodiment, a beam forming result can be obtained by performing beam forming on multi-channel target distance information and target speed information of a frame of measurement data, where the beam forming process is a conventional beam forming method and is not described herein again. After the beam forming result of each frame is obtained, performing incoherent superposition on the beam forming results of the multi-frame measurement data with preset frame numbers, namely summing amplitudes corresponding to the same angle in the multiple beam forming results to further obtain an incoherent superposition result, wherein in the incoherent superposition result, the angle corresponding to the peak position is used as the angle measurement result. In the prior art, when only an angle corresponding to a peak position in a beam forming result of a single-frame measurement result is used as an angle measurement result, single-frame measurement data is easily affected by noise due to low angle resolution, the beam forming result of the single-frame measurement data has a certain error under the influence of the noise, and the accuracy and robustness of the angle measurement result obtained only according to the single-frame measurement data are poor; in the method, the beam forming results of the multi-frame measurement data are subjected to incoherent superposition, and even if an error exists in a certain wave velocity forming result, the influence on the incoherent superposition result is small, so that the signal-to-noise ratio is improved, and the accuracy and the robustness of angle measurement are improved.
In another alternative embodiment, as shown in fig. 4, the performing multi-frame superposition processing on the target distance information and the target speed information of multiple channels of the multi-frame measurement data with preset number of frames in step S103 to obtain the angle measurement result specifically may include:
s301, acquiring snapshot data according to multi-channel target distance information and target speed information of each frame of measurement data;
step S302, performing spectrum estimation on snap-shot data delivery corresponding to the multi-frame measurement data with the preset frame number, acquiring a peak position in a spectrum estimation result, and taking an angle corresponding to the peak position as the angle measurement result.
In this embodiment, snapshot data may be obtained according to target distance information and target speed information of multiple channels of each frame of measurement data, so that multiple frames of measurement data may obtain multiple pieces of snapshot data, and a spectrum estimation result, that is, an energy distribution (power spectrum) of a signal in each direction of a space may be obtained by performing spectrum estimation on the snapshot data, where a spectrum estimation process may adopt a conventional method and is not described herein again. And taking the angle corresponding to the peak position as the angle measurement result by acquiring the peak position in the spectrum estimation result. In the embodiment, the number of snapshot data is increased, so that the influence on the angle measurement result is avoided to be large when an error exists in certain snapshot data, and the precision and robustness of angle measurement through spectrum estimation are improved.
In the angle measurement method for the millimeter wave radar provided by the embodiment, multiple frames of measurement data collected by a multichannel millimeter wave radar are obtained, wherein each frame of measurement data comprises multichannel sub-data; acquiring multi-channel target distance information and target speed information according to each frame of measurement data; and obtaining an angle measurement result according to the multi-channel target distance information and the target speed information of the multi-frame measurement data with preset frame numbers. The embodiment carries out angle measurement by combining multi-frame measurement data, can avoid great influence on an angle measurement result caused by errors of single-frame measurement data, and can improve the angle measurement precision and robustness of the millimeter wave radar.
On the basis of any of the above embodiments, the angle measurement method of the millimeter wave radar may further include:
and determining the preset frame number according to the resolution unit and/or the target speed of the multichannel millimeter wave radar.
In this embodiment, since the angle measurement result needs to be obtained by combining the multi-frame measurement data with the preset frame number, the angle of the target object changes in real time, and the multi-frame measurement data is time-efficient, if the angle of the target object is changed greatly when the first frame measurement data is obtained relative to the angle of the target object when the last frame measurement data is obtained in the multi-frame measurement data with the preset frame number, the error of the angle measurement result is likely to be large, and therefore a proper preset frame number needs to be determined, and the error of the large angle measurement result caused by the above situation is avoided. In the above situation, it can be seen that, if the moving speed of the target object is greater, the preset number of frames can be reduced; in addition, if the resolution of the millimeter wave radar is high (the resolution unit is small), the target object can be detected with a small angle change, and the preset frame number also needs to be reduced.
On the basis of any one of the above embodiments, after acquiring the multi-frame measurement data acquired by the multichannel millimeter wave radar, the method further includes:
and for any frame of measurement data, performing amplitude-phase consistency correction on the subdata of each channel.
In this embodiment, due to discreteness and nonlinearity of radio frequency devices such as the whole receiving channel (including high-level amplifier, mixer, and medium-level amplifier) of the multichannel millimeter wave radar or due to changes in time, temperature, and environment and aging of the devices, characteristics of the receiving channels may be inconsistent, so that amplitude and phase errors exist between the multiple receiving channels, and radar angle measurement accuracy and anti-interference capability are reduced.
Further, as shown in fig. 5, the performing amplitude-phase consistency correction on the sub-data of each channel may specifically include:
step S401, taking any one of multiple channels as a reference channel, and acquiring the amplitude difference and the phase difference of each of the other channels relative to the reference channel;
step S402, obtaining amplitude-phase difference parameters of each channel relative to the reference channel according to the amplitude difference and the phase difference of each other channel relative to the reference channel, and performing amplitude-phase consistency correction on the subdata of each channel according to the amplitude-phase difference parameters.
In this embodiment, a reference channel is first determined from a plurality of receiving channels, where the reference channel may be any one of the plurality of receiving channels, and then an amplitude difference and a phase difference of each of the remaining channels with respect to the reference channel may be obtained by comparing amplitudes and phases of the remaining channels with the reference channel, and further, for any one of the remaining channels, an amplitude-phase difference parameter of each of the remaining channels with respect to the reference channel may be obtained according to the amplitude difference and the phase difference between the channel and the reference channel, and then amplitude-phase compensation is performed on sub-data of the channel according to the amplitude-phase difference parameter, so that the sub-data of the channel and the sub-data of the reference channel keep consistent in amplitude and phase.
Specifically, assume that the subdata of the channel n is s, and the amplitude difference between the channel and the reference channel is ρnWith a phase difference of
Obtaining a magnitude-phase difference parameter through the following formula:
performing amplitude-phase compensation on the subdata s of the channel n by the following formula:
by carrying out amplitude-phase consistency correction on each channel, the amplitude and phase of the subdata of the plurality of channels can be kept consistent, and the angle measurement precision of the multichannel millimeter wave radar can be further improved.
The embodiment of the invention provides a millimeter wave radar. Fig. 6 is a structural diagram of a millimeter-wave radar according to an embodiment of the present invention, and as shown in fig. 6, the millimeter-wave radar 50 includes a plurality of transmitting channels 51, a plurality of receiving channels 52, a memory 53, and a processor 53.
The plurality of transmitting channels 51 and the plurality of receiving channels 52 are used for collecting measurement data;
the memory 53 is used for storing program codes;
the processor 54 calls the program code, and when the program code is executed, performs the following:
acquiring multi-frame measurement data acquired by a multi-channel millimeter wave radar, wherein each frame of measurement data comprises multi-channel subdata;
acquiring multi-channel target distance information and target speed information according to each frame of measurement data;
and performing multi-frame superposition processing according to multi-channel target distance information and target speed information of multi-frame measurement data with preset frame numbers to obtain an angle measurement result.
Optionally, when the processor 54 performs multi-frame stacking processing according to multi-channel target distance information and target speed information of multi-frame measurement data with preset number of frames, and obtains an angle measurement result, the processor 54 is configured to:
acquiring a beam forming result according to the multi-channel target distance information and the target speed information of each frame of measurement data;
and performing incoherent superposition on the beam forming result corresponding to the multi-frame measurement data with the preset frame number to obtain the peak position in the incoherent superposition result, and taking the angle corresponding to the peak position as the angle measurement result.
Optionally, when the processor 54 performs multi-frame stacking processing according to multi-channel target distance information and target speed information of multi-frame measurement data with preset number of frames, and obtains an angle measurement result, the processor 54 is configured to:
acquiring snapshot data according to the multi-channel target distance information and target speed information of each frame of measurement data;
and superposing corresponding snapshot data of the multi-frame measurement data with the preset frame number for spectrum estimation, acquiring a peak position in a spectrum estimation result, and taking an angle corresponding to the peak position as the angle measurement result.
On the basis of any one of the above embodiments, the millimeter wave radar is a frequency modulated continuous wave radar.
Further, when the processor 54 obtains the target distance information and the target speed information of multiple channels according to each frame of measurement data, the processor 54 is configured to:
for any frame of measured data, performing two-dimensional Fourier transform on the subdata of each channel of the measured data to acquire single-channel target distance information and single-channel target speed information;
and acquiring multi-channel target distance information and target speed information according to the target distance information and the target speed information of each channel.
On the basis of any of the above embodiments, the processor 54 is further configured to:
and determining the preset frame number according to the resolution unit and/or the target speed of the multichannel millimeter wave radar.
On the basis of any of the above embodiments, after the processor 54 acquires the multiple frames of measurement data collected by the multichannel millimeter wave radar, the processor 54 is further configured to:
and for any frame of measurement data, performing amplitude-phase consistency correction on the subdata of each channel.
Further, when the processor 54 performs amplitude consistency correction on the sub data of each channel, the processor 54 is configured to:
taking any one of multiple channels as a reference channel, and acquiring the amplitude difference and the phase difference of each of the rest channels relative to the reference channel;
and obtaining amplitude-phase difference parameters of each channel relative to the reference channel according to the amplitude difference and the phase difference of the rest channels relative to the reference channel, and performing amplitude-phase consistency correction on the subdata of each channel according to the amplitude-phase difference parameters.
On the basis of any of the above embodiments, the millimeter wave radar further includes a communication interface 55 for sending or receiving instructions or data.
The specific principle and implementation of the millimeter wave radar provided by the embodiment of the present invention are similar to those of the above embodiments, and are not described herein again.
In the millimeter wave radar provided by this embodiment, multiple frames of measurement data collected by a multichannel millimeter wave radar are obtained, where each frame of measurement data includes multiple channels of subdata; acquiring multi-channel target distance information and target speed information according to each frame of measurement data; and obtaining an angle measurement result according to the multi-channel target distance information and the target speed information of the multi-frame measurement data with preset frame numbers. The embodiment carries out angle measurement by combining multi-frame measurement data, can avoid great influence on an angle measurement result caused by errors of single-frame measurement data, and can improve the angle measurement precision and robustness of the millimeter wave radar.
The embodiment of the invention provides a movable platform. The movable platform comprises a machine body, a power system and the millimeter wave radar in the embodiment; the power system is arranged on the machine body and used for providing power.
Further, the movable platform comprises at least one of: vehicles, unmanned aerial vehicles, mobile robots. Of course, for the unmanned aerial vehicle and the mobile robot, the fuselage can be the fuselage of the unmanned aerial vehicle and the mobile robot, and the power system is installed on the fuselage; in the case of a vehicle, the above-mentioned body may be a body of the vehicle, or a frame support portion such as a body and a chassis, and the power system is mounted on the body of the vehicle.
The specific principle and implementation of the movable platform provided by the embodiment of the present invention are similar to those of the above embodiments, and are not described herein again.
Another embodiment of the present invention provides a movable platform. The movable platform comprises a machine body, a power system, a millimeter wave radar, a memory and a processor; the power system is arranged on the machine body and used for providing power; the millimeter wave radar is arranged on the machine body, comprises a plurality of transmitting channels and a plurality of receiving channels and is used for collecting measurement data; the memory is used for storing program codes; the processor calls the program code, and when the program code is executed, the processor performs the following:
acquiring multi-frame measurement data acquired by a multi-channel millimeter wave radar, wherein each frame of measurement data comprises multi-channel subdata;
acquiring multi-channel target distance information and target speed information according to each frame of measurement data;
and obtaining an angle measurement result according to the multi-channel target distance information and the target speed information of the multi-frame measurement data with preset frame numbers.
Further, the movable platform comprises at least one of: vehicles, unmanned aerial vehicles, mobile robots. Of course, for the unmanned aerial vehicle and the mobile robot, the fuselage can be the fuselage of the unmanned aerial vehicle and the mobile robot, and the power system is installed on the fuselage; in the case of a vehicle, the above-mentioned body may be a body of the vehicle, or a frame support portion such as a body and a chassis, and the power system is mounted on the body of the vehicle.
When the movable platform is in the form of an unmanned aerial vehicle, a movable robot or other robots, the processor included in the movable platform can be a central processing unit mounted in the robot, such as a flight control chip, a neural network chip and the like; when the movable platform is a larger device such as a vehicle, the processor included in the movable platform may be a processing platform mounted in the vehicle or the like, such as an ECU of an autonomous vehicle, a super computing platform, or the like, and is not limited to a processor understood in the conventional sense.
The millimeter wave radar provided by the embodiment of the invention can be used for only transmitting and receiving signals, collecting detection data or carrying out primary processing on the detection data. After the millimeter wave radar obtains the detection data, the detection data can be transmitted to the processor on the movable platform, and the processor of the movable platform can perform subsequent processing on the detection data.
The specific principle and implementation of the movable platform provided by the embodiment of the present invention are similar to those of the above embodiments, and are not described herein again.
In addition, the present embodiment also provides a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the angle measurement method of the millimeter wave radar described in the above embodiment.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (28)
1. An angle measurement method of a millimeter wave radar, characterized by comprising:
acquiring multi-frame measurement data acquired by a multi-channel millimeter wave radar, wherein each frame of measurement data comprises multi-channel subdata;
acquiring multi-channel target distance information and target speed information according to each frame of measurement data;
and performing multi-frame superposition processing according to multi-channel target distance information and target speed information of multi-frame measurement data with preset frame numbers to obtain an angle measurement result.
2. The method according to claim 1, wherein the obtaining the angle measurement result by performing multi-frame superposition processing on the target distance information and the target speed information of multiple channels of the multi-frame measurement data with preset number of frames comprises:
acquiring a beam forming result according to the multi-channel target distance information and the target speed information of each frame of measurement data;
and performing incoherent superposition on the beam forming result corresponding to the multi-frame measurement data with the preset frame number to obtain the peak position in the incoherent superposition result, and taking the angle corresponding to the peak position as the angle measurement result.
3. The method according to claim 1, wherein the obtaining the angle measurement result by performing multi-frame superposition processing on the target distance information and the target speed information of multiple channels of the multi-frame measurement data with preset number of frames comprises:
acquiring snapshot data according to the multi-channel target distance information and target speed information of each frame of measurement data;
and superposing corresponding snapshot data of the multi-frame measurement data with the preset frame number for spectrum estimation, acquiring a peak position in a spectrum estimation result, and taking an angle corresponding to the peak position as the angle measurement result.
4. A method according to any one of claims 1 to 3, wherein the millimeter wave radar is a frequency modulated continuous wave radar.
5. The method of claim 4, wherein the obtaining target distance information and target speed information of multiple channels according to each frame of measurement data comprises:
for any frame of measured data, performing two-dimensional Fourier transform on the subdata of each channel of the measured data to acquire single-channel target distance information and single-channel target speed information;
and acquiring multi-channel target distance information and target speed information according to the target distance information and the target speed information of each channel.
6. The method of claim 1, further comprising:
and determining the preset frame number according to the resolution unit and/or the target speed of the multichannel millimeter wave radar.
7. The method according to claim 1, wherein after acquiring the multi-frame measurement data collected by the multichannel millimeter wave radar, the method further comprises:
and for any frame of measurement data, performing amplitude-phase consistency correction on the subdata of each channel.
8. The method of claim 7, wherein the amplitude consistency correction of the sub-data of each channel comprises:
taking any one of multiple channels as a reference channel, and acquiring the amplitude difference and the phase difference of each of the rest channels relative to the reference channel;
and obtaining amplitude-phase difference parameters of each channel relative to the reference channel according to the amplitude difference and the phase difference of the rest channels relative to the reference channel, and performing amplitude-phase consistency correction on the subdata of each channel according to the amplitude-phase difference parameters.
9. A millimeter wave radar, comprising: a plurality of transmit channels, a plurality of receive channels, a memory, and a processor;
the plurality of transmitting channels and the plurality of receiving channels are used for collecting measurement data;
the memory is used for storing program codes;
the processor calls the program code, and when the program code is executed, performs the following:
acquiring multi-frame measurement data acquired by a multi-channel millimeter wave radar, wherein each frame of measurement data comprises multi-channel subdata;
acquiring multi-channel target distance information and target speed information according to each frame of measurement data;
and obtaining an angle measurement result according to the multi-channel target distance information and the target speed information of the multi-frame measurement data with preset frame numbers.
10. The apparatus according to claim 9, wherein when the processor performs multi-frame superimposition processing on the basis of target distance information and target speed information of multiple channels of multi-frame measurement data of a preset number of frames to obtain an angle measurement result, the processor is configured to:
acquiring a beam forming result according to the multi-channel target distance information and the target speed information of each frame of measurement data;
and performing incoherent superposition on the beam forming result corresponding to the multi-frame measurement data with the preset frame number to obtain the peak position in the incoherent superposition result, and taking the angle corresponding to the peak position as the angle measurement result.
11. The apparatus according to claim 9, wherein when the processor performs multi-frame superimposition processing on the basis of target distance information and target speed information of multiple channels of multi-frame measurement data of a preset number of frames to obtain an angle measurement result, the processor is configured to:
acquiring snapshot data according to the multi-channel target distance information and target speed information of each frame of measurement data;
and superposing corresponding snapshot data of the multi-frame measurement data with the preset frame number for spectrum estimation, acquiring a peak position in a spectrum estimation result, and taking an angle corresponding to the peak position as the angle measurement result.
12. The apparatus of any of claims 9-11, wherein the millimeter wave radar is a frequency modulated continuous wave radar.
13. The apparatus of claim 12, wherein when the processor obtains target distance information and target velocity information for multiple channels from each frame of measurement data, the processor is configured to:
for any frame of measured data, performing two-dimensional Fourier transform on the subdata of each channel of the measured data to acquire single-channel target distance information and single-channel target speed information;
and acquiring multi-channel target distance information and target speed information according to the target distance information and the target speed information of each channel.
14. The device of claim 9, wherein the processor is further configured to:
and determining the preset frame number according to the resolution unit and/or the target speed of the multichannel millimeter wave radar.
15. The device of any of claims 9, wherein after the processor acquires the plurality of frames of measurement data collected by the multichannel millimeter wave radar, the processor is further configured to:
and for any frame of measurement data, performing amplitude-phase consistency correction on the subdata of each channel.
16. The device of claim 15, wherein, when the processor performs amplitude consistency correction on the sub-data of each channel, the processor is configured to:
taking any one of multiple channels as a reference channel, and acquiring the amplitude difference and the phase difference of each of the rest channels relative to the reference channel;
and obtaining amplitude-phase difference parameters of each channel relative to the reference channel according to the amplitude difference and the phase difference of the rest channels relative to the reference channel, and performing amplitude-phase consistency correction on the subdata of each channel according to the amplitude-phase difference parameters.
17. A movable platform, comprising:
a body;
the power system is arranged on the machine body and used for providing power; and
a millimeter wave radar according to any of claims 9 to 16.
18. The movable platform of claim 17, wherein the movable platform comprises at least one of:
vehicles, unmanned aerial vehicles, mobile robots.
19. A movable platform, comprising:
a body;
the power system is arranged on the machine body and used for providing power;
the millimeter wave radar is arranged on the machine body, comprises a plurality of transmitting channels and a plurality of receiving channels and is used for acquiring measurement data;
a memory for storing program code;
a processor calling the program code, the program code when executed operable to:
acquiring multi-frame measurement data acquired by a multi-channel millimeter wave radar, wherein each frame of measurement data comprises multi-channel subdata;
acquiring multi-channel target distance information and target speed information according to each frame of measurement data;
and obtaining an angle measurement result according to the multi-channel target distance information and the target speed information of the multi-frame measurement data with preset frame numbers.
20. The movable platform of claim 19, wherein when the processor performs multi-frame superposition processing according to target distance information and target speed information of multiple channels of multi-frame measurement data of a preset number of frames to obtain an angle measurement result, the processor is configured to:
acquiring a beam forming result according to the multi-channel target distance information and the target speed information of each frame of measurement data;
and performing incoherent superposition on the beam forming result corresponding to the multi-frame measurement data with the preset frame number to obtain the peak position in the incoherent superposition result, and taking the angle corresponding to the peak position as the angle measurement result.
21. The movable platform of claim 19, wherein when the processor performs multi-frame superposition processing according to target distance information and target speed information of multiple channels of multi-frame measurement data of a preset number of frames to obtain an angle measurement result, the processor is configured to:
acquiring snapshot data according to the multi-channel target distance information and target speed information of each frame of measurement data;
and superposing corresponding snapshot data of the multi-frame measurement data with the preset frame number for spectrum estimation, acquiring a peak position in a spectrum estimation result, and taking an angle corresponding to the peak position as the angle measurement result.
22. A movable platform according to any of claims 19-21, wherein the millimeter wave radar is a frequency modulated continuous wave radar.
23. The movable platform of claim 22, wherein, when the processor obtains target distance information and target velocity information for multiple passes from each frame of measurement data, the processor is configured to:
for any frame of measured data, performing two-dimensional Fourier transform on the subdata of each channel of the measured data to acquire single-channel target distance information and single-channel target speed information;
and acquiring multi-channel target distance information and target speed information according to the target distance information and the target speed information of each channel.
24. The movable platform of claim 19, wherein the processor is further configured to:
and determining the preset frame number according to the resolution unit and/or the target speed of the multichannel millimeter wave radar.
25. The movable platform of any one of claims 19, wherein after the processor acquires multiple frames of measurement data collected by a multichannel millimeter wave radar, the processor is further configured to:
and for any frame of measurement data, performing amplitude-phase consistency correction on the subdata of each channel.
26. The movable platform of claim 25, wherein, in the performing of the amplitude consistency correction on the sub-data of each channel by the processor, the processor is configured to:
taking any one of multiple channels as a reference channel, and acquiring the amplitude difference and the phase difference of each of the rest channels relative to the reference channel;
and obtaining amplitude-phase difference parameters of each channel relative to the reference channel according to the amplitude difference and the phase difference of the rest channels relative to the reference channel, and performing amplitude-phase consistency correction on the subdata of each channel according to the amplitude-phase difference parameters.
27. The movable platform of claim 19, wherein the movable platform comprises at least one of:
vehicles, unmanned aerial vehicles, mobile robots.
28. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-8.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2019/076515 WO2020172859A1 (en) | 2019-02-28 | 2019-02-28 | Angle measurement method and device of millimeter-wave radar, and storage medium |
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| CN201980005381.3A Pending CN111295596A (en) | 2019-02-28 | 2019-02-28 | Method and device for measuring angle of millimeter wave radar and storage medium |
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