CN111337892A - Radar automatic calibration and calibration method and system - Google Patents
Radar automatic calibration and calibration method and system Download PDFInfo
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- CN111337892A CN111337892A CN202010221232.5A CN202010221232A CN111337892A CN 111337892 A CN111337892 A CN 111337892A CN 202010221232 A CN202010221232 A CN 202010221232A CN 111337892 A CN111337892 A CN 111337892A
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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
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Abstract
The invention discloses a radar automatic calibration and calibration method and a system, wherein the system comprises the following steps: the radar calibration platform comprises a rail car, a radar support and a laser ranging sensor, wherein the rail car comprises a servo controller and a traveling wheel, and the servo controller is used for controlling the traveling wheel to enable the radar calibration platform to move on the test track; the radar bracket is arranged on the rail car and used for bearing a radar; the laser distance measuring sensor is used for measuring the laser distance between the laser distance measuring sensor and the reflecting panel; and the calculation control device receives the distance between the radar and the reflecting panel and the laser distance measured by the radar, and feeds the distance back to the radar for calibration. By adopting the scheme, the radar calibration automation can be realized, and manual participation is not needed; the accuracy of radar calibration is improved, and the calibrated radar can reach the product performance of the factory standard.
Description
Technical Field
The invention relates to the field of radar calibration, in particular to an automatic calibration and calibration method and system for a radar.
Background
In the production process of radar products, the calibration and the production test verification of the products are important links for the technical standard reaching and the quality control of the products, and have important influences on the production cost, the production efficiency and the delivery cycle of the products.
The factory test of the radar product needs to calibrate and calibrate the product parameters according to the specific radar model so as to achieve the product performance of the factory standard. In the prior art, the above processes usually adopt manual operation or manual participation operation, the steps are complicated, the labor cost is high, the calibration and calibration accuracy is difficult to guarantee, in addition, data cannot be synchronously and electronically filed and stored, and the workload is increased in post-processing, query and the like.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a method and a system for calibrating radar automatic calibration.
The technical scheme is as follows: the embodiment of the invention provides an automatic calibration and calibration system for a radar, which comprises: electromagnetic shield room, test track, reflection panel, calculation controlling means and radar calibration platform, wherein:
the inner surface of the electromagnetic shielding chamber is provided with a microwave absorbing material, and the test track, the reflection panel and the radar calibration platform are all arranged in the electromagnetic shielding chamber;
the test track comprises at least two tracks and a bracket for supporting the tracks;
the radar calibration platform comprises a rail car, a radar support and a laser ranging sensor, wherein the rail car comprises a servo controller and a traveling wheel, and the servo controller is used for controlling the traveling wheel to enable the radar calibration platform to move on a test track; the radar bracket is arranged on the rail car and used for bearing a radar; the laser ranging sensor is used for measuring the laser distance between the laser ranging sensor and the reflecting panel;
the reflection panel is arranged facing the radar calibration platform;
and the calculation control device is used for respectively controlling the distance between the radar and the reflection panel measured by the laser ranging sensor when the radar calibration platform reaches the specified position, and feeding back the distance and the laser distance between the radar and the reflection panel measured by the radar to the radar for calibration after receiving the distance and the laser distance between the radar and the reflection panel.
Specifically, the radar support is arranged in a range of a specified position, so that the distance measuring direction of the borne radar is opposite to the reflection panel, and the radar support is a flange-fixed radar testing support.
Specifically, the radar calibration platform includes: and if the deviation between the laser distances measured by the laser distance measuring sensors received by the calculation control device exceeds a distance deviation threshold value, the calculation control device sends out a corresponding prompt.
Specifically, the radar calibration platform further includes: the horizontal sensor is in communication connection with the calculation control device and is used for detecting the horizontal state of the target object, and if the deviation of the horizontal state of the target object exceeds a horizontal deviation threshold value, the calculation control device sends out a corresponding prompt; the target object comprises a radar and a laser ranging sensor.
Specifically, the support for supporting the track is a height adjusting support for adjusting the height of the track.
Specifically, the calculation control device fits the deviation between the distance between the radar at the plurality of designated positions and the reflection panel and the laser distance to obtain a calibration curve, and calibrates the radar according to the calibration curve.
The embodiment of the invention also provides an automatic radar calibration method, which is carried out by adopting the automatic radar calibration system in the embodiment and comprises the following steps:
the calculation control device carries out initialization adjustment according to the outputs of the laser ranging sensor, the radar and the level sensor and the type of the radar;
the servo controller controls the radar calibration platform to stop at the designated position in sequence, and when the radar calibration platform reaches the designated position, the calculation control device receives the laser distance measured by each laser ranging sensor and the distance measured by the radar;
after the radar calibration platform finishes the preset calibration range, the calculation control device integrates the laser distances at the designated positions to obtain a standard distance;
and fitting the deviation between the distance measured by the radar at each specified position and the corresponding standard distance to obtain a calibration curve, and calibrating the radar according to the calibration curve.
Specifically, the calculation control device performs initialization adjustment including distance correction, calibration range setting, designated position setting, data record preparation and horizontal state adjustment; the calibration range setting is related to the radar ranging range;
wherein the step of specifying the position setting comprises:
dividing a first calibration range and a second calibration range according to the radar model; the first calibration range is a key range of the radar;
and uniformly setting the designated positions in the first calibration range and the designated positions in the second calibration range according to the distance, wherein the number of the designated positions in the first calibration range is more than 1.5 times that of the designated positions in the second calibration range.
Specifically, after the calculation control device calculates the average value of the laser distance at each designated position, the average value within the preset range is taken one by one to carry out error correction through the error correction function, so that the standard distance at each designated position is obtained.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: the radar calibration is automatic, and manual participation is not needed; the accuracy of radar calibration is improved, and the calibrated radar can reach the product performance of the factory standard.
Drawings
Fig. 1 is a schematic diagram of an overall structure of an automatic calibration and calibration system for a radar provided in an embodiment of the present invention;
FIG. 2 is a side view and a rear view of an automated calibration and calibration system for a radar provided in an embodiment of the present invention;
FIG. 3 is a side elevation view of an automated calibration system for a radar provided in an embodiment of the present invention;
FIG. 4 is a front side view of a radar calibration platform provided in an embodiment of the present invention;
FIG. 5 is a structural view of a railcar provided in an embodiment of the present invention;
FIG. 6 is a diagram of a universal radar test stand according to an embodiment of the present invention;
fig. 7 is a structural diagram of a flange-mounted radar test mount provided in an embodiment of the present invention;
fig. 8 is an exploded view of a track web and a bracket provided in an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
Referring to fig. 1, it is a schematic diagram of an overall structure of an automatic calibration and calibration system for radar according to an embodiment of the present invention; referring to fig. 2, a side view and a rear view of the radar automatic calibration system provided in the embodiment of the present invention are shown; referring to fig. 3, a side front view of the radar automatic calibration system provided in the embodiment of the present invention is shown; fig. 4 is a front side view of the radar calibration platform according to the embodiment of the present invention; fig. 5 is a structural view of the rail car according to the embodiment of the present invention.
The embodiment of the invention provides an automatic calibration and calibration system for a radar, which comprises: electromagnetic shield room, test track 2, reflecting panel 3, calculation controlling means and radar calibration platform 1, wherein:
the inner surface of the electromagnetic shielding chamber is provided with a microwave absorbing material, and the test track 2, the reflection panel 3 and the radar calibration platform 1 are all arranged in the electromagnetic shielding chamber;
the test track 2 comprises at least two tracks and a bracket for supporting the tracks;
the radar calibration platform 1 comprises a rail car, a radar support and a laser ranging sensor, wherein the rail car comprises a servo controller 28 and a traveling wheel, and the servo controller 28 is used for controlling the traveling wheel to enable the radar calibration platform to move on a test track; the radar bracket is arranged on the rail car and used for bearing a radar; the laser ranging sensor is used for measuring the laser distance between the laser ranging sensor and the reflecting panel;
the reflection panel is arranged facing the radar calibration platform;
and the calculation control device is used for respectively controlling the distance between the radar and the reflection panel measured by the laser ranging sensor when the radar calibration platform reaches the specified position, and feeding back the distance and the laser distance between the radar and the reflection panel measured by the radar to the radar for calibration after receiving the distance and the laser distance between the radar and the reflection panel.
In the embodiment of the present invention, the radar mount is arranged so that the distance measuring direction of the radar to be supported is directed to the reflection panel 3 within a range of a specified position.
In the concrete implementation, platform 1, test track 2 and reflecting panel 3 are markd to the radar and are located electromagnetic shield indoor portion, and electromagnetic shield indoor side, upside and downside (not shown in the figure) all can arrange absorbing material, constitute electromagnetic shield layer 4, constitute the microwave darkroom with whole electromagnetic shield room, provide electromagnetic shield environment, and isolated scattered electromagnetic signal improves the degree of accuracy of demarcation calibration to the interference of radar product test. Reflecting panel 3 sets up perpendicularly in the positive place ahead of platform is markd to the radar, and the reflecting panel size can surpass the radar and mark 1 peripheral scope of platform, guarantees that the transmitted wave of installing the radar on platform is markd to the radar can both be reflected by reflecting panel 3.
In specific implementation, the reflective panel 3 may be made of metal material to reflect laser and radar, so that the radar directly faces the reflective panel 3, and the radar calibration platform 1 directly faces the reflective panel 3, thereby avoiding distance measurement errors caused by other positions and improving calibration accuracy.
In the specific implementation, the main frame of the radar calibration platform 1 is a stable framework composed of an upper layer of # -shaped frame and a lower layer of # -shaped frame and 4 middle support columns 5, wherein the upper layer of # -shaped frame is composed of a frame transverse plate 6 connected with the support columns 5, a frame transverse plate 7, a frame vertical plate 8 and a frame vertical plate 9 which are fixed on the frame transverse plate 7 in parallel, the frame transverse plate 6 and the frame transverse plate 7 are simultaneously provided with a left side U-shaped bracket 10 and a right side U-shaped bracket 11 which have different depths, the two U-shaped brackets can be respectively fixed with a left side object placing mounting bracket 12 and a right side object placing bracket 13, a notebook computer or other devices with computing power can be placed on the object placing brackets to be used as software operation carriers (computing control devices) for controlling an interactive system, and other external devices such as a direct current power supply and a multifunctional power supply conversion plate are installed, the infrared laser ranging device is mainly characterized by comprising a frame transverse plate 14, a frame transverse plate 15, a frame vertical plate 16 and a frame vertical plate 17, wherein a rail car system is mainly assembled on a lower-layer # -shaped frame, two vertical upper mounting baffle plates 18 and two lower mounting baffle plates 19 are respectively fixed at the outer side positions of the frame transverse plate 7 and the frame transverse plate 15 at the front end part of the rail car, and a plurality of infrared laser ranging positioners 20 can be respectively installed at the outer sides of the two upper mounting baffle plates 18 and the inner sides of the two lower mounting baffle plates 19.
In the embodiment of the present invention, the radar calibration platform 1 further includes: the level sensor 22 is in communication connection with the calculation control device and is used for detecting the level state of the target object, and if the deviation of the level state of the target object exceeds a level deviation threshold value, the calculation control device sends out a corresponding prompt; the target object comprises a radar and a laser ranging sensor.
In concrete implementation, be fixed with preceding horizontal pole 21 on installing baffle 19 down, at its recess position, can imbed and installed level sensor 22, can all install level sensor 22 on two-layer frame diaphragm, frame vertical plate and the radar support about simultaneously, ensure that radar calibration platform 1 wholly keeps the level in installation and operation test process, guarantee its and horizontal orbital adaptation to can smooth and easy stable work operation, improve the degree of accuracy of calibrating.
In a specific implementation, the laser distance measured by the laser ranging sensor is a one-way distance between the laser ranging sensor and the reflection panel, and the deviation between the laser distance and the actual distance is small, so that calibration accuracy can be provided by calibrating the radar through the laser distance at the same specified position and the deviation between the distance measured by the radar and the reflection panel, wherein the specified position is determined before calibration.
In the embodiment of the invention, the radar support is a flange-fixed type radar test support 24.
In specific implementation, the universal radar test support 23 or the flange-fixed radar test support 24 can be mounted on two frame risers of the upper-layer # -shaped frame. Through two different supports, all kinds of level radar products can be assembled and fixed, and the test is put on the shelf. Wherein general type radar test support 23 can realize assembling side by side and the layer assembly of many sets of products, carries out the test of many sets of products of single batch time simultaneously, can greatly improve efficiency of software testing, and the advantage of full play automatic test satisfies the demand of volume production test, and flange mounting type radar test support 24 can improve the fixed stability of radar, guarantees to mark the degree of accuracy of calibration.
Fig. 6 is a structural diagram of a universal radar test bracket according to an embodiment of the present invention; fig. 7 is a structural diagram of a flange-mounted radar test bracket according to an embodiment of the present invention.
In specific implementation, the universal radar test bracket 23 is formed by matching a test bracket mounting plate 2301, a test bracket connecting column 2302 and test tools matched with various types of radars, and can be expanded by adopting a multilayer structure according to test requirements, so that simultaneous testing of multiple sets of parallel and layered radar products is realized; the flange fixing type radar test support 24 is composed of a flange fixing clamping plate 2401, a flange fixing clamping plate 2402 and a connecting bottom plate 2403, products with large fixing flange plates can be fixed on the upper frame for testing, the test support can be compatible with fixing flange plate sizes of various different models, and radar fixing stability is improved.
In a specific implementation, the rail 2 mainly includes a bracket 33, a rail support bracket 34, an angle iron rail 35, a rail connection plate 36, and an angle iron fixing plate 37. The angle iron track 35 is fixed on the track connecting plate 36 by an angle iron fixing plate 37 through screws, and one track connecting plate 36 is fixedly connected with two brackets 33. And a track support frame 34 is adopted to reinforce and support the track in the middle of each section of angle steel track 35. Support 33 and track support frame 34 can carry out the altitude mixture control, carry out the accuracy regulation through level bar and other measuring tool when whole track installation, make whole track 35 realize parallel placement and horizontal erection, overcome electromagnetic shield room ground flatness, leave out the space of laying electromagnetic shielding material (absorbing material), fill absorbing material with the bottom surface, among the track 2 embedding absorbing material, thereby furthest reduces the influence of bottom surface reflection clutter to radar calibration, and track 2 skew, the warpage scheduling problem that various probably appear such as structure processing error. A derailing guard bar is arranged on a rail connecting plate 36 at the foremost end of the rail 2, and the reflecting panel 3 is fixed on the rail connecting plate at the rearmost end, so that accidental derailment of the radar calibration platform 1 is prevented from occurring from two ends of the rail.
In a specific implementation, the reflective panel 3 may comprise nine flat steel plates 201, and the back of the metal plate comprises 6T-shaped plate members 202 for fixing the metal plate to the fixing bracket 203. The fixed bracket 203 comprises 4 bracket plates, and the bottom of the bracket plate is vertically fixed with the rail connecting plate 36 at the tail end of the rail. The upper fixing plate 2031 and the middle fixing plate 2032 are connected and fixed to two T-shaped plate members 202 at the middle position and the bottom position, respectively, and fix the fixing bracket 203 and the nine flat steel plates 201 together.
In a specific implementation, the rail car comprises two front traveling wheels 25, two rear traveling wheels 26, a servo motor 27, a servo controller 28, a battery pack 29, a power inverter 30 and a multistage transmission system. The two front road wheels 25 and the two rear road wheels 26 are secured to the lower frame cross plate 15 and the lower frame cross plate 14, respectively, by 4 identical suspension structures 32.
In the specific implementation, the driving shaft 31 in the multi-stage transmission system drives the two front driving wheels 25 through the left and right belts 49 respectively to drive the rail car to move and displace. A servo controller 28 is arranged at the bottom of the right article placing mounting frame 13, and a power inverter 30 is arranged on the left article placing mounting frame 12. The frame vertical plates 16 and 17 in the lower layer of the cross frame are respectively provided with symmetrical middle shaft support plates 38 for fixing the middle shaft of the central transmission gear. The battery pack mounting plate 39 can be selectively mounted on the middle shaft support plate, and is used for mounting and fixing different types of power batteries together with the extension battery pack mounting plate 50 which can be selectively mounted on the lower-layer framework.
In a specific implementation, the servo motor 27 is fixed on the motor fixing plate 41, and the transmission gear 40 is a gear sleeved on the rotating shaft of the servo motor 27. The central rotating shaft 43 is fixed with the mounting plate through a central rotating shaft fixer 42, the transmission gear 44 and the transmission gear 45 both use the central rotating shaft 43 as an axis, wherein the transmission gear 44 is driven by the transmission gear 40, simultaneously drives the central rotating shaft 43 and the transmission gear 45 to move, and then drives the main shaft 48 and the driving rotating shaft 31 which is integrally assembled with the main shaft 48 to rotate together through the transmission gear 46, and the main shaft 48 is fixed at the bottom of the vertical plate of the lower layer frame through the main shaft fixer. The driving rotating shaft 31 finally drives the front driving wheel 25 to move through the left belt 49 and the right belt 49 respectively, so that the displacement of the radar calibration platform 1 on the track 2 is realized. Through the multistage transmission system, the mode that adopts drive wheel (axle) group and belt pulley to link together servo motor and action wheel promptly, the transmission power adopts the coaxial speed reduction design of tertiary, and gear 44, 45 adopt with the coaxial mounting means of central pivot 43, compare the speed reduction design of three gears, have increased the drive ratio, bear the ability greatly increased also simultaneously of load, save installation space. The belt transmission has the characteristics of simple structure, stable transmission, low price, buffering, shock absorption and the like, the total transmission ratio can reach 1:10.5, the displacement of the whole radar calibration platform 1 is driven by a small motor, and the purposes of energy conservation, high efficiency and cost reduction are achieved.
Referring to fig. 8, an exploded view of the rail connection plate and the bracket according to the embodiment of the present invention is shown.
In the embodiment of the present invention, the support 33 for supporting the track is a height adjusting support for adjusting the height of the track.
In a specific embodiment, the bracket 33 is composed of a fixed plate 3301, a screw sleeve 3302, an adjusting nut 3303, an adjusting screw, 3304, and a connecting bolt 3305. Can control the horizontal position at track board connecting plate 36 both ends through adjusting screw 3304's altitude mixture control to adjust control to the horizontal position of whole track together with track support frame 34, this is to reducing the earlier stage construction requirement in track installation place, and the flexibility that improves track installation has important meaning, guarantees the degree of accuracy of radar calibration.
In an embodiment of the present invention, the radar calibration platform includes: and if the deviation between the laser distances measured by the laser distance measuring sensors received by the calculation control device exceeds a distance deviation threshold value, the calculation control device sends out a corresponding prompt.
In specific implementation, the deviation among a plurality of laser distances obtained at the same specified position exceeds a preset distance deviation threshold value, which indicates that the horizontal state or radar ranging direction of the radar calibration platform 1 and the radar calibration platform are just opposite to the reflection panel 3, and the radar calibration platform needs to be corrected, so that the accuracy of radar calibration is improved.
In the embodiment of the invention, the radar bracket is movably connected with the rail car, and if the deviation of the horizontal state of the radar exceeds a horizontal deviation threshold value, the calculation control device controls the radar bracket or/and the height adjusting bracket to adjust the position.
In specific implementation, position adjustment is carried out until the deviation between the horizontal state and the horizontal of the radar is smaller than a horizontal deviation threshold value; when the deviation between the laser distances exceeds a distance deviation threshold value, the calculation control device can also control the radar support to perform position adjustment until the deviation between the laser distances is smaller than the distance deviation threshold value.
In the embodiment of the invention, the calculation control device fits the deviation between the distance between the radar and the reflecting panel and the laser distance measured by the radar at a plurality of designated positions to obtain a calibration curve, and calibrates the radar according to the calibration curve.
In specific implementation, under ideal conditions of a laboratory in which a microwave absorbing material is arranged in an electromagnetic shielding chamber, a laser distance measured by laser and a distance value obtained after processing the laser distance are very close to an actual distance and can be used as a reference for calibration and calibration.
In a specific implementation, in the case that a plurality of laser ranging sensors exist, laser distances at the same designated position may be integrated, for example, an average value is calculated, so as to avoid inaccuracy of a result caused by an error of a certain laser ranging sensor, and then a deviation for fitting is calculated. The calibration curve obtained by fitting represents the corresponding relationship between the distance measured by the radar and the calibration distance (or the average value calculated by the laser distance), the distance measured by the radar can determine the corresponding calibration distance through the corresponding relationship of the calibration curve in practical application, and after the calculation such as addition or subtraction is carried out between the measured distance and the calibration distance, the radar can output the calibrated distance value which is very close to the real distance.
The embodiment of the invention also provides an automatic radar calibration method, which is carried out by adopting the automatic radar calibration system in the embodiment and comprises the following steps:
the calculation control device carries out initialization adjustment according to the outputs of the laser ranging sensor, the radar and the level sensor and the type of the radar;
the servo controller controls the radar calibration platform to stop at the designated position in sequence, and when the radar calibration platform reaches the designated position, the calculation control device receives the laser distance measured by each laser ranging sensor and the distance measured by the radar;
after the radar calibration platform finishes the preset calibration range, the calculation control device integrates the laser distances at the designated positions to obtain a standard distance;
and fitting the deviation between the distance measured by the radar at each specified position and the corresponding standard distance to obtain a calibration curve, and calibrating the radar according to the calibration curve.
In the implementation, the outputs of the laser ranging sensor, the radar and the level sensor respectively refer to the laser distance measured by the laser ranging sensor, the distance measured by the radar and the level state measured by the level sensor. And initializing, namely adjusting the radar automatic calibration and calibration system to a state capable of performing calibration and calibration, and adjusting a horizontal state, the deviation between laser distances, the radar ranging direction over a reflecting panel and the like until corresponding requirements are met.
In the embodiment of the invention, the calculation control device performs initialization adjustment including distance correction, calibration range setting, designated position setting, data record preparation and horizontal state adjustment.
In the specific implementation, the distance correction means that the distance deviation between the radar position and the laser ranging sensor position in the initial state is corrected, so that inaccuracy of calibration caused by the inaccuracy is avoided.
In specific implementation, the calibration range setting is related to the radar ranging range, and the ranging ranges of different radar models are different, so that the corresponding calibration range can be determined according to different radar models.
In the specific implementation, the data record preparation refers to recording data information (designated position, laser distance, distance measured by radar, fitting curve and the like) generated in the calibration and calibration process, and can be used for electronic filing and storage, so as to facilitate post-processing and query.
In specific implementation, the horizontal state adjustment can be realized by adjusting the radar bracket to meet corresponding requirements.
In the embodiment of the present invention, the step of setting the designated position includes:
dividing a first calibration range and a second calibration range according to the radar model; the first calibration range is a key range of the radar;
and uniformly setting the designated positions in the first calibration range and the designated positions in the second calibration range according to the distance, wherein the number of the designated positions in the first calibration range is more than 1.5 times that of the designated positions in the second calibration range.
In specific implementation, because the ranging ranges of the radars of different models are different, and the corresponding key ranging ranges are also different, in order to further improve the calibration accuracy in practical application, more designated positions can be set in the key ranging ranges, the spacing distances between adjacent designated positions in the first calibration range or the second calibration range are uniformly set according to the distances, and the calibration degree in the key ranging ranges is improved.
In the embodiment of the invention, after the calculation control device calculates the average value of the laser distance at each designated position, the average value in the preset range is taken one by one to carry out error correction through the error correction function, so that the standard distance at each designated position is obtained.
In specific implementation, in order to further improve the calibration accuracy and avoid the reduction of the calibration accuracy caused by the error of the laser ranging sensor, the calibration range can be divided into a plurality of range ranges (the length of the range ranges is preset), the average value of the laser distance at each designated position in each range is subjected to error correction through an error correction function to obtain a standard distance, and the standard distance is further close to the actual distance, so that the calibration accuracy can be improved.
Claims (10)
1. An automated calibration and calibration system for radar, comprising: electromagnetic shield room, test track, reflection panel, calculation controlling means and radar calibration platform, wherein:
the inner surface of the electromagnetic shielding chamber is provided with a microwave absorbing material, and the test track, the reflection panel and the radar calibration platform are all arranged in the electromagnetic shielding chamber;
the test track comprises at least two tracks and a bracket for supporting the tracks;
the radar calibration platform comprises a rail car, a radar support and a laser ranging sensor, wherein the rail car comprises a servo controller and a traveling wheel, and the servo controller is used for controlling the traveling wheel to enable the radar calibration platform to move on a test track; the radar bracket is arranged on the rail car and used for bearing a radar; the laser ranging sensor is used for measuring the laser distance between the laser ranging sensor and the reflecting panel;
the reflection panel is arranged facing the radar calibration platform;
and the calculation control device is used for respectively controlling the distance between the radar and the reflection panel measured by the laser ranging sensor when the radar calibration platform reaches the specified position, and feeding back the distance and the laser distance between the radar and the reflection panel measured by the radar to the radar for calibration after receiving the distance and the laser distance between the radar and the reflection panel.
2. The system for automatic calibration and calibration of radar according to claim 1, wherein the radar support is arranged to enable the range finding direction of the loaded radar to face the reflection panel within a range of specified positions, and the radar support is a flange-fixed type radar test support.
3. The system of claim 1, wherein the radar calibration platform comprises: and if the deviation between the laser distances measured by the laser distance measuring sensors received by the calculation control device exceeds a distance deviation threshold value, the calculation control device sends out a corresponding prompt.
4. The radar automated calibration system of claim 3, wherein the radar calibration platform further comprises: the horizontal sensor is in communication connection with the calculation control device and is used for detecting the horizontal state of the target object, and if the deviation of the horizontal state of the target object exceeds a horizontal deviation threshold value, the calculation control device sends out a corresponding prompt; the target object comprises a radar and a laser ranging sensor.
5. The system of claim 4, wherein the support for the track is a height adjustment support for adjusting the height of the track.
6. The automatic radar calibration and calibration system according to claim 5, wherein the radar support is movably connected with the rail car, and if the deviation of the horizontal state of the radar exceeds a horizontal deviation threshold value, the calculation control device controls the radar support or/and the height adjustment support to perform position adjustment.
7. The automatic calibration and calibration system for radar according to claim 6, wherein the calculation control device fits the measured distances from the reflection panel and the deviation between the laser distances of the radar at the plurality of designated positions to obtain a calibration curve, and calibrates the radar according to the calibration curve.
8. An automatic calibration method for radar, which is performed by the automatic calibration system for radar according to claim 7, comprising:
the calculation control device carries out initialization adjustment according to the outputs of the laser ranging sensor, the radar and the level sensor and the type of the radar;
the servo controller controls the radar calibration platform to stop at the designated position in sequence, and when the radar calibration platform reaches the designated position, the calculation control device receives the laser distance measured by each laser ranging sensor and the distance measured by the radar;
after the radar calibration platform finishes the preset calibration range, the calculation control device integrates the laser distances at the designated positions to obtain a standard distance;
and fitting the deviation between the distance measured by the radar at each specified position and the corresponding standard distance to obtain a calibration curve, and calibrating the radar according to the calibration curve.
9. The method of claim 8, wherein the performing initialization adjustments comprises:
the calculation control device performs initialization adjustment including distance correction, calibration range setting, designated position setting, data record preparation and horizontal state adjustment; the calibration range setting is related to the radar ranging range;
wherein the step of specifying the position setting comprises:
dividing a first calibration range and a second calibration range according to the radar model; the first calibration range is a key range of the radar;
and uniformly setting the designated positions in the first calibration range and the designated positions in the second calibration range according to the distance, wherein the number of the designated positions in the first calibration range is more than 1.5 times that of the designated positions in the second calibration range.
10. The method for calibrating radar automatic calibration according to claim 9, wherein the calculating and controlling device obtains the standard distance by integrating the laser distances at the designated positions, and comprises:
and after the calculation control device calculates the average value of the laser distance at each designated position, the average value within the preset range is taken one by one to carry out error correction through an error correction function, so that the standard distance at each designated position is obtained.
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| CN113670515A (en) * | 2021-07-20 | 2021-11-19 | 中车青岛四方机车车辆股份有限公司 | Load sensor calibration device and calibration method |
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| CN115656942A (en) * | 2022-09-20 | 2023-01-31 | 广东德赛矽镨技术有限公司 | Radar induction distance calibration and calibration device and method, radar makeup and memory |
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