CN111880152A - Multi-target multifunctional millimeter wave radar echo simulation dark box test system - Google Patents
Multi-target multifunctional millimeter wave radar echo simulation dark box test system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4086—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder in a calibrating environment, e.g. anechoic chamber
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Abstract
The invention provides a multi-target multifunctional millimeter wave radar echo simulation dark box test system which comprises a control unit, a radar echo simulator dark box connected with the control unit, an upper computer, a real-time machine system and a tested piece, wherein the upper computer is connected with the control unit; the upper computer is used for operating scene software, and building and displaying a test scene at a specific visual angle; the radar echo simulator dark box is used for realizing echo simulation of specified target information and radar in-loop test. According to the multi-target multifunctional millimeter wave radar echo simulation camera bellows test system, multiple signal input modes enable the system to carry out radar basic performance tests, scene software and millimeter wave radar hardware in-loop tests carried out by a real-time machine system are linked, simulation scenes are enlarged, a large number of real vehicle tests can be transferred to a laboratory simulator, automatic driving test verification cost is reduced, the utilization rate of a radar dial-back simulation camera bellows is improved, and quick verification of an automatic driving function is facilitated.
Description
Technical Field
The invention belongs to the field of automatic driving sensor simulation test and vehicle-mounted millimeter wave radar test, and particularly relates to a multi-target multifunctional millimeter wave radar echo simulation dark box test system.
Background
Millimeter wave radar for vehicles is a main sensor in Advanced Driving Assistance Systems (ADAS) and helps drivers to notice possible dangers in the shortest time by sensing the state information of surrounding targets, thereby attracting attention and improving safety. Millimeter wave radar for vehicles has been commonly used in Active Cruise Control (ACC), Blind Spot Detection (BSD), and line-tie assist (LCA) systems.
The target echo simulator of the millimeter wave radar for the vehicle is important instrument equipment for semi-physical simulation and test of the millimeter wave radar for the vehicle, can receive a transmitting signal of the radar in an air feed mode, analyze characteristic parameters of the transmitting signal and send an echo to the radar according to target information to be simulated, and is an important tool for research and development, production, quality inspection and maintenance of the millimeter wave radar for the vehicle.
Simulation test of the ADAS or the automatic driving system is an indispensable important link in the research and development process, the millimeter wave radar is a very important sensing component of the ADAS or the automatic driving system, and the millimeter wave radar target simulation in a laboratory environment is a great technical difficulty for realizing the simulation test of the ADAS and the automatic driving system. The automobile millimeter wave radar simulator dark box developed based on the NI VRTS system can simulate real radar echo signals to a real millimeter wave radar sensor, so that position and speed information of traffic vehicles in a virtual traffic scene is transmitted to the ADAS or an automatic driving system, and closed-loop simulation testing based on the virtual scene is achieved.
The existing radar test systems can be divided into two types, one type is to carry out the test by arranging an actual test field, and the cost of the test system is very high; and the other type is to construct a virtual test scene in a simulation mode, so that the cost is low and the test is convenient. However, any existing radar test system can only test simple driving scenes, and it is difficult to really ensure whether the performance of the millimeter wave radar can meet the sensing requirement in complex driving scenes
Most of existing radar echo simulator camera bellows are also based on NI VRTS hardware, build out and are applied to the radar and produce the test camera bellows that line test was markd, move on the slip table through VRTS, and the millimeter wave radar is fixed and can be gone on level and every single move rotation and realize moving target simulation and radar test on the revolving stage. However, the traditional simulator dark box signal source has single input mode, single function and less simulation targets.
The radar echo simulator is used as analog simulation equipment for a radio frequency radar target in a laboratory environment, can output simulation target information of different RCSs and different distances, but the size and the quality of the general radar echo simulator are large, the target state which can be simulated is single, the existing millimeter wave radar cannot be met, and the requirements of comprehensive radar echo simulation of different angles and multiple dynamic targets need to be carried out.
Disclosure of Invention
In view of this, the present invention provides a multi-target multifunctional millimeter wave radar echo simulation dark box test system to overcome the above-mentioned defects in the prior art.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a multi-target multifunctional millimeter wave radar echo simulation dark box test system comprises a radar echo simulator dark box, an upper computer, an NIRT real-time machine and an ADAS controller;
the radar echo simulator dark box is used for realizing echo simulation of specified target information and radar in-loop test;
the radar echo simulator dark box is connected with an NIRT real-time machine, and the NIRT real-time machine is connected with an upper computer; the ADAS controller is connected with a dark box of the radar echo simulator and an NIRT real-time;
the radar echo simulator dark box is internally provided with a rotary table assembly for placing a millimeter wave radar, and the periphery of the rotary table assembly is provided with a target simulation assembly for simulating multiple targets.
Further, the radar echo simulator dark box comprises a control host; the control host is used for controlling the radar echo simulator and editing scene information; the control host is also provided with a CAN signal input interface and an Ethernet signal input interface which are used for inputting target information in the scene software.
Further, the target simulation assembly comprises a lower guide rail and a first echo simulation device;
the lower guide rail is an arc-shaped guide rail taking the millimeter wave radar as a circle center; a lower sliding table for placing first echo simulation equipment is arranged on the lower guide rail; the first echo simulation device comprises a first radio frequency probe, a PXI controller and two variable delay generators; the PXI controller is connected with two variable delay generators, and the variable delay generators are connected with the first radio frequency probe. Two of the variable delay generators enable the first radio frequency probe to achieve simulation of two targets.
Furthermore, an upper guide rail is arranged above the lower guide rail; an upper sliding table is correspondingly arranged on the upper guide rail, and second echo simulation equipment is arranged on the upper sliding table; the structure of the second echo simulation equipment is the same as that of the first echo simulator; the first echo simulation device and the second echo simulation device are used for realizing the simulation of four targets at two angles.
Furthermore, the upper sliding table is correspondingly provided with a second driving motor for driving the upper sliding table to move; and the lower sliding table is correspondingly provided with a first driving motor for driving the lower sliding table to move.
Further, the turntable assembly comprises a base and a lifting platform;
the lifting platform is arranged on the base, a linear guide rail is arranged on the lifting platform, a longitudinal sliding table is correspondingly arranged on the linear guide rail, a transverse guide rail is arranged on the longitudinal sliding table, and a transverse sliding table is correspondingly arranged on the transverse guide rail; the top of the transverse sliding table is a horizontal rotating table, the top of the horizontal rotating table is provided with a pitching table, and the pitching table is provided with a fixture for fixing a radar.
Furthermore, a foamed polystyrene wave-absorbing material is arranged in the dark box of the radar echo simulator.
Compared with the prior art, the invention has the following advantages:
this multi-functional millimeter wave radar echo simulation camera bellows test system of multi-target has overcome aforementioned millimeter wave radar echo simulator simulation target singleness, and test function is simple. The system can carry out radar basic performance test by various signal input modes. The millimeter wave radar hardware that the link scene software and real-time machine system go on is in the ring, but has enlarged the simulation scene greatly, can transfer a large amount of real-time vehicle tests to the laboratory simulator in, has reduced the automatic driving test and has verified the cost, has improved the utilization ratio of radar callback simulation camera bellows, helps the quick verification of autopilot function, helping hand in autopilot industry development.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of a system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of three input modes according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a circuit according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a moving object simulation according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a VRTS test system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a test system according to an embodiment of the present invention;
FIG. 7 is a schematic view of the interior of a dark box of a radar echo simulator according to an embodiment of the present invention;
fig. 8 is a schematic view of a turntable assembly according to an embodiment of the present invention.
Description of reference numerals:
1. a base; 2. a lifting platform; 3. a longitudinal sliding table; 4. a transverse sliding table; 5. a horizontal turntable; 6. a pitching table; 7. a clamp; 8. a lower guide rail; 9. a lower sliding table; 10. a second drive motor; 11. VRTS-1; 12. VRTS-2; 13. a first drive motor; 14. an upper sliding table; 15. and an upper guide rail.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The Radar ADAS HIL system can realize the Radar in-loop test, can be applied to various ADAS test scenes, and mainly realizes the verification of simple ACC/AEB scenes. The testing principle of radar hardware in the loop is shown in fig. 1 and 2:
the system mainly comprises an IPC upper computer, a PXI lower computer, a Radar dark box, an ADAS ECU and the like. Wherein:
IPC high-performance upper computer:
the functions of engineering construction, editing, deployment, simulation management and the like of the VeriStand are realized;
the method realizes the functions of CarMaker engineering construction, virtual sensor setting, virtual scene editing and display.
The PXI lower computer:
the VeriStand RT provides a high-precision real-time simulation running environment;
the CarMaker runs models of vehicle dynamics, roads, sensors and the like in real time;
and operating real-time IO (input/output), such as a CAN (controller area network) card, and providing a real-time bus interface for signal interaction of each part.
Radar dark box:
VRTS: and (3) realizing echo simulation of specified target information (relative radial distance, speed and the like), and exciting radio frequency injection of the in-loop radar.
Radar Sensor: the Conti 404-21 series of radars is used in this document. Outputting the detected target to the ADAS ECU at the ring.
ADAS ECU：
The system comprising
The industrial personal computer IPC comprises 2 displays, wherein one high-resolution display is used for displaying the overall test animation, and the other high-resolution display is used for user operation. IPC will be deployed in PXI real-time systems
CarMaker's road scene, VeriSind engineering editing deployment, and provided the relevant development environment of HIL test system.
The real-time system includes all of the following hardware and software.
1.PXIe 1085Chassis
2.PXIe-8880 Embedded Controller
3.PXI 8513CAN
The multi-target multi-purpose radar target echo simulation camera bellows test system comprises a test camera bellows, a set of vehicle-mounted radar test system (VRTS), two radio frequency probes, an upper sliding table and a lower sliding table, wherein the changes of the direction and the speed of a simulation target are realized through the horizontal movement of the upper sliding table and the lower sliding table. The simulation target distance information is simulated by a variable delay generator to realize the distance information simulation. The rotary table for fixing the radar can realize horizontal rotation and pitching rotation, so that the detection range test of the radar is realized.
And (3) radar radio frequency performance test: and the measuring module directly outputs the result of the radar radio frequency performance parameter.
Radar detection performance testing: detecting range, detecting target ability test. The turntable rotates horizontally and rotates in a pitching mode.
As shown in fig. 6-8, the multi-target multi-purpose millimeter wave radar target echo simulation dark box test system has a darkroom with an overall size of 3.00m in length, 2.60m in width and 1.90m in height, and the dark box comprises: the rotary table comprises a horizontal rotary table and a pitching rotary table, 2 sets of sliding tables (comprising an upper sliding table and a lower sliding table), a set of four-dimensional adjusting rotary table, 1 set of NI PXIe-1075, 2 pieces of iMC404A four-axis motion control cards (the lower sliding table and the horizontal rotary table are controlled by ID32, the upper sliding table and the vertical table are controlled by ID 2), 2 sets of rotary table servo motor systems (MSMF012L1U2M servo motor and MADLN05SE servo system drive), 2 sets of sliding table servo motor systems (MSMF092L1U2M servo motor and MADLN45SE servo driver), 2 pieces of 77GHz Lynx (NI mmRH-3608), 1 piece of TP-Link switch (TL-SL1218P), and foamed polystyrene wave-absorbing materials are filled in a camera bellows.
The circuit principle of the system is shown in fig. 3.
The system is used for simulating a moving obstacle which can be detected by a radar in front of a vehicle. According to the specific scene, the target with specific size, specific position and specific speed in the field angle range of the radar of the vehicle can be simulated. The working principle is as follows:
when the vehicle radar works, the radar wave is sent out by the radar and is received by the Lynx, and the radar wave is processed by the radar target simulation system and then fed back to the radar.
When the simulation distance is less than 95 meters, the radar wave is input into the VDG from Lynx, the VDG performs corresponding signal delay according to the distance of the simulation object, and performs Doppler frequency shift according to the corresponding speed. The processed signal is transmitted back to the Lynx, and the Lynx is subjected to up-conversion and then transmitted back to the radar receiving antenna. And finishing the whole simulation process.
When the simulation distance is greater than or equal to 95 meters, the radar waves are transmitted to the VST through the Lynx and the VDG, the distance, the speed and the like of the simulation object are calculated, and the processed signals pass through the VDG and are transmitted back to the radar receiving antenna through the Lynx. And finishing the whole simulation process.
When a target (namely a moving target) with a specific position and a specific speed needs to be simulated, the Lynx is required to work together with the sliding table servo motor, as shown in the figure, the position and the speed of the target relative to a DUT (measured radar) can be decomposed into a radial part and a transverse part, wherein the simulation of the radial distance and the speed can be realized by processing a received radar wave by a radar target simulation system (speed simulation through Doppler effect and distance simulation through delay of the radar wave). The lateral velocity is achieved by the movement of the slide servo motor on the slide rail, as shown in fig. 4.
There are three ways of signal source input for the target simulation system.
A scene editor: target information (including position coordinates, angles, speeds and the like) to be simulated can be edited and created, the created target information to be simulated is input to the echo simulator, target information simulation output is carried out, and the target information simulation output is detected by the radar to be tested, so that radar testing is completed.
Can signal input mode: the application of the simulator camera bellows can be expanded, target information in front of the main vehicle in scene software is output, and the radar echo simulator recognizes target information to be simulated to simulate through dbc file configuration. To complete the radar test to be tested. The mode simplifies the establishment of the test scene, can realize the input of complex scene information, greatly expands the application of the simulator and improves the test efficiency. The millimeter wave radar can be accessed into a hardware test loop (HIL) to perform in-loop test of sensor hardware by combining scene software and a real-time machine system.
Ethernet mode input: similar to the can signal input mode, the method simplifies the establishment of the test scene, can realize the input of complex scene information, greatly expands the application of the simulator and improves the test efficiency. The millimeter wave radar can be accessed into a hardware test loop (HIL) to perform in-loop test of sensor hardware by combining scene software and a real-time machine system.
A radar measurement module: the "Radar Measurement" module enables a user to simply and quickly perform Radar measurements, including Equivalent Isotropic Radiated Power (EIRP), Occupied Bandwidth (OBW), and linearity.
The VRTS test system principle is shown in fig. 5.
A radio frequency front end and two variable delay generators realize that a VRTS system can simulate two targets. The test camera bellows adopts two sets of VRTS systems, and the radio frequency probes are respectively positioned on the upper sliding table and the lower sliding table, so that the simulation of four targets at two angles is realized.
Target simulation capability:
(1) simulation target number: 2 angles and 4 targets
(2) Antenna type: double-horn antenna
(3) Simulation of target range: 4 to 300m
(4) Distance accuracy of the simulated target: +/-0.15m
(5) Speed of the simulated target: +/-500km/hr
(6) Velocity resolution of the simulated target: 0.1km/hr
(7) Radar scattering cross section (RCS): 105dB (-20dBsm to 85dBsm), typical values
(8) RCS dynamic range: minimum 50dB
(9) RCS resolution: 0.25dB, typical value
Mechanical motion capability:
(1) darkroom size: 3.00 m.times.2.60 m.times.1.90 m (length. times. width. times. height)
(2) Rated speed of the horizontal turntable: 30 DEG/s
(3) Maximum speed of horizontal turntable: 50 DEG/s
(4) Horizontal turntable angle: +/-60 deg.C
(5) Rated speed of vertical turntable: 30 DEG/s
(6) Maximum speed of vertical turntable: 50 DEG/s
(7) Vertical turntable angle: +/-20
(8) Rated speed of the sliding table: 30 DEG/s
(9) Maximum speed of the sliding table: 50 DEG/s
(10) The moving angle of the sliding table is as follows: +/-50 deg.C
The multi-target multi-purpose radar echo simulation camera bellows test system can be used for calibrating radar measurement and obstacle simulation, radar production line test, radar radio frequency performance parameter test, radar detection capability test, and access intelligent driving HIL test bench to develop automatic driving function algorithm test.
The test system can simulate four targets at two angles, simultaneously combines three signal source input modes, greatly improves the application range of the radar echo simulation camera bellows, tests the radar radio frequency parameters of the radar measurement module, and can realize the test of the radar key performance parameters by independently editing scenes and matching the sliding table and the rotary table to move. The hardware-in-loop HIL test of the automatic driving sensor CAN be realized by knowing a target signal to be simulated in a CAN signal or Ethernet mode, and the test is closer to the real vehicle test.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides a multi-functional millimeter wave radar echo simulation camera bellows test system of multi-target which characterized in that: the system comprises a radar echo simulator dark box, an upper computer, an NI RT real-time machine and an ADAS controller;
the radar echo simulator dark box is used for realizing echo simulation of specified target information and radar in-loop test;
the radar echo simulator dark box is connected with an NIRT real-time machine, and the NIRT real-time machine is connected with an upper computer; the ADAS controller is connected with a dark box of the radar echo simulator and an NIRT real-time;
the radar echo simulator dark box is internally provided with a rotary table assembly for placing a millimeter wave radar, and the periphery of the rotary table assembly is provided with a target simulation assembly for simulating multiple targets.
2. The multi-target multi-functional millimeter wave radar echo simulation camera bellows test system of claim 1, characterized in that: the radar echo simulator dark box comprises a control host; the control host is used for controlling the radar echo simulator and editing scene information; the control host is also provided with a CAN signal input interface and an Ethernet signal input interface which are used for inputting target information in the scene software.
3. The multi-target multi-functional millimeter wave radar echo simulation camera bellows test system of claim 1, characterized in that: the target simulation assembly comprises a lower guide rail (8) and first echo simulation equipment;
the lower guide rail (8) is an arc-shaped guide rail taking the millimeter wave radar as a circle center; a lower sliding table (9) for placing first echo simulation equipment is arranged on the lower guide rail (8); the first echo simulation device comprises a first radio frequency probe, a PXI controller and two variable delay generators; the PXI controller is connected with two variable delay generators, and the variable delay generators are connected with the first radio frequency probe. Two of the variable delay generators enable the first radio frequency probe to achieve simulation of two targets.
4. The multi-target multi-functional millimeter wave radar echo simulation camera bellows test system of claim 3, characterized in that: an upper guide rail (15) is also arranged above the lower guide rail (8); an upper sliding table (14) is correspondingly arranged on the upper guide rail (15), and second echo simulation equipment is arranged on the upper sliding table (14); the structure of the second echo simulation equipment is the same as that of the first echo simulator; the first echo simulation device and the second echo simulation device are used for realizing the simulation of four targets at two angles.
5. The multi-target multi-functional millimeter wave radar echo simulation camera bellows test system of claim 4, characterized in that: the upper sliding table (14) is correspondingly provided with a second driving motor (10) for driving the upper sliding table to move; and the lower sliding table (9) is correspondingly provided with a first driving motor (13) for driving the lower sliding table to move.
6. The multi-target multi-functional millimeter wave radar echo simulation camera bellows test system of claim 1, characterized in that: the turntable assembly comprises a base (1) and a lifting platform (2);
the lifting platform (2) is arranged on the base (1), a linear guide rail is arranged on the lifting platform (2), a longitudinal sliding table (3) is correspondingly arranged on the linear guide rail, a transverse guide rail is arranged on the longitudinal sliding table (3), and a transverse sliding table (4) is correspondingly arranged on the transverse guide rail; horizontal slip table (4) top is horizontal revolving stage (5), and horizontal revolving stage (5) top is equipped with every single move platform (6), is equipped with anchor clamps (7) that are used for fixed radar on every single move platform (6).
7. The multi-target multi-functional millimeter wave radar echo simulation camera bellows test system of claim 1, characterized in that: and a foamed polystyrene wave-absorbing material is arranged in the dark box of the radar echo simulator.
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| CN113238546A (en) * | 2021-06-29 | 2021-08-10 | 安徽江淮汽车集团股份有限公司 | Multi-source sensor fusion test system for automatic parking controller |
| CN113267778A (en) * | 2021-06-18 | 2021-08-17 | 珠海上富电技股份有限公司 | Vehicle-mounted millimeter wave radar factory detection device and method |
| CN113296068A (en) * | 2021-05-28 | 2021-08-24 | 上海机电工程研究所 | Method and system for realizing radio frequency target simulation through digital front end modulation |
| CN113296083A (en) * | 2021-06-18 | 2021-08-24 | 上海机动车检测认证技术研究中心有限公司 | Laser radar target simulation test system |
| CN113504516A (en) * | 2021-06-11 | 2021-10-15 | 襄阳达安汽车检测中心有限公司 | Position registration device and method before millimeter wave radar test |
| CN113642104A (en) * | 2021-07-26 | 2021-11-12 | 一汽奔腾轿车有限公司 | Tire matching simulation test system and method for optimizing AEB braking distance performance |
| CN114384893A (en) * | 2021-12-29 | 2022-04-22 | 广东一诺维新科技有限公司 | System and method for testing automobile ADAS in semi-anechoic chamber |
| CN116087957A (en) * | 2023-02-11 | 2023-05-09 | 思佰川技术(惠州)有限公司 | Millimeter wave radar darkroom-based multi-target application scene simulation system |
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| CN113296068A (en) * | 2021-05-28 | 2021-08-24 | 上海机电工程研究所 | Method and system for realizing radio frequency target simulation through digital front end modulation |
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