CN112180334B - Millimeter wave radar angular resolution testing system and method - Google Patents
Millimeter wave radar angular resolution testing system and method Download PDFInfo
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- CN112180334B CN112180334B CN202011013584.8A CN202011013584A CN112180334B CN 112180334 B CN112180334 B CN 112180334B CN 202011013584 A CN202011013584 A CN 202011013584A CN 112180334 B CN112180334 B CN 112180334B
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- 238000012360 testing method Methods 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title description 4
- 239000011159 matrix material Substances 0.000 claims description 9
- 239000011358 absorbing material Substances 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 125000004122 cyclic group Chemical group 0.000 claims description 3
- 238000000354 decomposition reaction Methods 0.000 claims description 3
- 238000001228 spectrum Methods 0.000 claims description 3
- 238000010998 test method Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000004891 communication Methods 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 description 9
- 230000001276 controlling effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a millimeter wave radar angular resolution testing system and a millimeter wave radar angular resolution testing method. According to the invention, the action of the radar in the darkroom is controlled by using the mechanical arm and the robot, so that the frequent entering and exiting of a person in a test field are avoided; the angle resolution of the radar can be rapidly tested, and the double mechanical arms can be rotated for testing, so that the time for mounting, communication detection and taking down the radar after the detection is finished is saved, and the efficiency is improved; the servo system controlled by the computer and the precise motor has small error, high precision and good stability; the skill requirement on operators is reduced, and the probability of manual misjudgment and misoperation is reduced.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a millimeter wave radar angular resolution testing system and method.
Background
For an on-board radar, distance and speed resolution is important. However, when we meet a scene that two vehicles are simultaneously located at a certain distance in front of the vehicle, two targets located at the same distance position need to be distinguished through azimuth estimation, the angle resolution is an important index for measuring the accuracy of the radar azimuth estimation, and the target of the angle resolution test is mainly to measure the ability of the radar to distinguish two different objects in angle under the condition of the same speed and the same distance of the detection targets.
Today, the measurement of angular resolution is mostly performed manually. The measurement of the angular resolution cannot be guaranteed to be carried out in an absolute noise-free condition, so that the angular resolution of the seed radar is measured by more interference from external environment conditions, and the measurement of the angular resolution is influenced to generate larger errors. Secondly, problems with the measuring device itself will also lead to large errors in the resolution measurement, e.g. tolerances of the measuring instrument lead to angular inaccuracies, manual measurements lead to angular inaccuracies of the radar itself, etc., which are important reasons for influencing the angular resolution measurement.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is to provide a millimeter wave radar angular resolution testing system and method, which eliminates interference of human factors through a high-precision measuring device and a fully-automatic measuring device, so that the measurement accuracy of angular resolution is greatly improved, and the use of a mechanical arm accelerates the measurement speed, so that the measurement efficiency is also significantly improved.
In order to achieve the above purpose, the invention provides a millimeter wave radar angular resolution testing system, which comprises a darkroom, a control system, a darkroom feeding port, a servo system and a power supply system, wherein the servo system comprises two medium robots A and B and a small robot C, the two medium robots alternately feed and discharge through the feeding port and test, the small robot C carries two corner reflectors with different types, and the control system adjusts the alignment of a certain testing part according to testing requirements.
Preferably, the darkroom is provided with a shielding door for personnel to enter and exit and a darkroom feeding port and a control line connecting port for placing the test radar.
Preferably, a servo system and a wave absorbing material are arranged inside the darkroom.
Preferably, the control system is a computer.
Preferably, the power supply system is a direct current switching power supply.
A millimeter wave radar angular resolution testing method comprises the following steps:
a. Creating a test plan in a control system, and setting an angle resolution test as a test item to be executed;
b. After the two mechanical arms are initialized, the mechanical arm A stays at the feeding port, and a radar is arranged on the slot position of the mechanical arm A;
c. Beginning testing, after the mechanical arm A verifies that the radar is normally connected, transferring to a darkroom for testing, adjusting the mechanical arm A to a preset position by a control system according to the setting of a test item, simultaneously sending a test instruction to a DUT and a small robot C, gradually separating two corner reflectors from the normal of the radar to two sides according to a preset angle step by step, and reversely measuring two separated angles by the radar until the radar recognizes the two angle reversely into two targets, wherein the included angle between the two angle reversely and the radar is an accurate radar angle resolution value, and immediately sending test data to the control system for storage, wherein the specific calculation method comprises the following steps:
Firstly, setting a group of angles, and obtaining a guide vector matrix a (theta) according to a formula a (theta i)＝exp(j(2π/λ)*(i-1)*dsinθi);
obtaining covariance matrix according to the received data Wherein X is array receiving data matrix, pair/>Feature decomposition to obtain noise subspace/>According to the formula
Carrying out spectrum peak search to obtain a signal incidence direction;
d. When the radar is tested, the mechanical arm B is turned to a feeding port, the next radar 2 is loaded, the radar is automatically turned out for replacing after the radar test is completed, and meanwhile, the radar 2 is turned to a test origin position for testing;
e. the control system receives and outputs the test data and the result of the radar;
f. and performing batch radar angular resolution tests through cyclic operation.
The beneficial effects of the invention are as follows:
1. the mechanical arm and the robot are used for controlling the radar and the video system to act in a darkroom, so that people are prevented from frequently entering and exiting a test field;
2. The angle resolution of the radar can be rapidly tested, and the double mechanical arms can be rotated for testing, so that the time for mounting, communication detection and taking down the radar after the detection is finished is saved, and the efficiency is improved;
3. The servo system controlled by the computer and the precise motor has small error, high precision and good stability;
4. The skill requirement on operators is reduced, and the probability of manual misjudgment and misoperation is reduced.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
Drawings
FIG. 1 is a schematic view of a darkroom according to the present invention.
Fig. 2 is a first schematic view of the robot of the present invention.
Fig. 3 is a second schematic view of the robot of the present invention.
Detailed Description
As shown in fig. 1,2 and 3, a millimeter wave radar angular resolution testing system comprises a darkroom 1, a control system 2, a darkroom feeding port 3, a servo system 4 and a power supply system 5, wherein the servo system 4 comprises two medium robots A and B and a small robot C, the two medium robots alternately feed and discharge through the feeding port 3 and test, the small robot C carries two corner reflectors with different types, and the alignment of a certain testing component is regulated by the control system 2 according to testing requirements.
In the embodiment, a darkroom 1 is provided with a shielding door for personnel to enter and exit, a darkroom feeding port 3 for placing a test radar and a control line connecting port.
In this embodiment, the darkroom 1 is internally provided with a servo system 4 and a wave absorbing material.
In this embodiment, the control system 2 is a computer.
In this embodiment, the power supply system 5 is a dc switching power supply.
The principle of the angular resolution test is as follows: by controlling the two corner reflectors to gradually move away from each other from the distance 0, different included angles are formed by connecting lines between the corner reflectors and the radar at different distances, and the angle resolution of the radar is tested by measuring the angle and the actual angle difference between the two corner reflectors and distinguishing the minimum included angles of the two reflectors which are different objects.
Therefore, the invention also provides a millimeter wave radar angular resolution testing method, which is characterized by comprising the following steps:
a. Creating a test plan in a control system, and setting an angle resolution test as a test item to be executed;
b. After the two mechanical arms are initialized, the mechanical arm A stays at the feeding port, and a radar is arranged on the slot position of the mechanical arm A;
c. Beginning testing, after the mechanical arm A verifies that the radar is normally connected, transferring to a darkroom for testing, adjusting the mechanical arm A to a preset position by a control system according to the setting of a test item, simultaneously sending a test instruction to a DUT and a small robot C, gradually separating two corner reflectors from the normal of the radar to two sides according to a preset angle step by step, and reversely measuring two separated angles by the radar until the radar recognizes the two angle reversely into two targets, wherein the included angle between the two angle reversely and the radar is an accurate radar angle resolution value, and immediately sending test data to the control system for storage, wherein the specific calculation method comprises the following steps:
firstly, a group of angles are set, and a guide vector matrix a (theta) is obtained according to a formula a (theta i)＝exp(j(2π/λ)*(i-1)*dsinθi).
Obtaining covariance matrix according to the received dataWherein X is array receiving data matrix, pair/>Feature decomposition to obtain noise subspace/>According to the formula
Carrying out spectrum peak search to obtain a signal incidence direction;
d. When the radar is tested, the mechanical arm B is turned to a feeding port, the next radar 2 is loaded, the radar is automatically turned out for replacing after the radar test is completed, and meanwhile, the radar 2 is turned to a test origin position for testing;
e. the control system receives and outputs the test data and the result of the radar;
f. and performing batch radar angular resolution tests through cyclic operation.
In summary, the invention has the following advantages:
1. the mechanical arm and the robot are used for controlling the radar and the video system to act in a darkroom, so that people are prevented from frequently entering and exiting a test field;
2. The angle resolution of the radar can be rapidly tested, and the double mechanical arms can be rotated for testing, so that the time for mounting, communication detection and taking down the radar after the detection is finished is saved, and the efficiency is improved;
3. The servo system controlled by the computer and the precise motor has small error, high precision and good stability;
4. The skill requirement on operators is reduced, and the probability of manual misjudgment and misoperation is reduced.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (6)
1. The millimeter wave radar angular resolution testing method is characterized by comprising the following steps of:
a. Creating a test plan in a control system, and setting an angle resolution test as a test item to be executed;
b. After the two mechanical arms are initialized, the mechanical arm A stays at the feeding port, and a radar is arranged on the slot position of the mechanical arm A;
c. Beginning testing, after the mechanical arm A verifies that the radar is connected normally, transferring the mechanical arm A into a darkroom for testing, adjusting the mechanical arm A to a preset position by a control system according to the setting of a test item, simultaneously sending a test instruction to a DUT and a small robot C, gradually separating two corner reflectors from the normal of the radar to two sides according to a preset angle step by step, and reversely measuring the radar aiming at the two separated corners until the radar reversely recognizes the two corners as two targets, wherein the included angle between the two corner pairs and the radar is the accurate value of the angular resolution of the radar, and immediately sending test data to the control system for storage by a specific calculation method:
Firstly, setting a group of angles, and obtaining a guide vector matrix a (theta) according to a formula a (theta i)＝exp(j(2π/λ)*(i-1)*dsinθi);
obtaining covariance matrix according to the received data Wherein X is array receiving data matrix, pair/>Feature decomposition to obtain noise subspace/>According to the formula
Carrying out spectrum peak search to obtain a signal incidence direction;
d. When the radar is tested, the mechanical arm B is turned to a feeding port, the next radar 2 is loaded, the radar is automatically turned out for replacing after the radar test is completed, and meanwhile, the radar 2 is turned to a test origin position for testing;
e. the control system receives and outputs the test data and the result of the radar;
f. and performing batch radar angular resolution tests through cyclic operation.
2. The test system of the millimeter wave radar angular resolution test method according to claim 1, wherein: the system comprises a darkroom (1), a control system (2), a darkroom feed opening (3), a servo system (4) and a power supply system (5), wherein the servo system (4) comprises two medium robots A and B and a small robot C, the two medium robots alternately feed and discharge through the feed opening (3) and test, the small robot C carries corner reflectors of two different types, and the alignment of a certain test part is adjusted by the control system (2) according to test requirements.
3. The test system of claim 2, wherein: the darkroom (1) is provided with a shielding door for personnel to enter and exit, a darkroom feeding port (3) for placing a test radar and a control line connecting port.
4. The test system of claim 2, wherein: a servo system (4) and a wave absorbing material are arranged in the darkroom (1).
5. The test system of claim 2, wherein: the control system (2) is a computer.
6. The test system of claim 2, wherein: the power supply system (5) is a direct current switch power supply.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011013584.8A CN112180334B (en) | 2020-09-23 | 2020-09-23 | Millimeter wave radar angular resolution testing system and method |
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| CN202011013584.8A CN112180334B (en) | 2020-09-23 | 2020-09-23 | Millimeter wave radar angular resolution testing system and method |
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| CN112180334A CN112180334A (en) | 2021-01-05 |
| CN112180334B true CN112180334B (en) | 2024-05-24 |
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| CN115656961B (en) * | 2022-12-26 | 2023-03-10 | 南京楚航科技有限公司 | OS-CFAR processing method and system based on parallel processor |
Citations (6)
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| CN107102316A (en) * | 2017-06-20 | 2017-08-29 | 北醒（北京）光子科技有限公司 | A kind of method for measuring angular resolution |
| CN108037492A (en) * | 2017-12-27 | 2018-05-15 | 国家无线电监测中心检测中心 | The test system of radar performance and the method using its progress radar performance test |
| CN110146862A (en) * | 2019-06-13 | 2019-08-20 | 惠州市德赛西威汽车电子股份有限公司 | A kind of millimetre-wave radar compatibility test system |
| CN110389322A (en) * | 2019-07-23 | 2019-10-29 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parallel compatibility test System and method for of more camera bellows of millimetre-wave radar |
| CN110609259A (en) * | 2019-10-15 | 2019-12-24 | 北京遥感设备研究所 | Vehicle-mounted millimeter wave radar test system |
| CN111645090A (en) * | 2020-06-19 | 2020-09-11 | 中山香山微波科技有限公司 | Radar angular resolution test system |
-
2020
- 2020-09-23 CN CN202011013584.8A patent/CN112180334B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107102316A (en) * | 2017-06-20 | 2017-08-29 | 北醒（北京）光子科技有限公司 | A kind of method for measuring angular resolution |
| CN108037492A (en) * | 2017-12-27 | 2018-05-15 | 国家无线电监测中心检测中心 | The test system of radar performance and the method using its progress radar performance test |
| CN110146862A (en) * | 2019-06-13 | 2019-08-20 | 惠州市德赛西威汽车电子股份有限公司 | A kind of millimetre-wave radar compatibility test system |
| CN110389322A (en) * | 2019-07-23 | 2019-10-29 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parallel compatibility test System and method for of more camera bellows of millimetre-wave radar |
| CN110609259A (en) * | 2019-10-15 | 2019-12-24 | 北京遥感设备研究所 | Vehicle-mounted millimeter wave radar test system |
| CN111645090A (en) * | 2020-06-19 | 2020-09-11 | 中山香山微波科技有限公司 | Radar angular resolution test system |
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