CN112180374A - Vehicle-mounted millimeter wave radar RCS test method based on high-precision intelligent mechanical arm - Google Patents
Vehicle-mounted millimeter wave radar RCS test method based on high-precision intelligent mechanical arm Download PDFInfo
- Publication number
- CN112180374A CN112180374A CN202011000419.9A CN202011000419A CN112180374A CN 112180374 A CN112180374 A CN 112180374A CN 202011000419 A CN202011000419 A CN 202011000419A CN 112180374 A CN112180374 A CN 112180374A
- Authority
- CN
- China
- Prior art keywords
- radar
- mechanical arm
- standard angle
- distance
- reverse
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010998 test method Methods 0.000 title description 2
- 238000005259 measurement Methods 0.000 claims abstract description 29
- 238000012360 testing method Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 11
- 230000007547 defect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
Abstract
The invention discloses a vehicle-mounted millimeter wave radar RCS testing method based on a high-precision intelligent mechanical arm, which comprises the following steps: acquiring the maximum effective distance of the radar, positioning the initial position of the radar at the maximum effective detection distance position in the direction of the reverse and positive surfaces of the standard angle through a high-precision intelligent mechanical arm, and acquiring and recording RCS data measured by the radar; step two: controlling the high-precision intelligent mechanical arm to place the radar at a place position by rotating counterclockwise by 1 degree by taking a standard angle as a reverse circle center; step three: when the radar is placed and rotated to 90 degrees, RCS measurement of a standard angle in a reverse period is completed, the high-precision intelligent mechanical arm is controlled again to place the radar at a position of 0 degree, placement of the radar at a distance of reverse 1m from the standard angle of the target is reduced compared with that in the previous period, and the second step is repeated until the radar is placed at a distance of reverse 1m from the standard angle of the target; step four: and repeating the third step until the distance angle does not exceed 1 meter. The RCS coverage measurement of the millimeter wave radar detection range standard angle reversal is realized by stably and accurately controlling the high-precision intelligent mechanical arm.
Description
Technical Field
The invention relates to a vehicle-mounted millimeter wave radar RCS testing method based on a high-precision intelligent mechanical arm, and belongs to the technical field of millimeter wave radar environment sensing.
Background
The development of the unmanned technology depends more and more on the accuracy of millimeter wave radar measurement, and the millimeter wave radar can measure the speed and the distance of a target reflection point; but for objects with similar motion states, the position and speed alone are not sufficient to distinguish; therefore, the accuracy of measurement can be improved by introducing RCS information of the millimeter radar; in order to have a more accurate knowledge of the target RCS, it is first necessary to find the scale, and therefore the RCS measuring the inverse of the standard angle becomes particularly important.
The RCS of millimeter wave radar measurements can provide important features to the target in support of a large amount of measurement data. Because the millimeter wave radar needs to overcome a large amount of miscellaneous point interference in the process of realizing the target tracking algorithm, firstly, RCS characteristic measurement of the standard angle reversal is realized, an important reference standard can be provided for target tracking, and simultaneously, a true value is easier to find. The RCS characteristic of the standard angle reversal helps the millimeter wave radar to identify the target type, and in the application of fusion with the camera, when the camera cannot work effectively, the millimeter wave radar can provide effective supplement.
The prior art has the defects that:
1) the measurement of the millimeter wave radar RCS has no scale for field calibration;
2) the RCS of the millimeter wave radar is influenced by the environment and has larger deviation with the true value;
3) the RCS of the millimeter wave radar is not accurate enough for long-distance measurement at a large angle within the radar measurement range.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the RCS method for accurately measuring the reverse standard angle in the detection range of the millimeter wave radar, and the RCS coverage measurement of the reverse standard angle in the detection range of the millimeter wave radar is realized by stably and accurately controlling the high-precision intelligent mechanical arm.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention discloses a vehicle-mounted millimeter wave radar RCS testing method based on a high-precision intelligent mechanical arm, which comprises the following steps of:
the method comprises the following steps: fixing a standard angle reversal position in a preset position of a darkroom to be unchanged, enabling a radar to be far away from the standard angle reversal along a straight line, observing an angle reversal target in an upper computer, determining the distance from the current position of the radar to the standard angle reversal to be the maximum effective detection distance R _ max of the radar when the target just disappears, fixing the initial position of the radar at the R _ max position in the direction of the standard angle reversal plane through a high-precision intelligent mechanical arm, and recording RCS data measured by the radar through the upper computer;
step two: the radar is directed to the standard angle reverse centroid all the time, the high-precision intelligent mechanical arm is programmed and controlled by an industrial personal computer to place the placement position of the radar in a counterclockwise rotation setting degree, the distance from the radar to the standard angle reverse is kept unchanged, RCS data is recorded in an upper computer, and measurement is sequentially carried out at intervals of 1 degree until the radar is placed to a 90-degree position around the standard angle reverse;
step three: each time the radar is placed and rotated to 90 degrees, RCS measurement of a standard angle in a reverse period is completed, the high-precision intelligent mechanical arm is programmed and controlled through the industrial personal computer again to place the radar to a set angle position, the placement distance from the target standard angle in a reverse preset distance is reduced compared with the previous period, measurement and recording are carried out, and the second step is repeated until the radar is away from the target standard angle in the reverse preset distance;
step four: and repeating the third step until the distance angle does not exceed the preset distance.
And step two, the high-precision intelligent mechanical arm is programmed and controlled by the industrial personal computer to place the radar at the place position by rotating 1 degree anticlockwise.
And in the third step, the high-precision intelligent mechanical arm is programmed and controlled by the industrial personal computer again to place the radar at the position of 0 degree.
And in the third step, the distance from the radar to the target standard angle is reduced by inverse 1m compared with the last period, the measurement and the recording are carried out, and the second step is repeated until the distance from the radar to the target standard angle is inverse 1 m.
And in the fourth step, until the distance angle is not more than 1 meter.
The method ensures that the standard angle counter is stably installed and keeps static in the whole measuring process, and controls the high-precision intelligent mechanical arm to ensure that the millimeter wave radar and the standard angle counter keep horizontal in the whole measuring process; controlling the high-precision intelligent mechanical arm to stably move to a preset position, and realizing the measurement of the standard angle anti-RCS in the detection range by the millimeter wave radar; and storing the millimeter wave radar measurement data through an upper computer, and simultaneously recording the position relation between the millimeter wave radar and the reverse annotation angle.
Drawings
FIG. 1 is a flowchart of the testing method of the present invention;
FIG. 2 is a schematic view of a test setup of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1 and 2, the steps of the present invention are as follows:
the method comprises the following steps: fixing the reverse position of a standard angle in a darkroom, reading the maximum effective distance R _ max of the radar, fixing the initial position of the radar at the R _ max position of the reverse and positive direction of the standard angle, and reading and recording RCS data measured by the radar;
step two: the orientation of the radar is always directed to the reverse center of mass of the standard angle, the placement position of the radar is placed by rotating 1 degree anticlockwise, the distance R is kept unchanged, measurement records are kept, and measurement is carried out sequentially every 1 degree until the radar is placed to a 90-degree position around the reverse center of the standard angle;
step three: when the radar is placed and rotated to 90 degrees every time, the RCS measurement of the standard angle in a reverse period can be considered to be completed, the radar is placed to the position of 0 degree again, the RCS measurement is reduced to be placed at a distance of reverse 1m from the standard angle of the target in the last period, the RCS measurement is carried out and recorded, and the step 2 is repeated until the RCS measurement is finished when the distance of the radar is reverse 1m from the standard angle of the target.
The method ensures that the standard angle counter is stably installed and keeps static in the whole measuring process, and controls the high-precision intelligent mechanical arm to ensure that the millimeter wave radar and the standard angle counter keep horizontal in the whole measuring process; controlling the high-precision intelligent mechanical arm to stably move to a preset position, and realizing the measurement of the standard angle anti-RCS in the detection range by the millimeter wave radar; and storing the millimeter wave radar measurement data through an upper computer, and simultaneously recording the position relation between the millimeter wave radar and the reverse annotation angle.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A vehicle-mounted millimeter wave radar RCS testing method based on a high-precision intelligent mechanical arm is characterized by comprising the following steps:
the method comprises the following steps: fixing a standard angle reversal position in a preset position of a darkroom to be unchanged, enabling a radar to be far away from the standard angle reversal along a straight line, observing an angle reversal target in an upper computer, determining the distance from the current position of the radar to the standard angle reversal to be the maximum effective detection distance R _ max of the radar when the target just disappears, fixing the initial position of the radar at the R _ max position in the direction of the standard angle reversal plane through a high-precision intelligent mechanical arm, and recording RCS data measured by the radar through the upper computer;
step two: the radar is directed to the standard angle reverse centroid all the time, the high-precision intelligent mechanical arm is programmed and controlled by an industrial personal computer to place the placement position of the radar in a counterclockwise rotation setting degree, the distance from the radar to the standard angle reverse is kept unchanged, RCS data is recorded in an upper computer, and measurement is sequentially carried out at intervals of 1 degree until the radar is placed to a 90-degree position around the standard angle reverse;
step three: when the radar is placed and rotated to 90 degrees, RCS measurement of a standard angle in a reverse period is completed, the high-precision intelligent mechanical arm is programmed and controlled through the industrial personal computer again to place the radar at a set angle position, the placement distance from the target standard angle in a reverse preset distance is reduced compared with the previous period, measurement and recording are carried out, and the second step is repeated until the radar is away from the target standard angle in the reverse preset distance;
step four: and repeating the third step until the distance angle does not exceed the preset distance.
2. The RCS testing method for the vehicle-mounted millimeter wave radar based on the high-precision intelligent mechanical arm is characterized in that in the second step, the high-precision intelligent mechanical arm is programmed and controlled by the industrial personal computer to place the radar at a place position which rotates anticlockwise by 1 degree.
3. The RCS testing method for the vehicle-mounted millimeter wave radar based on the high-precision intelligent mechanical arm is characterized in that in the third step, the high-precision intelligent mechanical arm is programmed and controlled again through an industrial personal computer to place the radar at the position of 0 degree.
4. The RCS testing method for the vehicle-mounted millimeter wave radar based on the high-precision intelligent mechanical arm is characterized in that in the third step, the placement distance from the target standard angle is reduced by reverse 1m compared with the last period, the measurement and the recording are carried out, and the second step is repeated until the radar is finished when the distance from the target standard angle is reverse 1 m.
5. The RCS testing method for the vehicle-mounted millimeter wave radar based on the high-precision intelligent mechanical arm is characterized in that in the fourth step, the distance angle is not more than 1 meter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011000419.9A CN112180374B (en) | 2020-09-23 | 2020-09-23 | Vehicle-mounted millimeter wave radar RCS test method based on high-precision intelligent mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011000419.9A CN112180374B (en) | 2020-09-23 | 2020-09-23 | Vehicle-mounted millimeter wave radar RCS test method based on high-precision intelligent mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112180374A true CN112180374A (en) | 2021-01-05 |
| CN112180374B CN112180374B (en) | 2022-09-23 |
Family
ID=73955746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011000419.9A Active CN112180374B (en) | 2020-09-23 | 2020-09-23 | Vehicle-mounted millimeter wave radar RCS test method based on high-precision intelligent mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112180374B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013040274A2 (en) * | 2011-09-13 | 2013-03-21 | Sadar 3D, Inc. | Synthetic aperture radar apparatus and methods |
| US20170254898A1 (en) * | 2016-03-03 | 2017-09-07 | Samsung Electronics Co., Ltd. | Method and apparatus for reading code using short-range millimeter wave (mmwave) radar |
| CN110412532A (en) * | 2019-07-24 | 2019-11-05 | 芜湖易来达雷达科技有限公司 | A kind of target radar reflective area measurement method |
| CN110412526A (en) * | 2019-07-24 | 2019-11-05 | 芜湖易来达雷达科技有限公司 | A kind of radar performance figure test method |
| CN110618410A (en) * | 2019-09-27 | 2019-12-27 | 富临精工先进传感器科技(成都)有限责任公司 | Angle calibration and calculation method for millimeter wave radar |
| CN111596269A (en) * | 2020-05-25 | 2020-08-28 | 中国人民解放军海军航空大学 | Method for detecting radar composite detection target capability |
-
2020
- 2020-09-23 CN CN202011000419.9A patent/CN112180374B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013040274A2 (en) * | 2011-09-13 | 2013-03-21 | Sadar 3D, Inc. | Synthetic aperture radar apparatus and methods |
| US20170254898A1 (en) * | 2016-03-03 | 2017-09-07 | Samsung Electronics Co., Ltd. | Method and apparatus for reading code using short-range millimeter wave (mmwave) radar |
| CN110412532A (en) * | 2019-07-24 | 2019-11-05 | 芜湖易来达雷达科技有限公司 | A kind of target radar reflective area measurement method |
| CN110412526A (en) * | 2019-07-24 | 2019-11-05 | 芜湖易来达雷达科技有限公司 | A kind of radar performance figure test method |
| CN110618410A (en) * | 2019-09-27 | 2019-12-27 | 富临精工先进传感器科技(成都)有限责任公司 | Angle calibration and calculation method for millimeter wave radar |
| CN111596269A (en) * | 2020-05-25 | 2020-08-28 | 中国人民解放军海军航空大学 | Method for detecting radar composite detection target capability |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112180374B (en) | 2022-09-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107782240B (en) | Two-dimensional laser scanner calibration method, system and device | |
| CN101655344B (en) | Method for calibrating spatial coordinate measuring system of electronic theodolite | |
| CN107121707B (en) | A kind of error calibration method of magnetic sensor measuring basis and structure benchmark | |
| CN102430959A (en) | Method for quickly detecting kinematic errors of numerical control machine turntable | |
| Zhong et al. | Vision-based measurement system for instantaneous rotational speed monitoring using linearly varying-density fringe pattern | |
| CN205333067U (en) | Laser photogrammetric survey system | |
| CN104677280A (en) | Rotation axis spatial state calibrating method for swinging arm-type contourgraph | |
| CN107063161A (en) | The surface shape detection apparatus and detection method of a kind of freeform optics element | |
| CN109520446A (en) | A kind of measurement method of revolution at a high speed shafting dynamic inclination error | |
| CN109724532A (en) | A kind of precise testing device and method of complexity optical surface geometry parameter | |
| CN111562563A (en) | Laser radar rotary table calibration method and device and computer readable storage medium | |
| US20220091028A1 (en) | Terahertz measuring device and method of operating a terahertz measuring device | |
| CN106932420B (en) | A method of measurement material internal magneto-strain three-dimensional spatial distribution | |
| CN112180374B (en) | Vehicle-mounted millimeter wave radar RCS test method based on high-precision intelligent mechanical arm | |
| CN209673154U (en) | A kind of current measuring instrument flows to performance detector | |
| US4695982A (en) | Hub hole characterization system | |
| CN111299759B (en) | Laser welding seam tracking precision detection system, detection method and device | |
| CN103175481A (en) | Method and device for measuring off-axis optical non-spherical mirror vertex radius | |
| CN108489396B (en) | A kind of two dimension turn top accuracy checking method | |
| CN111006614A (en) | Method and equipment for measuring absolute rotation position of planar CCD | |
| CN103185545A (en) | Space vector object three-dimensional rotational coordinate measuring method | |
| CN113899324B (en) | Multi-axis turntable perpendicularity error detection method based on single-axis laser gyro goniometer | |
| CN109974750A (en) | A kind of ring laser Temperature Modeling and compensation method based on fuzzy logic system | |
| CN110715795B (en) | Calibration and measurement method for fast reflector in photoelectric tracking system | |
| CN114089295A (en) | Weather radar body scan data correction method, system and computer storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240129 Address after: 246000 floor 1, building 1, new energy vehicle supporting industrial park, economic development zone, Anqing City, Anhui Province Patentee after: Anqing Chuhang Electronic Technology Co.,Ltd. Country or region after: China Address before: Room 1245, Heying building, No. 99, Tuanjie Road, yanchuangyuan, Jiangbei new district, Nanjing, Jiangsu Province, 210000 Patentee before: Nanjing chuhang Technology Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20210105 Assignee: Nanjing chuhang Technology Co.,Ltd. Assignor: Anqing Chuhang Electronic Technology Co.,Ltd. Contract record no.: X2024980004161 Denomination of invention: A RCS testing method for vehicle mounted millimeter wave radar based on high-precision intelligent robotic arm Granted publication date: 20220923 License type: Exclusive License Record date: 20240415 |