CN112415481A - Millimeter wave radar array error darkroom calibration method based on high-precision intelligent mechanical arm - Google Patents
Millimeter wave radar array error darkroom calibration method based on high-precision intelligent mechanical arm Download PDFInfo
- Publication number
- CN112415481A CN112415481A CN202011014253.6A CN202011014253A CN112415481A CN 112415481 A CN112415481 A CN 112415481A CN 202011014253 A CN202011014253 A CN 202011014253A CN 112415481 A CN112415481 A CN 112415481A
- Authority
- CN
- China
- Prior art keywords
- radar
- millimeter wave
- mechanical arm
- angle
- method based
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000012937 correction Methods 0.000 claims abstract description 13
- 239000011159 matrix material Substances 0.000 claims abstract description 11
- 238000012360 testing method Methods 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract 2
- 238000005259 measurement Methods 0.000 claims description 6
- 230000003595 spectral effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000003491 array Methods 0.000 abstract description 2
- 238000005070 sampling Methods 0.000 abstract description 2
- 238000004422 calculation algorithm Methods 0.000 description 7
- 238000001228 spectrum Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000006880 cross-coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects 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
- 238000004088 simulation Methods 0.000 description 1
- 230000009897 systematic effect Effects 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
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a millimeter wave radar array error darkroom calibration method based on a high-precision intelligent mechanical arm, which belongs to the technical field of millimeter wave radar environment sensing and comprises the following steps: the method comprises the following steps: selecting a specific environment, fixing the reverse position of a standard angle, and installing a radar test initial position; step two: reading radar test data, horizontally moving the reverse installation position of the standard angle every delta theta and recording array element output data until +/-theta-degree data acquisition is finished; step three: selecting angle echo data and corresponding incidence angles at different angles, wherein the number of the selected angle echo data must be larger than the number of radar array elements, and determining a steering vector matrix; step four: the system error correction coefficient is calculated, and according to the millimeter wave radar array error darkroom calibration method based on the high-precision intelligent mechanical arm, on one hand, the sampling point is selected only by being more than or equal to the number of the radar arrays, and the practicability is high.
Description
Technical Field
The invention belongs to the technical field of millimeter wave radar environment sensing, and particularly relates to a millimeter wave radar array error calibration method based on a high-precision intelligent mechanical arm.
Background
The MIMO radar can effectively distinguish target position information by adopting a high-resolution spectrum estimation algorithm, but the high-resolution spectrum estimation algorithm needs to accurately know an array flow pattern. Under the influence of various non-ideal factors, the array flow pattern is often deviated and disturbed to a certain extent, so that the performance of the high-resolution spectrum estimation algorithm is seriously deteriorated, and the accurate estimation of the array error has important significance.
The traditional radar array error correction algorithms are many, but generally aim at one or two of amplitude-phase errors, array element position errors and mutual coupling, the algorithms for simultaneously correcting radar system errors are fewer, some system error correction algorithms have higher requirements on target azimuth information and sample data, and the operability is not high in practice. The invention provides an accurate algorithm aiming at the error correction of the radar system on the basis.
Disclosure of Invention
The invention aims to provide a millimeter wave radar array error darkroom calibration method based on a high-precision intelligent mechanical arm, so as to solve the problem of inaccuracy in error correction of a radar system.
In order to achieve the purpose, the invention provides the following technical scheme: a millimeter wave radar array error darkroom calibration method based on a high-precision intelligent mechanical arm,
the method comprises the following steps:
the method comprises the following steps: selecting a specific environment, fixing the reverse position of a standard angle, and installing a radar test initial position;
step two: reading radar test data, horizontally moving the reverse mounting position of the standard angle every delta theta and recording array element output data until +/-theta-degree data acquisition is finished;
step three: selecting angle echo data and corresponding incidence angles at different angles, wherein the number of the selected angle echo data must be larger than the number N of radar array elements, and determining a steering vector matrix;
step four: and calculating a system error correction coefficient.
Preferably, the specific environment is a darkroom environment, the radar testing initial position is installed by setting the number of radar array elements to be N and the radar position to be unchanged, setting the initial position of the standard angle inverse to the R position in the normal direction of the radar, and recording the array element output data of the radar.
Preferably, the data acquisition method is that the standard angle reversal is always directed to the center of mass of the radar, the placement position of the standard angle reversal is moved along the horizontal direction, the distance R on the normal is kept unchanged, measurement records are kept, and measurement is carried out in sequence every delta theta degrees until the incidence angles of the standard angle reversal around the normal direction of the radar are all acquired from-theta degrees to theta degrees.
Preferably, the calculation method of the steering vector matrix is as follows: selecting multi-frame spectral peak position data according to the output data of the radar array element, determining a corresponding standard angle back incidence angle according to a formula H ═ exp (j κ dsin theta)
And k is 2 pi/lambda and is the wave number, d is the distance between adjacent array elements, and theta is the angle reflection incidence angle, so that a corresponding steering vector matrix is obtained.
Preferably, the method for calculating the systematic error correction coefficient includes: least variance unbiased estimation quantity formula according to linear model
Wherein X is an Nx 1 dimensional array receiving snapshot data vector to obtain a system error compensation coefficient, HTIs a conjugate transpose of matrix H.
The invention has the technical effects and advantages that: according to the millimeter wave radar array error darkroom calibration method based on the high-precision intelligent mechanical arm, on one hand, the sampling point is selected only by being more than or equal to the number of the radar arrays, and the practicability is high; on the other hand, the method can finish correction on errors such as array position errors, amplitude-phase errors, array element cross coupling and the like which exist simultaneously at one time, and the estimated value of the array errors obtained by correcting the simulation data is basically consistent with the true value, which shows that the error parameter correction precision of the method is high, compared with the music spectrums before and after actual array antenna error correction, the music spectrum peak after array error correction is sharper, the side lobe is lower, and the DOA estimation precision is greatly improved.
Drawings
FIG. 1 is a general flow diagram of the present invention;
FIG. 2 is a schematic view of a test setup of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a millimeter wave radar array error darkroom calibration method based on a high-precision intelligent mechanical arm, which comprises the following steps of:
the method comprises the following steps: selecting a darkroom environment for an experiment, wherein the number of radar array elements is N, the radar position is unchanged, the initial position of the standard angle reversal is fixed at the R position in the normal direction of the radar, and the array element output data of the radar is recorded;
step two: the standard angle reversal always points to the center of mass of the radar, the placement position of the standard angle reversal moves along the horizontal direction, the distance R on the normal line is kept unchanged, measurement records are kept, measurement is carried out in sequence every delta theta degrees until the incidence angle of the standard angle reversal around the normal direction of the radar is completely collected from-theta degrees to theta degrees;
step three: selecting multi-frame spectral peak position data according to radar array element output data, determining a corresponding standard angle back incidence angle, and determining a formula H as exp (j kappa dsin theta)
Where k is 2 pi/lambda and is wave number, d is adjacent array element interval, theta is angle reflection incidence angle to obtain corresponding guide vector matrix, and the least variance unbiased estimation quantity formula of linear model
Wherein X is an Nx 1 dimensional array receiving snapshot data vector to obtain a system error compensation coefficient, HTIs a conjugate transpose of matrix H.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (5)
1. A millimeter wave radar array error darkroom calibration method based on a high-precision intelligent mechanical arm is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps: selecting a specific environment, fixing the reverse position of a standard angle, and installing a radar test initial position;
step two: reading radar test data, horizontally moving the reverse mounting position of the standard angle every delta theta and recording array element output data until +/-theta-degree data acquisition is finished;
step three: selecting angle echo data and corresponding incidence angles at different angles, wherein the number of the selected angle echo data must be larger than the number N of radar array elements, and determining a steering vector matrix;
step four: and calculating a system error correction coefficient.
2. The millimeter wave radar array error darkroom calibration method based on the high-precision intelligent mechanical arm as claimed in claim 1, wherein: the specific environment is a darkroom environment, the installation method of the radar test initial position is that the radar position is unchanged, the initial position of the standard angle reversal is positioned at the R position in the normal direction of the radar, and array element output data of the radar is recorded.
3. The millimeter wave radar array error darkroom calibration method based on the high-precision intelligent mechanical arm as claimed in claim 1, wherein: the data acquisition method comprises the steps that the standard angle mirror always points to the center of mass of the radar, the placement position of the standard angle mirror moves along the horizontal direction, the distance R on a normal line is kept unchanged, measurement records are kept, measurement is carried out in sequence every delta theta degrees, and the data acquisition is completed until the incidence angles of the standard angle mirror around the normal direction of the radar are all acquired from theta degrees to theta degrees.
4. The millimeter wave radar array error darkroom calibration method based on the high-precision intelligent mechanical arm as claimed in claim 1, wherein: the calculation method of the guide vector matrix comprises the following steps: selecting multi-frame spectral peak position data according to the output data of the radar array element, determining a corresponding standard angle back incidence angle according to a formula H ═ exp (j κ dsin theta)
And k is 2 pi/lambda and is the wave number, d is the distance between adjacent array elements, and theta is the angle reflection incidence angle, so that a corresponding steering vector matrix is obtained.
5. The millimeter wave radar array error darkroom calibration method based on the high-precision intelligent mechanical arm as claimed in claim 1, wherein: the method for calculating the system error correction coefficient comprises the following steps: least variance unbiased estimation quantity formula according to linear model
Wherein X is an Nx 1 dimensional array receiving snapshot data vector to obtain a system error compensation coefficient, HTIs a conjugate transpose of matrix H.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011014253.6A CN112415481A (en) | 2020-09-23 | 2020-09-23 | Millimeter wave radar array error darkroom calibration method based on high-precision intelligent mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011014253.6A CN112415481A (en) | 2020-09-23 | 2020-09-23 | Millimeter wave radar array error darkroom calibration method based on high-precision intelligent mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112415481A true CN112415481A (en) | 2021-02-26 |
Family
ID=74854057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011014253.6A Pending CN112415481A (en) | 2020-09-23 | 2020-09-23 | Millimeter wave radar array error darkroom calibration method based on high-precision intelligent mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112415481A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113030887A (en) * | 2021-03-02 | 2021-06-25 | 华域汽车系统股份有限公司 | Off-line calibration method and device for installation angle based on millimeter wave radar |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111448A (en) * | 2014-07-29 | 2014-10-22 | 电子科技大学 | Method for united correction of MIMO radar transceiving array errors |
| CN107843881A (en) * | 2017-10-24 | 2018-03-27 | 中国人民解放军空军工程大学 | Radar angular estimates and error calibration method |
| CN108919215A (en) * | 2018-09-21 | 2018-11-30 | 北京润科通用技术有限公司 | Automobile-used millimetre-wave radar calibration system and method |
| CN110320502A (en) * | 2019-05-27 | 2019-10-11 | 惠州市德赛西威汽车电子股份有限公司 | A kind of scaling method of millimetre-wave radar array antenna |
| CN111290410A (en) * | 2020-05-11 | 2020-06-16 | 南京楚航科技有限公司 | Millimeter wave radar-based automatic ship berthing and departing system and method |
| CN111487478A (en) * | 2020-03-27 | 2020-08-04 | 杭州电子科技大学 | Angle-dependent complex array error calibration method based on deep neural network |
-
2020
- 2020-09-23 CN CN202011014253.6A patent/CN112415481A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111448A (en) * | 2014-07-29 | 2014-10-22 | 电子科技大学 | Method for united correction of MIMO radar transceiving array errors |
| CN107843881A (en) * | 2017-10-24 | 2018-03-27 | 中国人民解放军空军工程大学 | Radar angular estimates and error calibration method |
| CN108919215A (en) * | 2018-09-21 | 2018-11-30 | 北京润科通用技术有限公司 | Automobile-used millimetre-wave radar calibration system and method |
| CN110320502A (en) * | 2019-05-27 | 2019-10-11 | 惠州市德赛西威汽车电子股份有限公司 | A kind of scaling method of millimetre-wave radar array antenna |
| CN111487478A (en) * | 2020-03-27 | 2020-08-04 | 杭州电子科技大学 | Angle-dependent complex array error calibration method based on deep neural network |
| CN111290410A (en) * | 2020-05-11 | 2020-06-16 | 南京楚航科技有限公司 | Millimeter wave radar-based automatic ship berthing and departing system and method |
Non-Patent Citations (1)
| Title |
|---|
| 朱子甲;汪进;刘奎;王崇阳;: "汽车后视毫米波雷达安装角标定系统设计研究", 汽车实用技术, no. 18, 30 September 2017 (2017-09-30), pages 1 - 4 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113030887A (en) * | 2021-03-02 | 2021-06-25 | 华域汽车系统股份有限公司 | Off-line calibration method and device for installation angle based on millimeter wave radar |
| CN113030887B (en) * | 2021-03-02 | 2023-10-27 | 华域汽车系统股份有限公司 | Installation angle offline calibration method and device based on millimeter wave radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110687500B (en) | Identification and positioning method and system for acquiring wireless signal arrival angle by intelligent antenna | |
| CN111487478B (en) | Angle-dependent complex array error calibration method based on deep neural network | |
| CN104297718A (en) | Interferometer array integrated correction method | |
| CN113281576B (en) | Antenna directional pattern testing method based on internal calibration multi-wave-position testing | |
| CN109541324B (en) | Compact field-based method for measuring phase center of unit antenna in array | |
| CN109507635A (en) | Utilize the array amplitude phase error evaluation method of two unknown orientation auxiliary sources | |
| US20240272276A1 (en) | Method and system for antenna array calibration for cross-coupling and gain/phase variations in radar systems | |
| US5419631A (en) | Three-axis motion tracking interferometer for measurement and correction of positional errors between an article under test and a measurement probe | |
| CN117214841A (en) | Phased array radar antenna plane calibration method | |
| CN112415481A (en) | Millimeter wave radar array error darkroom calibration method based on high-precision intelligent mechanical arm | |
| US11585892B1 (en) | Calibration for multi-channel imaging systems | |
| CN115826004B (en) | Three-star cooperative direct positioning method based on two-dimensional angle and time difference combination | |
| CN111368256A (en) | Single snapshot direction finding method based on uniform circular array | |
| CN116840794A (en) | Phased array SAR antenna array shape change versus pattern influence analysis method and system | |
| CN108387868B (en) | Scanning type radiation source positioning method based on signal arrival angle difference measurement | |
| CN114035149B (en) | Method for improving sensitivity of interferometer direction-finding system | |
| CN110715795B (en) | Calibration and measurement method for fast reflector in photoelectric tracking system | |
| CN114152913A (en) | Mutual coupling uniform linear array DOA estimation method | |
| CN112881971B (en) | Direction finding method for coherent interference source under electromagnetic directional mutual coupling effect | |
| CN111366891B (en) | Pseudo covariance matrix-based uniform circular array single snapshot direction finding method | |
| CN113466845A (en) | Double-guide-vector-based anti-multipath local search angle measurement method | |
| CN115549821B (en) | Array antenna external field differential phase difference calibration method | |
| CN117214809B (en) | Single-base-line interferometer non-fuzzy direction finding method and device with turntable | |
| CN113504518B (en) | External field calibration method for phased array electronic equipment | |
| CN116930862B (en) | Radius measurement method for constructing circular array aiming at horn antenna |
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 |