CN112698318A - Radar parameter comprehensive measurement system and measurement method - Google Patents

Radar parameter comprehensive measurement system and measurement method Download PDF

Info

Publication number
CN112698318A
CN112698318A CN202011451108.4A CN202011451108A CN112698318A CN 112698318 A CN112698318 A CN 112698318A CN 202011451108 A CN202011451108 A CN 202011451108A CN 112698318 A CN112698318 A CN 112698318A
Authority
CN
China
Prior art keywords
radar
sliding table
measurement
angle
parameter
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
Application number
CN202011451108.4A
Other languages
Chinese (zh)
Inventor
颜卫忠
陈栋志
孔凡伟
钱婧怡
白旭东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Scientific Instrument Factory Co ltd
Shanghai Aerospace Electronics Co ltd
Original Assignee
Shanghai Scientific Instrument Factory Co ltd
Shanghai Aerospace Electronics Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Scientific Instrument Factory Co ltd, Shanghai Aerospace Electronics Co ltd filed Critical Shanghai Scientific Instrument Factory Co ltd
Priority to CN202011451108.4A priority Critical patent/CN112698318A/en
Publication of CN112698318A publication Critical patent/CN112698318A/en
Pending legal-status Critical Current

Links

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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • 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

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 embodiment of the invention provides a measuring method of a radar parameter comprehensive measuring system, which is characterized by comprising the following steps: step 1: building a radar parameter comprehensive measurement system; step 2: calibrating the orientation of the radar antenna; and step 3: driving the sliding table to enable the sliding table support (2) to move according to different parameter measurement requirements, recording information such as the moving speed, the moving time and the position relative to the starting point of the sliding table (3) of the sliding table support (2), and simultaneously recording the result of radar measurement target parameters; and 4, step 4: and (4) comparing the information of the sliding table support (2) in the step (3) with the radar measurement result, and calculating the measurement precision of the target parameter. The radar parameter comprehensive measurement system provided by the invention can improve the accuracy and convenience of radar parameter measurement and reduce the error of radar parameter measurement.

Description

Radar parameter comprehensive measurement system and measurement method
Technical Field
The invention belongs to the field of radar target measurement, and relates to a comprehensive measurement radar system for target distance, speed and angle.
Background
Radars of different systems measure different parameters of a target, such as a pulse radar for measuring distance, a doppler radar for measuring speed, and the like. When measuring target parameters, an accurate coordinate system needs to be established, and the coincidence of the radar antenna main shaft and a target measurement coordinate system is ensured. After the radar and the target are erected, parameters such as the real distance and the angle of the target relative to the radar are determined firstly, so that the measurement error of the radar can be verified subsequently. For stationary targets, the parameter measurement is relatively simple. For a moving target, constant-speed movement is generally difficult to maintain, speed measurement accuracy verification is difficult, if angle measurement is carried out simultaneously, target track is difficult to effectively control, and angle measurement accuracy verification also has difficulty. In addition, with the increase of the measurement times and the change of the target state, the target real parameters need to be calibrated continuously, and the measurement becomes extremely complicated. However, few experimental methods for measuring radar parameters are introduced in the literature at present, and particularly, the measurement of the speed and the angle of a moving target is performed, so that a radar parameter comprehensive measurement system needs to be provided to adapt to the measurement of various radar parameters.
The invention provides a radar parameter comprehensive measurement system, which is suitable for measuring various radar parameters, and can effectively ensure the accuracy of the real parameters of a target so as to reduce the error of target parameter measurement.
Disclosure of Invention
The invention aims to provide a radar parameter comprehensive measurement system, which is characterized by comprising the following components:
the upper surface of the sliding table 3 is provided with a guide rail;
the sliding table bracket 2 moves along the guide rail; a reflector 1 is arranged on the sliding table bracket 2;
a radar 7 and a radar mount 8; and a calibration body 5;
preferably, the sliding table 3 is further provided with a sliding table bottom pulley 6 for conveniently moving the position of the sliding table 3.
Preferably, the sliding table 3 is provided with a control line 4, connected with the upper computer and used for controlling the movement of the sliding table bracket 2.
The invention also provides a measuring method of the radar parameter comprehensive measuring system, which is characterized by comprising the following steps:
step 1: building a radar parameter comprehensive measurement system;
step 2: calibrating the orientation of the radar antenna;
and step 3: driving the sliding table to enable the sliding table support 2 to move according to different parameter measurement requirements, recording information such as the moving speed, the moving time and the position relative to the starting point of the sliding table 3 of the sliding table support 2, and simultaneously recording the result of radar measurement target parameters;
and 4, step 4: and (4) comparing the information of the sliding table support 2 in the step (3) with the radar measurement result, and calculating the target parameter measurement precision.
Preferably, in the step 1, coordinate information of the radar 7, the radar support 8, the calibration body 5, the sliding table 3, the sliding table support 2 and the reflector 1 is recorded.
Preferably, in the step 2, a first line, i.e., a central axis, and a second line, i.e., a mark line, are selected in space, the calibration body 5 is placed on the first line, and the sliding table 3 is placed on the second line.
Preferably, the angle of the calibration body 5 on the central axis of the integrated measurement system is measured
Figure BDA0002826949180000021
If the angle of the calibration body 5 is smaller than the threshold delta, that is
Figure BDA0002826949180000022
No correction is necessary. Otherwise, when
Figure BDA0002826949180000023
The radar antenna needs to be rotated clockwise, and conversely, the radar antenna needs to be rotated counterclockwise. After the antenna is fixed, the angle of the calibration body 5 is measured again
Figure BDA0002826949180000024
The direction of the antenna is repeatedly adjusted until the angle is thetai|<δ, then the calibration is completed and the antenna main axis direction is recorded as
Figure BDA0002826949180000025
Preferably, the angle error threshold δ needs to be set according to the angle measurement accuracy.
Preferably, in step 2, when the angle of the target relative to the radar needs to be changed, only the direction of the radar antenna needs to be changed, and the sliding table can keep the current position unchanged. Assume that the initial target is at an angle θ with respect to the radarHNow, it is desired to change the target angle to θ'HIf the antenna needs to rotate by an angle σ ═ θH-θ’H) And σ>0, the antenna rotates clockwise by σ, and vice versa.
Preferably, the radar antenna orientation is recalibrated when the test environment or test conditions change.
Preferably, in step 3, the measured target angle needs to be subtracted by the antenna main axis direction angle θT。
Preferably, in step 3, when the target angle or distance is measured, the slide table 3 is driven to move the slide table support 2 to a specific distance, and the position of the slide table support 2 is recorded.
Preferably, in step 3, when the speed of the moving target is measured, the moving speed and the moving stroke of the sliding table 3 are controlled and recorded.
The beneficial effects of the invention include:
(1) support radar multi-parameter integrated measurement
The measurement system supports target distance, velocity, angle measurements. If a plurality of supports or a plurality of groups of sliding tables are adopted, multi-target and multi-parameter measurement can be supported.
(2) Calibration system for radar parameter measurement
The speed of the sliding table is controllable, so that the method can be used for verifying the speed measurement precision of the radar. The step stroke of the sliding table is extremely small, and the method can be used for radar high-precision distance measurement verification. In addition, the sliding table moves linearly, and consistency of target angles is guaranteed.
(3) Repeatable and highly convenient
Once the measuring system is installed and fixed, a large number of experimental measurements can be realized, and the experiment can be repeated. When the target angle needs to be changed, only the antenna pointing direction needs to be adjusted.
Drawings
FIG. 1 is a schematic diagram of a radar parameter integrated measurement system.
Fig. 2 is a schematic diagram of radar antenna pointing correction.
FIG. 3 is a schematic of distance and angle measurements.
Fig. 4 is a schematic diagram of velocity measurement.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
When the prior document describes radar parameter measurement, the distance between a reflector and a radar is generally determined by a laser range finder or a measuring tape, and the measurement needs to be carried out again each time the target position changes. When the target speed is measured, generally, a moving object is difficult to keep moving at a constant speed, and the speed measurement precision verification has difficulty. The radar parameter comprehensive measurement system provided by the invention can improve the accuracy and convenience of radar parameter measurement and reduce the error of radar parameter measurement.
The invention mainly aims at the problems of complicated target parameter measurement process and large measurement error, and provides a radar parameter comprehensive measurement system which comprises the following components: a radar parameter integrated measurement system, comprising:
the upper surface of the sliding table (3) is provided with a guide rail;
the sliding table support (2) moves along the guide rail; a reflector (1) is arranged on the sliding table bracket (2);
a radar (7) and a radar mount (8); and a calibration body (5).
According to one embodiment of the invention, the slipway (3) is also provided with a slipway bottom pulley (6) for convenient movement of the slipway (3) position.
According to one embodiment of the invention, the sliding table (3) is provided with a control line (4) which is connected with an upper computer and used for controlling the movement of the sliding table bracket (2).
The invention also provides a measuring method of the radar parameter comprehensive measuring system, which is characterized by comprising the following steps:
step 1: building a radar parameter comprehensive measurement system;
step 2: calibrating the orientation of the radar antenna;
and step 3: driving the sliding table to enable the sliding table support (2) to move according to different parameter measurement requirements, recording information such as the moving speed, the moving time and the position relative to the starting point of the sliding table (3) of the sliding table support (2), and simultaneously recording the result of radar measurement target parameters;
and 4, step 4: and (4) comparing the information of the sliding table support (2) in the step (3) with the radar measurement result, and calculating the measurement precision of the target parameter.
According to one embodiment of the invention, in the step 1, coordinate information of the radar (7), the radar support (8), the calibration body (5), the sliding table (3), the sliding table support (2) and the reflector (1) is recorded.
According to one embodiment of the invention, in the step 2, a first line, namely a central axis, and a second line, namely a marking line, are selected in space, a calibration body (5) is placed on the first line, and a sliding table (3) is placed on the second line.
According to one embodiment of the invention, the angle of the calibration body (5) on the central axis of the integrated measuring system is measured
Figure BDA0002826949180000051
If the angle of the calibration body (5) is less than the threshold value delta, that is
Figure BDA0002826949180000052
No correction is necessary. Otherwise, when
Figure BDA0002826949180000053
The radar antenna needs to be rotated clockwise, and conversely, the radar antenna needs to be rotated counterclockwise. After the antenna is fixed, the angle of the calibration body (5) is measured again
Figure BDA0002826949180000054
The direction of the antenna is repeatedly adjusted until the angle is thetai|<δ, then the calibration is completed and the antenna main axis direction is recorded as
Figure BDA0002826949180000055
According to an embodiment of the present invention, the angle error threshold δ is set according to the angle measurement accuracy.
According to an embodiment of the invention, in step 2, when the angle of the target relative to the radar needs to be changed, only the direction of the radar antenna needs to be changed, and the sliding table can keep the current position unchanged. Assume an initial target is at an angle θ relative to radarHNow, it is desired to change the target angle to θ'HIf the antenna needs to rotate by an angle σ ═ θH-θ’H) And σ>0, the antenna rotates clockwise by σ, and vice versa.
According to one embodiment of the invention, the radar antenna orientation needs to be recalibrated when the test environment or test conditions change.
Example 1: target distance and angle measurements.
The present embodiment is specifically described with reference to fig. 1 to 3:
step 1, completing the construction of a radar parameter comprehensive measurement system according to the figure 1. And (3) determining a central axis (a first line selected in space) and a marking line (a second line selected in space) of any angle of the comprehensive measurement system by taking the radar 7 as a center, and placing the sliding table 3 on the marking line in the radar beam range to enable the sliding table and the marking line to be superposed. The reflector 1 is fixed on the sliding table bracket 2, and the calibration body 5 is placed on the central axis. And recording polar coordinate information (r, theta) of the radar 7, the radar support 8, the calibration body 5, the sliding table 3, the sliding table support 2, the reflector 1 and the like. Wherein, the radar has 7 coordinates (0, 0) and the sliding table has 3 coordinates (r)H，θH) 1 coordinate (r) of reflectorH+r0，θH) 5 coordinate (r) of the calibration bodyD，0)。
And 2, calibrating the direction of the radar antenna according to the diagram shown in FIG. 2. In the central axis of the integrated measuring systemFirst line), continuously adjusting the antenna pointing direction and measuring the angle of the calibration body 5 to make the angle of the calibration body 5 less than the threshold value delta, and marking the angle of the calibration body 5 as thetaT。
Step 3, as shown in fig. 3, driving the sliding table to move the sliding table support 2 to different positions, and recording the position (r) of the sliding table support 2 relative to the starting point of the sliding table0,r1… …) and simultaneously recording the result (R) of the radar measuring the distance and angle of the target0,R1,……)、(Θ0,Θ1… …). Target angle subtracted by angle thetaT。
And 4, comparing the information of the sliding table support 2 in the step 3 with the radar measurement result, and calculating the measurement precision of the target parameter. Wherein the distance measurement accuracy Δ R ═ Ri-(rH+r0) Angle measuring accuracy Δ θ ═ Θi-θHI is 1,2, … …, n. n is the number of measurements.
Example 2: and measuring the target speed.
The present embodiment will be described in detail with reference to fig. 1,2, and 4:
step 1, completing the construction of a radar parameter comprehensive measurement system according to the figure 1. And determining a central axis and a marking line at any angle of the comprehensive measurement system by taking the radar as a center, and placing the sliding table 3 on the marking line in the radar beam range to ensure that the sliding table and the marking line are superposed. The reflector 1 is fixed on the sliding table bracket 2, and the calibration body 5 is placed on the central axis. And recording polar coordinate information (r, theta) of the radar 7, the radar support 8, the calibration body 5, the sliding table 3, the sliding table support 2, the reflector 1 and the like. Wherein, the radar has 7 coordinates (0, 0) and the sliding table has 3 coordinates (r)H,θH) 1 coordinate (r) of reflectorH+r0,θH) 5 coordinate (r) of the calibration bodyD，0)。
And 2, calibrating the direction of the radar antenna according to the diagram shown in FIG. 2. Placing a calibration body 5 on the central axis of the comprehensive measurement system, continuously adjusting the pointing direction of the antenna and measuring the angle of the calibration body 5 to ensure that the angle of the calibration body 5 is less than a threshold value delta and the angle of the calibration body 5 is recorded as thetaT。
Step 3, as shown in FIG. 4, driving the sliding tableMaking the slipway carriage 2 at speed v0From the starting point (r)0) Continuously moving to the end point (r)1) Simultaneously recording the results (R) of the distance, angle and speed of the radar measured target0,R1,……)、(Θ0,Θ1,……)、(V0,V1… …). Target angle ΘiHas subtracted the angle thetaT。
And 4, comparing the information of the sliding table support 2 in the step 3 with the radar measurement result, and calculating the measurement precision of the target parameter. Wherein the distance measurement accuracy Δ R ═ Ri-(rH+r0) Angle measuring accuracy Δ θ ═ Θi-θHSpeed measurement accuracy Δ v ═ v0-ViI is 1,2, … …, n. n is the number of measurements.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A radar parameter integrated measurement system, comprising:
the upper surface of the sliding table (3) is provided with a guide rail;
the sliding table support (2) moves along the guide rail; a reflector (1) is arranged on the sliding table bracket (2);
a radar (7) and a radar mount (8); and a calibration body (5).
2. The radar parameter integrated measuring system according to claim 1, characterized in that the slide (3) is further provided with a slide bottom pulley (6) for easy movement of the slide (3) position.
3. The radar parameter comprehensive measuring system according to claim 1, wherein the sliding table (3) is provided with a control line (4) connected with an upper computer for controlling the movement of the sliding table support (2).
4. A measuring method of the radar parameter comprehensive measuring system according to any one of claims 1 to 3, characterized by comprising the steps of:
step 1: building a radar parameter comprehensive measurement system;
step 2: calibrating the orientation of the radar antenna;
and step 3: driving the sliding table to enable the sliding table support (2) to move according to different parameter measurement requirements, recording information such as the moving speed, the moving time and the position relative to the starting point of the sliding table (3) of the sliding table support (2), and simultaneously recording the result of radar measurement target parameters;
and 4, step 4: and (4) comparing the information of the sliding table support (2) in the step (3) with the radar measurement result, and calculating the measurement precision of the target parameter.
5. The measuring method of the radar parameter comprehensive measuring system according to claim 4, wherein in the step 1, coordinate information of the radar (7), the radar support (8), the calibration body (5), the sliding table (3), the sliding table support (2) and the reflector (1) is recorded.
6. The measuring method of the radar parameter comprehensive measuring system according to claim 5, wherein in the step 2, a first line, namely a central axis, and a second line, namely a mark line, are selected in space, a calibration body (5) is placed on the first line, and a slide table (3) is placed on the second line.
7. The measuring method of the radar parameter comprehensive measuring system according to claim 6, wherein the angle of the calibration body (5) on the central axis of the comprehensive measuring system is measured
Figure FDA0002826949170000021
If the angle of the calibration body (5) is less than the threshold value delta, that is
Figure FDA0002826949170000022
No correction is needed; otherwise, when
Figure FDA0002826949170000023
The radar antenna needs to rotate clockwise, otherwise, the radar antenna rotates anticlockwise; after the antenna is fixed, the angle of the calibration body (5) is measured again
Figure FDA0002826949170000024
The direction of the antenna is repeatedly adjusted until the angle is thetai|<δ, then the calibration is completed and the antenna main axis direction is recorded as
Figure FDA0002826949170000025
8. The measuring method of the radar parameter synthesis measuring system according to claim 7, wherein the angle error threshold δ is set according to the accuracy of angle measurement.
9. The measuring method of the radar parameter comprehensive measuring system according to claim 8, wherein in the step 2, when the angle of the target relative to the radar (7) needs to be changed, only the direction of the radar antenna needs to be changed, and the sliding table (3) can keep the current position unchanged; the angle of the initial target relative to the radar (7) is assumed to be thetaHNow, it is desired to change the target angle to θ'HIf the antenna needs to rotate by an angle σ ═ θH-θ’H) And σ>0, the antenna rotates clockwise by σ, and vice versa.
10. The method of claim 8, wherein the radar antenna orientation is recalibrated when the test environment or test conditions change.
CN202011451108.4A 2020-12-10 2020-12-10 Radar parameter comprehensive measurement system and measurement method Pending CN112698318A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011451108.4A CN112698318A (en) 2020-12-10 2020-12-10 Radar parameter comprehensive measurement system and measurement method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011451108.4A CN112698318A (en) 2020-12-10 2020-12-10 Radar parameter comprehensive measurement system and measurement method

Publications (1)

Publication Number Publication Date
CN112698318A true CN112698318A (en) 2021-04-23

Family

ID=75508735

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011451108.4A Pending CN112698318A (en) 2020-12-10 2020-12-10 Radar parameter comprehensive measurement system and measurement method

Country Status (1)

Country Link
CN (1) CN112698318A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117538837A (en) * 2024-01-10 2024-02-09 中国汽车技术研究中心有限公司 Test method, equipment and medium of automobile blind area monitoring system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103454619A (en) * 2013-09-12 2013-12-18 上海无线电设备研究所 Electrical axis optical calibration system of spaceborne microwave tracking-pointing radar and calibration method thereof
CN108445456A (en) * 2017-02-16 2018-08-24 通用汽车环球科技运作有限责任公司 Calibration of the light up to-radar relative pose
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
CN110716184A (en) * 2019-10-18 2020-01-21 安徽江淮汽车集团股份有限公司 Radar system angle calibration method, device, equipment and storage medium
CN211236219U (en) * 2019-07-16 2020-08-11 北京中测国宇科技有限公司 Pitching angle adjusting device of three-sided corner reflector

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103454619A (en) * 2013-09-12 2013-12-18 上海无线电设备研究所 Electrical axis optical calibration system of spaceborne microwave tracking-pointing radar and calibration method thereof
CN108445456A (en) * 2017-02-16 2018-08-24 通用汽车环球科技运作有限责任公司 Calibration of the light up to-radar relative pose
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
CN211236219U (en) * 2019-07-16 2020-08-11 北京中测国宇科技有限公司 Pitching angle adjusting device of three-sided corner reflector
CN110716184A (en) * 2019-10-18 2020-01-21 安徽江淮汽车集团股份有限公司 Radar system angle calibration method, device, equipment and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117538837A (en) * 2024-01-10 2024-02-09 中国汽车技术研究中心有限公司 Test method, equipment and medium of automobile blind area monitoring system
CN117538837B (en) * 2024-01-10 2024-05-07 中国汽车技术研究中心有限公司 Test method, equipment and medium of automobile blind area monitoring system

Similar Documents

Publication Publication Date Title
US20200355792A1 (en) On-board radar calibration device and method
CN103454619B (en) Electrical axis optical calibration system of spaceborne microwave tracking-pointing radar and calibration method thereof
CN103697824B (en) For the system calibrating method of the gauge head of coordinate measuring machine
US20090024343A1 (en) Method of determining geometric errors in a machine tool or measuring machine
CN107314740B (en) Position calibration system and calibration method of double-vibrating-mirror scanning system
CN105058387A (en) Industrial robot base coordinate system calibration method based on laser tracker
CN112098964B (en) Calibration method, device, equipment and storage medium of road-end radar
CN101320062A (en) Antenna phase center measuring method based on moving reference point
CN110883774B (en) Robot joint angle zero calibration system, method and storage medium
CN109633575B (en) Three-axis calibration system and method for satellite-borne microwave optical composite radar
CN110487182A (en) A kind of coordinate transformation method based on Dynamic and Multi dimensional standard
CN109238175A (en) A kind of space plane angle measurement method based on laser tracker
CN102554710A (en) Device and method for measuring rotation angle error of rotary table of machine tool
CN105739538A (en) Positioning method based on mechanical arm movement device, and positioning testing device and method
CN104569588A (en) Laser compensation method for high-frequency linear phase detection of plane wave of compact range
CN106403919B (en) A kind of dynamic correcting method of Electronic Megnetic Compass
CN112698318A (en) Radar parameter comprehensive measurement system and measurement method
CN112325840A (en) Directional antenna angle rapid calibration method based on celestial body tracking and scanning
CN106546766B (en) Clinoplain scan method based on two anemometry laser radars
EP2230488A1 (en) Calibration to improve weather radar positioning determination
CN105627913A (en) Linear length measurement alignment adjustment method for laser interferometer
US20130321197A1 (en) Calibration to improve weather radar positioning determination
CN111856509A (en) Positioning method, positioning device and mobile equipment
CN102288107B (en) Ultra large geometric parameter measuring system self-calibration method based on guidance of wireless sensor network
CN105466455A (en) Angular accuracy calibration system and method

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
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20210423