CN113514804A - Security radar angle measurement correction method based on FMCW - Google Patents

Security radar angle measurement correction method based on FMCW Download PDF

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CN113514804A
CN113514804A CN202110729921.1A CN202110729921A CN113514804A CN 113514804 A CN113514804 A CN 113514804A CN 202110729921 A CN202110729921 A CN 202110729921A CN 113514804 A CN113514804 A CN 113514804A
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radar
fmcw
phi
phase information
angle measurement
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CN113514804B (en
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程小军
李昂
李开文
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Anhui Falcon Wave Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
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Abstract

The invention provides a security radar angle measurement correction method based on FMCW, which comprises the following steps: step 1: installing short-range FMCW security radar at a distance of 10m and theta from the normal direction of the radar1A Doppler simulator is placed as a calibration target at the position of 0; step 2: receiving the target echo signal in the step 1, and performing FFT processing on the target echo signal to obtain phase information phi1(ii) a And step 3: then the Doppler simulator is used as a calibration target and is respectively placed at a position 10m away from the normal direction of the radar and related to theta1Acquiring target echo data through a short-range FMCW security radar at two symmetrical positions, processing the target echo signal and obtaining phase information phi2And phi3(ii) a And 4, step 4: by phase information phi1、φ2And phi3Obtaining a phase deviation factor
Figure DDA0003138934610000011
And a cell pitch deviation factor Δ dRepair the(ii) a The invention ensures the angle measurement precision of the radar,meanwhile, the method is efficient and easy to implement, targets at different positions and speeds can be simulated to calibrate the radar angle measurement, and the calibration efficiency is improved.

Description

Security radar angle measurement correction method based on FMCW
Technical Field
The invention relates to the technical field of radars, in particular to a security radar angle measurement correction method based on FMCW.
Background
With the development and progress of radar technology, millimeter wave radars are widely used in the field of automobiles in recent years, and can quickly and accurately acquire physical environment information around an automobile body, such as relative distance, relative speed, angle, movement direction and the like between an automobile and other surrounding objects, by emitting millimeter waves outwards, receiving target reflection signals and processing the signals.
With the continuous development of electronic technology, radar technology is widely applied to the civil field, wherein the safety protection radar product based on short-range FMCW also has a completely exposed head angle under different application scenes, the radar belongs to system engineering, and the safety protection radar based on short-range FMCW needs angle measurement calibration in practical application in consideration of engineering errors. At present, a common angle measurement calibration method is to calibrate by using a corner reflector in a microwave darkroom, but the construction, use and maintenance costs of the microwave darkroom are higher, and in addition, a method for calibrating by using the corner reflector directly in an external field is also provided.
Disclosure of Invention
The invention aims to overcome the technical problem of the prior art, and provides a security radar angle measurement correction method based on FMCW (frequency modulated continuous wave), so as to solve the problem that the radar cannot efficiently detect a target of an angle reflector due to the influence of ground clutter on the radar in the common angle measurement correction method in the technical background, which is to use the angle reflector for calibration in a microwave darkroom but has higher construction, use and maintenance costs of the microwave darkroom, and the method of directly using the angle reflector for calibration in an external field.
In order to achieve the purpose, the invention provides the following technical scheme: an FMCW-based security radar angle measurement correction method comprises the following steps:
step 1: installing short-range FMCW security radar at a distance of 10m and theta from the normal direction of the radar1A Doppler simulator is placed at the position of 0 as a calibration target, and target echo data are collected through the short-range FMCW security radar;
step 2: receiving the target echo signal in the step 1, and performing FFT processing on the target echo signal to obtain phase information phi1；
And step 3: then the Doppler simulator is used as a calibration target and is respectively placed at a position 10m away from the normal direction of the radar and related to theta1Acquiring target echo data through the short-range FMCW security radar at two symmetrical positions of 0, processing the target echo signal and obtaining phase information phi2And phi3；
And 4, step 4: by phase information phi1、φ2And phi3Obtaining a phase deviation factor
Figure BDA0003138934590000021
And a cell pitch deviation factor Δ dRepair the。
Preferably, in step 2, the signal processor performs two-dimensional FFT on the target echoes received by the receiving antenna to obtain phase information of each target echo, where the phase information is phi1＝[φ11，φ12]。
Preferably, in the step 3, the deviation from the normal direction of the radar is theta2α ° and θ3Doppler simulators are respectively placed at the position of 10m away from the short-range FMCW security radar to serve as calibration targets, target echo data are collected through the FMCW security radar, two-dimensional FFT processing is respectively carried out on the target echoes received by the receiving antenna through a signal processor, and theta is obtained2α ° and θ3Two phase information of each path obtained in two states of alpha DEG, the phase information is phi2＝[φ21，φ22]And phi3＝[φ31，φ32]。
Preferably, in the step 4, the formula of angle measurement is based on radar
Figure BDA0003138934590000022
Wherein
Figure BDA0003138934590000023
Table of d ═ lambdaShowing the distance between the two receiving antennas,
Figure BDA0003138934590000024
Representing wave number, lambda representing radar operating wavelength, and phase information phi in step 21＝[φ11，φ12]Obtaining a phase deviation factor
Figure BDA0003138934590000025
Preferably, based on the phase information φ in step 32＝[φ21，φ22]In step 3, the Doppler simulator deviates from the normal direction theta of the radar2At α °, according to the formula for radar angle measurement
Figure BDA0003138934590000026
Wherein
Figure BDA0003138934590000027
Figure BDA0003138934590000031
The wave number and lambda are expressed by the radar operating wavelength, and theoretically d is equal to lambda without considering the receiving channel spacing error, but in actual engineering, the radar receiving channel spacing has deviation and needs to be corrected according to the phase information phi in the step 32＝[φ21，φ22]Obtain the channel phase difference
Figure BDA0003138934590000032
To pair
Figure BDA0003138934590000033
Performing normalization process if
Figure BDA0003138934590000034
Figure BDA0003138934590000035
Figure BDA0003138934590000036
Figure BDA0003138934590000037
Since the target azimuth angle is known in step 3, the unit spacing of the two receiving antennas is calculated
Figure BDA0003138934590000038
Preferably, based on the phase information φ in step 33＝[φ31，φ32]In step 3, the Doppler simulator deviates from the normal direction theta of the radar3At- α °, according to the radar angle-measuring formula
Figure BDA0003138934590000039
Wherein
Figure BDA00031389345900000310
Figure BDA00031389345900000311
The wave number and lambda are expressed by the radar operating wavelength, and theoretically d is equal to lambda without considering the receiving channel spacing error, but in actual engineering, the radar receiving channel spacing has deviation and needs to be corrected according to the phase information phi in the step 33＝[φ31，φ32]Obtain the channel phase difference
Figure BDA00031389345900000312
To pair
Figure BDA00031389345900000313
Performing normalization process if
Figure BDA00031389345900000314
Figure BDA00031389345900000315
Figure BDA00031389345900000316
Figure BDA00031389345900000317
Since the target azimuth angle is known in step 3, the unit spacing of the two receiving antennas is calculated
Figure BDA00031389345900000318
Preferably, the unit receiving antenna unit spacing d calculated according to the step 32、d3Calculating a cell pitch deviation factor Δ dRepair theConsidering the symmetry of the two correction sources and the requirement of angle measurement precision,
Figure BDA00031389345900000319
calculation formula for confirming target angle
Figure BDA00031389345900000320
Compared with the prior art, the invention provides a security radar angle measurement correction method based on FMCW, which has the following beneficial effects:
the method can effectively calibrate the angle of the security radar based on the short-range FMCW to ensure the radar angle measurement precision, is efficient and easy to implement, can simulate targets at different positions and speeds to calibrate the radar angle measurement, has no rigid requirement on a calibration field, and can improve the calibration efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:
FIG. 1 is a schematic structural diagram of a radar system based on an FMCW security radar angle measurement correction method provided by the invention.
Fig. 2 is a schematic diagram of an antenna structure according to the present invention.
FIG. 3 is a schematic diagram of the angle measurement calibration method of the present invention.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easily understood, the invention is further described below with reference to the specific embodiments and the attached drawings, but the following embodiments are only the preferred embodiments of the invention, and not all embodiments are provided. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention.
As shown in fig. 1, a short-range FMCW-based security radar includes a transmitting subsystem, a receiving subsystem, a signal processing subsystem, a data processing subsystem, a display and control terminal subsystem, and a power subsystem;
as shown in fig. 2, a security radar antenna based on short-range FMCW includes one transmitting antenna and two receiving antennas;
as shown in fig. 3, a FMCW based short-range security radar angle measurement calibration method is characterized by comprising the following steps:
step 1: installing short-range FMCW security radar at a distance of 10m and theta from the normal direction of the radar1A Doppler simulator is placed at the position of 0 as a calibration target, and target echo data are collected through a short-range FMCW security radar;
step 2: receiving the target echo signal in the step 1, and performing FFT processing on the target echo signal to obtain phase information phi1(ii) a Respectively carrying out two-dimensional FFT processing on target echoes received by a receiving antenna through a signal processor to obtain phase information of each target echo, wherein the phase information is phi1＝[φ11，φ12]。
And step 3: then the Doppler simulator is used as a calibration target and is respectively placed at a position 10m away from the normal direction of the radar and related to theta1Acquiring target echo data through a short-range FMCW security radar at two symmetrical positions, processing the target echo signal and obtaining phase information phi2And phi3(ii) a In directions theta away from the radar normal2α ° and θ3Doppler simulators are respectively placed at 10m positions of a short-range FMCW security radar as calibration targets, target echo data are collected through the FMCW security radar, and a signal processor is used for receiving a receiving antennaRespectively carrying out two-dimensional FFT processing on the received target echoes to obtain theta2α ° and θ3Two phase information of each path obtained in two states of alpha DEG, the phase information is phi2＝[φ21，φ22]And phi3＝[φ31，φ32](ii) a According to the phase information phi in step 32＝[φ21，φ22]In step 3, the Doppler simulator deviates from the normal direction theta of the radar2At α °, according to the formula for radar angle measurement
Figure BDA0003138934590000051
Wherein
Figure BDA0003138934590000052
Figure BDA0003138934590000053
The wave number and lambda are expressed by the radar operating wavelength, and theoretically d is equal to lambda without considering the receiving channel spacing error, but in actual engineering, the radar receiving channel spacing has deviation and needs to be corrected according to the phase information phi in the step 32＝[φ21，φ22]Obtain the channel phase difference
Figure BDA0003138934590000054
To pair
Figure BDA0003138934590000055
Performing normalization process if
Figure BDA0003138934590000056
Figure BDA0003138934590000057
Figure BDA0003138934590000058
Figure BDA0003138934590000059
Since the target azimuth is known in step 3, two are calculatedUnit spacing of receiving antenna
Figure BDA00031389345900000510
According to the phase information phi in step 33＝[φ31，φ32]In step 3, the Doppler simulator deviates from the normal direction theta of the radar3At- α °, according to the radar angle-measuring formula
Figure BDA00031389345900000511
Wherein
Figure BDA00031389345900000512
Figure BDA00031389345900000513
The wave number and lambda are expressed by the radar operating wavelength, and theoretically d is equal to lambda without considering the receiving channel spacing error, but in actual engineering, the radar receiving channel spacing has deviation and needs to be corrected according to the phase information phi in the step 33＝[φ31，φ32]Obtain the channel phase difference
Figure BDA00031389345900000514
To pair
Figure BDA00031389345900000515
Performing normalization process if
Figure BDA00031389345900000516
Figure BDA00031389345900000517
Figure BDA00031389345900000518
Figure BDA00031389345900000519
Since the target azimuth angle is known in step 3, the unit spacing of the two receiving antennas is calculated
Figure BDA00031389345900000520
According to the unit receiving antenna unit spacing d calculated in the step 32、d3Calculating a cell pitch deviation factor Δ dRepair theConsidering the symmetry of the two correction sources and the requirement of angle measurement precision,
Figure BDA00031389345900000521
calculation formula for confirming target angle
Figure BDA00031389345900000522
And 4, step 4: by phase information phi1、φ2And phi3Obtaining a phase deviation factor
Figure BDA0003138934590000061
And a cell pitch deviation factor Δ dRepair the(ii) a According to radar angle-measuring formula
Figure BDA0003138934590000062
Wherein
Figure BDA0003138934590000063
d-lambda represents the distance between two receiving antennas,
Figure BDA0003138934590000064
Representing wave number, lambda representing radar operating wavelength, and phase information phi in step 21＝[φ11，φ12]Obtaining a phase deviation factor
Figure BDA0003138934590000065
The radar angle measurement is calibrated by simulating targets with different positions and speeds, and the calibration method has no hard requirement on a calibration field and can improve the calibration efficiency.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (7)

1. An FMCW-based security radar angle measurement correction method is characterized by comprising the following steps:
step 1: installing short-range FMCW security radar at a distance of 10m and theta from the normal direction of the radar1A Doppler simulator is placed at the position of 0 as a calibration target, and target echo data are collected through the short-range FMCW security radar;
step 2: receiving the target echo signal in the step 1, and performing FFT processing on the target echo signal to obtain phase information phi1；
And step 3: then the Doppler simulator is used as a calibration target and is respectively placed at a position 10m away from the normal direction of the radar and related to theta1Acquiring target echo data through the short-range FMCW security radar at two symmetrical positions of 0, processing the target echo signal and obtaining phase information phi2And phi3；
And 4, step 4: by phase information phi1、φ2And phi3Obtaining a phase deviation factor
Figure FDA0003138934580000011
And a cell pitch deviation factor Δ dRepair the。
2. The FMCW-based security radar angle measurement correction method of claim 1, wherein: in the step 2, the signal processor respectively performs two-dimensional FFT processing on the target echoes received by the receiving antenna to obtain phase information of each target echo, wherein the phase information is phi1＝[φ11，φ12]。
3. According to claim 1The security radar angle measurement correction method based on FMCW is characterized in that: in the step 3, in the direction of deviating from the normal line of the radar by theta2α ° and θ3Doppler simulators are respectively placed at the position of 10m away from the short-range FMCW security radar to serve as calibration targets, target echo data are collected through the FMCW security radar, two-dimensional FFT processing is respectively carried out on the target echoes received by the receiving antenna through a signal processor, and theta is obtained2α ° and θ3Two phase information of each path obtained in two states of alpha DEG, the phase information is phi2＝[φ21，φ22]And phi3＝[φ31，φ32]。
4. The FMCW-based security radar angle measurement correction method of claim 2, wherein: in the step 4, according to the radar angle measurement formula
Figure FDA0003138934580000012
Wherein
Figure FDA0003138934580000013
d-lambda represents the distance between two receiving antennas,
Figure FDA0003138934580000014
Representing wave number, lambda representing radar operating wavelength, and phase information phi in step 21＝[φ11，φ12]Obtaining a phase deviation factor
Figure FDA0003138934580000021
5. The FMCW-based security radar angle measurement correction method of claim 3, wherein: according to the phase information phi in step 32＝[φ21，φ22]In step 3, the Doppler simulator deviates from the normal direction theta of the radar2At α °, according to the formula for radar angle measurement
Figure FDA0003138934580000022
Wherein
Figure FDA0003138934580000023
The wave number and lambda are expressed by the radar operating wavelength, and theoretically d is equal to lambda without considering the receiving channel spacing error, but in actual engineering, the radar receiving channel spacing has deviation and needs to be corrected according to the phase information phi in the step 32＝[φ21，φ22]Obtain the channel phase difference
Figure FDA0003138934580000024
To pair
Figure FDA0003138934580000025
Performing normalization process if
Figure FDA0003138934580000026
Since the target azimuth angle is known in step 3, the unit spacing of the two receiving antennas is calculated
Figure FDA0003138934580000027
6. The FMCW-based security radar angle measurement correction method of claim 5, wherein: according to the phase information phi in step 33＝[φ31，φ32]In step 3, the Doppler simulator deviates from the normal direction theta of the radar3At- α °, according to the radar angle-measuring formula
Figure FDA0003138934580000028
Wherein
Figure FDA0003138934580000029
The wave number is represented, λ represents the radar operating wavelength, and theoretically, d is λ without considering the receiving channel spacing error, but actuallyIn the process, the deviation of the distance between the radar receiving channels needs to be corrected, firstly, according to the phase information phi in the step 33＝[φ31，φ32]Obtain the channel phase difference
Figure FDA00031389345800000210
To pair
Figure FDA00031389345800000211
Performing normalization process if
Figure FDA00031389345800000212
Since the target azimuth angle is known in step 3, the unit spacing of the two receiving antennas is calculated
Figure FDA00031389345800000213
7. The FMCW-based security radar angle measurement correction method of claim 6, wherein: according to the unit receiving antenna unit spacing d calculated in the step 32、d3Calculating a cell pitch deviation factor Δ dRepair theConsidering the symmetry of the two correction sources and the requirement of angle measurement precision,
Figure FDA00031389345800000214
calculation formula for confirming target angle
Figure FDA00031389345800000215
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