CN114814743A

CN114814743A - Radar high-precision alignment and test system

Info

Publication number: CN114814743A
Application number: CN202110114752.0A
Authority: CN
Inventors: 侯强; 张志伟; 薛甬申; 潘卫; 谷静
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-01-27
Filing date: 2021-01-27
Publication date: 2022-07-29

Abstract

The application discloses radar high accuracy is aimed at and test system. The system comprises: the turntable can move in multiple directions and is provided with a radar; the device comprises a standard object to be tested carrier capable of moving in multiple directions, wherein the standard object to be tested carrier is provided with a standard object to be tested; the standard object to be measured is arranged opposite to the radar and used for reflecting electromagnetic waves emitted by the radar; the standard object carrier to be tested is also provided with a first laser receiving assembly, and the turntable is also provided with a second laser receiving assembly; the first laser transmitter is arranged on one side of the first laser receiving assembly and deviates from the second laser receiving assembly; through adjusting the position of revolving stage and standard determinand carrier, the laser that first laser emitter launched shines the same position on first laser receiving component and the second laser receiving component to aim at radar and standard determinand.

Description

Radar high-precision alignment and test system

Technical Field

The embodiment of the application relates to the technical field of radar testing, in particular to a radar high-precision aligning and testing system.

Background

With the development of Advanced Driving Assistance System (ADAS) technology, radar has attracted attention as a sensor that is one of the cores in the ADAS technology. Before the radar is installed and delivered, a series of darkroom environment tests are carried out by matching with standard objects to be tested (such as corner inverses). However, in the conventional radar test system, it is difficult to align the radar with the standard object to be tested with high precision, and a position deviation is likely to occur between the radar and the standard object to be tested, thereby causing an inaccurate result of a darkroom environment test. In addition, in the conventional radar test system, the performance test of the radar under the simulated working condition cannot be realized in a darkroom environment.

Disclosure of Invention

The application provides a radar high accuracy is aimed at and test system can aim at the high accuracy between radar and the standard determinand to improve the accuracy of radar at darkroom environment test result.

In order to solve the above technical problem, the present application provides a radar high accuracy is aimed at and test system, and it includes: the radar is fixedly connected with the rotary table and used for transmitting and receiving electromagnetic waves. The device comprises a standard object to be tested carrier capable of moving in multiple directions, and the standard object to be tested is fixedly connected with the standard object to be tested carrier. The standard object to be measured is arranged opposite to the radar and used for reflecting the electromagnetic wave emitted by the radar. The first laser receiving assembly is fixedly connected to the standard object carrier to be detected, and the second laser receiving assembly is fixedly connected to the rotary table; the relative position between the first laser receiving assembly and the standard object to be measured is equal to the relative position between the second laser receiving assembly and the radar. The first laser transmitter is arranged on one side of the first laser receiving assembly and deviates from the second laser receiving assembly; by adjusting the positions of the turntable and the standard object to be measured carrier, laser emitted by the first laser emitter irradiates the same positions on the first laser receiving assembly and the second laser receiving assembly to align the radar and the standard object to be measured. It should be understood that based on the cooperation between the above structures, high-precision alignment between the radar and the standard object to be tested can be achieved, so as to improve the accuracy of the test result of the radar in a darkroom environment.

In some embodiments, the first laser light receiving assembly comprises a first laser light reflector and a first laser light receiver, and the first laser light reflector is used for reflecting the laser light emitted by the first laser light emitter so as to irradiate the first laser light receiver. The second laser receiving assembly comprises a second laser reflector and a second laser receiver, and the second laser reflector is used for reflecting the laser emitted by the first laser emitter so as to irradiate the second laser receiver. Based on this, the alignment between the first receiving assembly and the second receiving assembly can be realized, so that the alignment between the radar and the standard object to be tested is realized.

In some embodiments, the first laser receiver is located at the top of the standard object to be measured, the first laser receiver has a first receiving surface, the first laser reflector has a first reflecting surface forming an included angle of 45 degrees with the first receiving surface, and laser emitted by the first laser emitter is reflected by the first reflecting surface and then vertically enters the first receiving surface. The second laser receiver is located on the radar and provided with a second receiving surface, the second laser reflector is provided with a second reflecting surface forming an included angle of 45 degrees with the second receiving surface, and laser emitted by the first laser emitter is vertically incident to the second receiving surface after being reflected by the second reflecting surface.

In some embodiments, the standard dut carrier includes a lifting rod and a wave-absorbing screen, the standard dut is fixedly connected to the lifting rod, and the wave-absorbing screen is disposed between the lifting rod and the turntable. The lifting rod is used for driving the standard object to be measured to rise and enabling the standard object to be measured to correspondingly reflect the electromagnetic waves emitted by the radar. The lifting rod is also used for driving the standard object to be tested to descend and enabling the standard object to be tested to be shielded by the wave-absorbing screen. It should be understood that, through this inhale ripples screen, can be according to the user demand with shelter from or not shelter from standard determinand to carry out relevant performance test to the radar.

In some embodiments, the system further includes a shielding device, which is fixedly connected to the turntable and used for shielding the electromagnetic wave emitted by the radar. It should be understood that although the shielding device can shield the electromagnetic wave, the electromagnetic wave can still transmit through the shielding device to be received; based on the method, the related performance measurement can be carried out on the radar under the shielding condition.

In some embodiments, the shielding apparatus comprises: the shielding device comprises a shielding device base body, a driving piece, a transmission assembly and a flexible grading shielding object. The shielding device base body is fixedly connected to the rotary table and accommodates the radar. The driving piece is fixedly connected to the shielding device base body. The transmission assembly is connected with the driving piece and is driven by the driving piece to move. The flexible grading shelter is fixedly connected to the transmission assembly and moves along with the transmission assembly; different parts of the flexible graded shielding object can move between the radar and the standard object to be detected so as to shield the electromagnetic waves emitted by the radar in different shielding magnitude.

In some embodiments, the transmission assembly comprises: the device comprises a driving shaft, a first driving wheel, a second driving wheel, a driven shaft, a first driven wheel, a second driven wheel, a first conveying belt, a second conveying belt, a first conveying base band and a second conveying base band. The driving shaft is connected with the driving part and driven by the driving part to rotate. The first driving wheel and the second driving wheel are fixedly connected to the driving shaft and rotate along with the driving shaft. The first driven wheel and the second driven wheel are fixedly connected to the driven shaft and drive the driven shaft to rotate. The first conveyor belt is fixed to the first driving wheel and the first driven wheel in a surrounding mode, and the second conveyor belt is fixed to the second driving wheel and the second driven wheel in a surrounding mode. The first conveying base band is fixed around the first driving wheel and the first driven wheel, the second conveying base band is fixed around the second driving wheel and the second driven wheel, and the flexible grading shielding object is fixedly connected with the first conveying base band and the second conveying base band and moves along with the first conveying base band and the second conveying base band.

In some embodiments, the flexible graded shelter includes a plurality of sheltering portions with different sheltering magnitudes, and each sheltering portion is movable between the radar and the standard object to be tested so as to shelter the electromagnetic wave emitted by the radar.

In some embodiments, the flexible graded shade includes a plurality of the shade portions connected in sequence, and the shade magnitude of the plurality of shade portions increases in sequence.

In some embodiments, the flexible graded shade comprises a plurality of first shade portions and a plurality of second shade portions, the first shade portions and the second shade portions being alternately connected in sequence; the shielding magnitude of the second shielding part is larger than that of the first shielding part.

In some embodiments, the first shielding portion is a hollow structure. The hollow structure can also be understood as the shielding magnitude of the first shielding portion is 0.

In some embodiments, the size of each of the shielding portions is greater than or equal to the field angle size of the radar.

In some embodiments, the shielding device further includes a simulation skin fixed to the shielding device base, and the simulation skin is disposed on one side of the radar, faces the standard object to be detected, and is configured to shield the electromagnetic wave emitted by the radar. It should be understood that based on the simulation skin, the condition that the radar is shielded by the periphery parts of the vehicle body in the actual use process can be simulated, so that the test effect is improved.

In some embodiments, the shade device further comprises a plurality of fasteners that secure the simulated skin to the shade device base and are used to adjust the relative distance and relative angle between the simulated skin and the radar.

In some embodiments, the system further comprises: a receive antenna array and a receive antenna mount. The receiving antenna array comprises a plurality of receiving antennas which are linearly arranged and used for receiving the electromagnetic waves transmitted by the radar. The receiving antenna support bears the receiving antenna array and is used for driving the receiving antenna array to lift, so that the height of the receiving antenna array and the phase center of the radar are equal. Based on this, the emission pattern of the radar can be measured.

In some embodiments, the receiving antenna support is further configured to allow each of the receiving antennas to move relatively, so that each of the receiving antennas is aligned with a phase center of the radar.

In some embodiments, the system further comprises: a second laser transmitter and a laser receiving array. The number of the second laser transmitters is multiple, and the second laser transmitters are connected with the receiving antennas in a one-to-one correspondence mode and deviate from the phase center of the radar. The laser receiving array is arranged on one side of the first laser transmitter, and the laser receiving array is as high as the phase center of the radar.

In some embodiments, the spatial attenuation between the radar and the receive antenna array is calculated as: lbf 32.5+20lgF +20lg (Ln-L1). Wherein, Lbf is the energy of free space loss; l1 is the distance between the phase center of the radar and the receiving antenna opposite to the phase center of the radar; ln is a linear distance between the rest receiving antennas and the phase center of the radar, and n is a natural number greater than 1; and F is the frequency of the electromagnetic wave transmitted by the radar.

The application also provides another kind of radar high accuracy alignment and test system, and it includes: the device comprises a rotary table, a radar, a receiving antenna array and a shielding device. The turntable can move in multiple directions. The radar is fixedly connected to the rotary table and used for transmitting and receiving electromagnetic waves. The receiving antenna array comprises a plurality of receiving antennas which are linearly arranged. The shielding device is fixedly connected to the rotary table and used for shielding the electromagnetic waves emitted by the radar. The receiving antenna array is used for receiving the electromagnetic wave shielded by the shielding device. It should be understood that although the shielding device can shield the electromagnetic wave, the electromagnetic wave can still propagate through the shielding device to be received. Based on the cooperation of the structures, the radar can be measured and set for relevant performance under the shielding condition. The performance test of the radar under the simulation working condition can be realized in a darkroom environment, so that the test effect of the radar is improved.

In some embodiments, the system further includes a receiving antenna support, where the receiving antenna support carries the receiving antenna and is configured to drive the receiving antenna to ascend and descend, so that the phase center of the receiving antenna array is equal to the phase center of the radar. The receiving antenna support is further used for enabling the receiving antennas to move relatively, so that each receiving antenna is aligned to the phase center of the radar.

In some embodiments, the system further comprises: the laser receiving device comprises a first laser transmitter, a second laser receiving assembly, a second laser transmitter and a laser receiving array. The first laser emitter is used for emitting laser. The second laser receiving assembly is fixedly connected to the rotary table. The number of the second laser transmitters is multiple, and the multiple second laser transmitters are connected with the multiple receiving antennas in a one-to-one correspondence manner and deviate from the phase center of the radar. The laser receiving array is arranged on one side of the first laser transmitter, and the laser receiving array is as high as the phase center of the radar.

In some embodiments, the second laser light receiving assembly comprises a second laser light reflector and a second laser light receiver, and the laser light emitted by the first laser light emitter is reflected by the second laser light reflector to irradiate the second laser light receiver.

In some embodiments, the second laser receiver is located on the top of the shielding device, the second laser receiver has a second receiving surface, the second laser reflector has a second reflecting surface forming an included angle of 45 ° with the second receiving surface, and the laser emitted by the first laser emitter is reflected by the second reflecting surface and then vertically enters the second receiving surface.

In some embodiments, the shielding apparatus comprises: sheltering from device base member, driving piece, drive assembly, the hierarchical shelter of flexible. The shielding device base body is fixedly connected to the rotary table and accommodates the radar. The driving piece is fixedly connected to the shielding device base body. The transmission assembly is connected with the driving piece and is driven by the driving piece to move. The flexible graded shielding object is fixedly connected to the transmission assembly and moves along with the transmission assembly, and different parts of the flexible graded shielding object can move between the radar and the receiving antenna array so as to shield the electromagnetic waves emitted by the radar in different shielding magnitude.

In some embodiments, the transmission assembly comprises: the shielding device comprises a shielding device base body, a driving piece, a transmission assembly and a flexible grading shielding object. The driving shaft is connected with the driving part and driven by the driving part to rotate. The first driving wheel and the second driving wheel are fixedly connected to the driving shaft and rotate along with the driving shaft. The first driven wheel and the second driven wheel are fixedly connected to the driven shaft and drive the driven shaft to rotate. The first conveyor belt is fixed to the first driving wheel and the first driven wheel in a surrounding mode, and the second conveyor belt is fixed to the second driving wheel and the second driven wheel in a surrounding mode. The first conveying base band is fixed around the first driving wheel and the first driven wheel, the second conveying base band is fixed around the second driving wheel and the second driven wheel, and the flexible grading shielding object is fixedly connected with the first conveying base band and the second conveying base band and moves along with the first conveying base band and the second conveying base band.

In some embodiments, the flexible graded shield comprises a plurality of shield portions of different shield levels, each shield portion being movable between the radar and the receive antenna array to shield electromagnetic waves transmitted by the radar.

In some embodiments, the flexible graded shade includes a plurality of the shade portions connected in series, and the shade connections of the plurality of shade portions are sequentially increasing.

In some embodiments, the shielding device further includes a simulation skin fixed to the shielding device base, and the simulation skin is disposed on one side of the radar and faces the receiving antenna to shield the electromagnetic wave emitted by the radar. It should be understood that based on the simulation skin, the condition that the radar is shielded by the periphery parts of the vehicle body in the actual use process can be simulated, so that the test effect is improved.

This application is through the cooperation between first laser combination subassembly, second laser receiving assembly and the first laser emitter isotructure for can high accuracy aim at between radar and the standard determinand, in order to test each item performance of radar.

Drawings

Fig. 1 is a perspective view of a radar high-precision alignment and test system according to an embodiment of the present disclosure.

FIG. 2 is a perspective view of the radar high accuracy alignment and testing system of FIG. 1 from another perspective.

FIG. 3 is a partial side view of the radar high accuracy alignment and testing system of FIG. 1.

Fig. 4 is a graph of illumination points on the second receiving surface in one embodiment.

Fig. 5 is a graph of illumination points on the first receiving surface in one embodiment.

Fig. 6 is a graph of the illumination point on the first receiving surface or the second receiving surface in the case of calibration.

FIG. 7 is a perspective view of a radar high accuracy alignment and testing system in an alternative embodiment.

FIG. 8 is a perspective view of a shielding device in the high accuracy radar alignment and testing system of FIG. 7.

Figure 9 is a perspective view of the shielding device of figure 8 with the simulated skin removed.

Fig. 10 is a perspective view between a part of the structure of the shielding apparatus shown in fig. 8 and a radar.

FIG. 11 is a perspective view of the transmission assembly, the driving member and the radar of the shielding device of FIG. 8.

FIG. 12 is a perspective view of a drive assembly of the covering assembly of FIG. 8.

FIG. 13 is a schematic view of a flexible graded barrier in one embodiment after flattening.

FIG. 14 is a schematic view of another embodiment of a flexible grading shield after flattening.

FIG. 15 is a perspective view of a radar high accuracy alignment and testing system in an alternative embodiment.

FIG. 16 is a perspective view of the radar high accuracy alignment and testing system of FIG. 15 from another perspective.

FIG. 17 is a partial side view of the radar high accuracy alignment and testing system of FIG. 15.

Fig. 18 is a schematic diagram illustrating the principle of alignment between the radar and the receiving antenna array in the radar high-precision alignment and test system shown in fig. 15.

FIG. 19 is a perspective view of a radar high accuracy alignment and testing system in an alternative embodiment.

FIG. 20 is a perspective view of the radar high accuracy alignment and testing system of FIG. 19 from another perspective.

Detailed Description

The embodiments of the present application will be described below with reference to the drawings.

Fig. 1 is a perspective view of a radar high-precision alignment and test system according to an embodiment of the present disclosure, and fig. 2 is a perspective view of the radar high-precision alignment and test system shown in fig. 1 from another perspective view. Referring to fig. 1 and 2 together, for convenience of description, in fig. 1, a length direction of the radar high-precision aligning and testing system 100 is defined as an X direction, a width direction of the radar high-precision aligning and testing system 100 is defined as a Y direction, and a height direction of the radar high-precision aligning and testing system 100 is defined as a Z direction. Wherein the X, Y and Z directions are perpendicular to each other.

It should be noted that, when the radar 140 and the standard object to be tested 160 are matched to perform a series of performance specification tests, the radar 140 and the standard object to be tested 160 need to be disposed in a dark room environment to reduce the influence of noise in the test process, so as to improve the accuracy of the test result. The performance specification test may include a horizontal angle measurement accuracy test, a pitch angle measurement accuracy test, a distance accuracy test, a Radar Cross Section (RCS) test, a loopback direction diagram test, and the like.

The radar high-precision aligning and testing system 100 provided by the embodiment of the application provides a corresponding darkroom environment by arranging the darkroom base body 110, a sealed space is arranged in the darkroom base body 110, and the radar 140 and the standard object to be tested 160 are arranged in the sealed space for testing so as to meet the requirement of testing the darkroom environment. It should be understood that the tests that can be performed by the radar high-precision alignment and test system 100 include, but are not limited to, the above-listed performance specification tests, and other types of tests may also be performed, which are not described in detail herein.

In some embodiments, radar high-precision alignment and testing system 100 may include a center slide 120, a turntable 130, a radar 140, a standard test object carrier 150, a standard test object 160, and a laser alignment system 170 disposed within a darkroom base 110. In addition, the testing system 100 may further include a main controller 180 disposed outside the darkroom base 110.

The central rail 120 is disposed in the sealed space of the darkroom base 110 and is fixed to the bottom of the darkroom base 110. The central slide rail 120 extends along the X direction, the radar 140 and the standard object 160 can slide relatively through the central slide rail 120, and the distance of the standard object 160 to the far and near field of the radar 140 is changed, so that the far and near field directional diagram of the radar 140 can be effectively tested.

Turntable 130 is slidably connected to central sled 120 and is adapted to carry radar 140. It should be understood that the turntable 130 can drive the radar 140 to move in a translational manner in the X direction, the Y direction and the Z direction, and drive the radar 140 to rotate about the X direction, the Y direction and the Z direction.

In a specific embodiment, a radar fixing tool 131 is mounted on the turntable 130, and the radar 140 is mounted on the radar fixing tool 131 to realize a fixed connection with the turntable 130. It should be noted that the structure of the rotary table 130 may be various, as long as the radar 140 can be driven to translate in the X direction, the Y direction, and the Z direction, and the radar 140 is driven to rotate with the X direction, the Y direction, and the Z direction as axes, which is not limited herein.

As described above, the radar 140 is fixed to the turntable 130 and can move in all directions (translation in three XYZ directions and rotation about three XYZ directions) with the turntable 130. Therefore, the embodiments of the present application can align the radar 140 with the standard object 160 by adjusting the position of the radar 140, thereby facilitating to improve the testing accuracy of the darkroom environment test of the radar 140. It should be understood that the radar 140 mentioned in the embodiments of the present application includes, but is not limited to, a millimeter wave radar, and may also be any other radar that needs to perform a darkroom environment test, which is not limited thereto.

The standard object carrier 150 is slidably connected to the central slide rail 120, the standard object carrier 150 is used for carrying the standard object 160, and the standard object carrier 150 can drive the standard object 160 to move in multiple directions.

In some embodiments, standard dut carrier 150 includes a base 151, a turntable 152, a lifting rod 153, a standard dut clamp 154, and a wave-absorbing screen 155. The base 151 is slidably connected to the central slide rail 120, and the base 151 can translate along the X direction and the Y direction to drive the standard object 160 to translate along the X direction and the Y direction. The turntable 152 is installed on the base 151, and the turntable 152 can rotate on the base 151 with the Z direction as an axis to drive the standard object 160 to rotate correspondingly with the Z direction as an axis. The lifting rod 153 is installed on the turntable 152, and the lifting rod 153 can be lifted in the Z direction to drive the standard object 160 to translate in the Z direction.

In some embodiments, standard test object holder 154 is used to hold standard test object 160. For example: the object clamp 154 and the standard object 160 can be fixed by clamping; or the fixing can be carried out in a clamping manner; or the fixing can be carried out in a bolt connection mode; alternatively, the fixation may be by means of gluing; alternatively, the fixing may be performed by welding. It should be understood that the fixing manner between the standard object clamp 154 and the standard object 160 includes, but is not limited to, the above listed several, and any fixing manner meeting the corresponding fixing requirements may be adopted, which is not described herein again.

In some embodiments, the wave-absorbing screen 155 is disposed between the lifting rod 153 and the turntable 130, and the relative position relationship between the standard object 160 and the wave-absorbing screen 155 can be adjusted by adjusting the height of the lifting rod 153. For example: during the matching test of the standard object to be tested 160 and the radar 140, the standard object to be tested 160 is exposed from the upper part of the wave-absorbing screen 155 and faces the radar 140 for corresponding test based on the adjustment of the lifting rod 153. In other subsequent testing processes, if the standard object to be tested 160 is not needed to participate in the testing process, the lifting rod 153 can be controlled to descend so as to drive the standard object to be tested 160 to move to the wave-absorbing screen 155, and then the wave-absorbing screen 155 shields the standard object to be tested 160. Accordingly, the electromagnetic wave emitted by the radar 140 is only slightly affected by the standard object 160, so that the interference of the standard object 160 on other tests can be reduced.

In some embodiments, all of the components of the darkroom substrate 110, the central slide rail 120, the turntable 130, the radar 140, the standard dut carrier 150, the standard dut 160, and the laser alignment system 170 that do not participate in the transmission, reception, or reflection of electromagnetic waves may be made of wave-absorbing materials, so as to reduce the adverse effect of the above components on the darkroom test result.

In some embodiments, the standard object 160 is fixed to the standard object carrier 150 and can move in multiple directions (e.g., translation in three XYZ directions and rotation about the Z direction) with the standard object carrier 150. Based on this, the standard object 160 and the radar 140 may be aligned by adjusting the relative position between the standard object 160 and the radar 140. It should be understood that the standard dut 160 may be various in type and structure as long as it can satisfy the corresponding testing requirements, and is not limited thereto. For example: the standard object 160 may be a corner reflector, which can reflect electromagnetic waves, and after the radar 140 transmits electromagnetic waves to the corner reflector, the electromagnetic waves are refracted and amplified in the corner reflector to generate echo signals, and the radar 140 receives the reflected electromagnetic waves to test the loopback direction diagram.

It should be understood that the main controller 180 is disposed outside the darkroom base 110, and the main controller 180 is respectively connected to the turntable 130, the standard dut carrier 150, the radar 140, and the laser alignment system 170 in communication; the communication connection includes at least one of a wireless communication connection and a wired communication connection. Based on this, the main controller 180 disposed outside the darkroom base 110 can facilitate the related operations of the workers. For example: the main controller 180 can control the turntable 130 and the standard object carrier 150 to move in multiple directions, so as to drive the radar 140 and the standard object 160 to move in multiple directions. By adjusting the relative position between the radar 140 and the standard object to be tested 160, the two (140, 160) can be aligned with each other with high precision, which is favorable for improving the accuracy of the radar alignment and test of the test system 100. The magnetic shoe can also control the start and stop of the radar 140 and the laser alignment system 170 through the main controller 180, thereby further improving the controllability of the darkroom environment test.

In some embodiments, the main controller 180 may also record the position coordinates of the turntable 130 and the standard object carrier 150 during the previous alignment operation. During the next alignment operation, the main controller 180 may control the turntable 130 and the standard dut carrier 150 to move to the previous calibration position, so as to improve the alignment efficiency.

FIG. 3 is a partial side view of the radar high accuracy alignment and testing system of FIG. 1. Referring to fig. 2 and 3, in some embodiments, the laser alignment system 170 includes a first laser emitter 171, a first laser receiving assembly 172, and a second laser receiving assembly 173, wherein the first laser emitter 171 is used for emitting laser light, and the first laser receiving assembly 172 and the second laser receiving assembly 173 are used for receiving the laser light emitted by the first laser emitter 171. The first laser emitter 171 is disposed on a side of the standard dut carrier 150 away from the turntable 130, the first laser receiving assembly 172 is mounted on the standard dut carrier 150, and the second laser receiving assembly 173 is mounted on the turntable 130. The relative position between the first laser receiving assembly 172 and the standard object to be tested 160 is consistent with the relative position between the second laser receiving assembly 173 and the radar 140, so that when the position of the first laser receiving assembly 172 irradiated by the laser emitted from the first laser emitter 171 is the same as the position of the second laser receiving assembly 173 irradiated by the laser emitted from the first laser emitter 171, the first laser receiving assembly 172 is aligned with the second laser receiving assembly 173, and accordingly, the standard object to be tested 160 is also aligned with the radar 140.

In some embodiments, the first laser receiving assembly 172 may include a first laser reflector 1721 and a first laser receiver 1722, the first laser receiver 1722 is fixed to the standard dut carrier 150 and is located on the top of the standard dut 160, the first laser receiver 1722 has a first receiving surface F2, and the first receiving surface F2 is located on a side of the first laser receiver 1722 facing away from the standard dut 160.

The first laser reflector 1721 is fixedly connected to the standard object carrier 150, the first laser reflector 1721 has a first reflecting surface F1, the first reflecting surface F1 is located on one side of the first laser reflector 1721 facing the first laser emitter 171, the first reflecting surface F1 forms an included angle of 45 degrees with the laser emitted by the first laser emitter 171, and the first reflecting surface F1 forms an included angle of 45 degrees with the first receiving surface F2. The laser light emitted from the first laser emitter 171 may be reflected on the first reflection surface F1 to be reflected perpendicularly onto the first receiving surface F2.

In some embodiments, the second laser light receiving assembly 173 includes a second laser mirror 1731 and a second laser light receiver 1732. The second laser receiver 1732 is fixedly connected to the turntable 130 and located on the radar 140; it should be appreciated that the second laser receiver 1732 may be spaced from the radar without necessarily requiring direct contact. The second laser light receiver 1732 has a second receiving surface F4, which second receiving surface F4 is located on the side of the second laser light receiver 1732 facing away from the radar 140.

The second laser reflector 1731 is also fixedly connected to the turntable 130, the second laser reflector 1731 has a second reflecting surface F3, the second reflecting surface F3 is located on a side of the second laser reflector 1731 facing the first laser emitter 171, the second reflecting surface F3 forms an included angle of 45 ° with the laser emitted by the first laser emitter 171, and the second reflecting surface F3 forms an included angle of 45 ° with the second receiving surface F4. The laser light emitted from the first laser light emitter 171 may be reflected on the second reflection surface F3 to be reflected perpendicularly onto the second receiving surface F4.

It should be understood that the first laser emitter 171 may be mounted on the inner wall of the darkroom base 110 on a side of the first laser receiving assembly 172 facing away from the second laser receiving assembly 173. The first laser emitting device 171 faces the first laser receiving assembly 172 and the second laser receiving assembly 173 to ensure that the laser emitted by the first laser emitting device can be horizontally emitted to the first laser receiving assembly 172 and the second laser receiving assembly 173.

In some embodiments, the first laser receiver 1722 and the second laser receiver 1732 have the same size and dimension, and the first laser reflector 1721 and the second laser reflector 1731 have the same size and dimension, so as to improve the alignment accuracy. In addition, the height of the center of the phase of the radar 140 from the second laser receiver 1732 in the Z direction is equal to the height of the center of the standard object 160 from the first laser receiver 1722 in the Z direction; and the central origin of the first receiving surface F2 coincides with the central origin of the standard object to be tested 160 in the Z direction, and the central origin of the second receiving surface F4 coincides with the central origin of the radar 140 in the Z direction.

When the position on the first receiving surface F2 irradiated with the laser light emitted by the first laser light emitter 171 is the same as the position on the second receiving surface F4, the first laser light receiving assembly 172 and the second laser light receiving assembly 173 are aligned; accordingly, the radar 140 and the standard object 160 are aligned synchronously. It should be understood that, for the sake of observation and judgment, the first receiving surface F2 and the second receiving surface F4 of the embodiments are each illustrated as a circle, and the center origin of the first receiving surface F2 and the center origin of the second receiving surface F4 are taken as alignment points, that is, when the laser light emitted from the first laser emitter 171 is irradiated to the center origin of the first receiving surface F2 and the laser light emitted from the first laser emitter 171 can also be irradiated to the center origin of the second receiving surface F4, it is explained that the radar 140 and the standard object 160 are aligned.

It should be noted that the terms "top," "bottom," and the like, as used in the embodiments of the present application, are used in the description with reference to the orientation shown in fig. 1, and do not indicate or imply that the referenced devices or elements must have a particular orientation, configuration, and operation in a particular orientation, and therefore should not be construed as limiting the embodiments of the present application.

FIG. 4 is a graph of illumination points on a second receiver surface in one embodiment; FIG. 5 is a graph of illumination points on a first receiving surface in one embodiment; fig. 6 is a graph of the illumination point on the first or second receiving surface in the case of calibration. Referring to fig. 2 to 6, when the system 100 for high-precision alignment and test of radar provided in the present embodiment is used, the method for aligning the radar 140 and the standard dut 160 may include the following steps:

s1, mounting the standard object 160 on the standard object clamp 154 of the standard object carrier 150, so that the standard object carrier 150 can drive the standard object 160 to move in multiple directions, and mounting the radar 140 on the turntable 130, so that the turntable 130 can drive the radar 140 to move in all directions.

S2, controlling the first laser transmitter 171, the first laser receiver 1722 and the second laser receiver 1732 to be turned on by the main controller 180, so that the first laser transmitter 171 transmits laser light and the first laser receiver 1722 and the second laser receiver 1732 can receive laser light.

S3, the main controller 180 controls the turntable 130 to move to the previous calibration position, where the previous calibration position refers to the position of the turntable 130 in the previous alignment operation between the radar 140 and the standard object 160, and when the turntable 130 moves to the previous calibration position, the offset distance between the second laser receiving assembly 173 and the laser emitted by the first laser emitter 171 can be effectively reduced, so as to facilitate subsequent high-precision alignment adjustment.

S4, the main controller 180 controls the standard object carrier 150 to move a certain distance along the Y direction, so as to ensure that the laser emitted from the first laser emitter 171 can be projected onto the second laser mirror 1731 without being blocked by the first laser receiving assembly 172.

S5, the laser beam is incident on the second laser mirror 1731 and reflected on the second reflecting surface F3 to be incident on the second receiving surface F4 of the second laser receiver 1732, and a coordinate deviation (Δ X2, Δ Y2) is generated between the irradiation point D of the laser beam on the second receiving surface F4 and the center origin of the second receiving surface F4 (see fig. 4).

S6, the main controller 180 controls the turntable 130 to perform corresponding translation and rotation according to the coordinate deviation (Δ X2, Δ Y2) to achieve fine adjustment until the irradiation point D of the laser on the second receiving surface F4 coincides with the center origin of the second receiving surface F4, i.e. calibration of the radar 140 is completed (see fig. 6).

S7 and the main controller 180 control the standard object carrier 150 to reset along the Y direction for a certain distance, so as to ensure that the laser emitted from the first laser emitter 171 can irradiate the first laser reflector 1721.

S8, the laser beam is incident on the first laser reflector 1721 and reflected on the first reflecting surface F1 to be incident on the first receiving surface F2 of the first laser receiver 1722, and a coordinate deviation (Δ X1, Δ Y1) is generated between the center origin of the first receiving surface F2 and the irradiation point D of the laser beam on the first receiving surface F2 (see fig. 5).

S9 and the main controller 180 controls the standard object carrier 150 to perform corresponding translation and rotation according to the coordinate deviation (Δ X1, Δ Y1) to achieve fine adjustment until the irradiation point D irradiated by the laser on the first receiving surface F2 coincides with the central origin of the first receiving surface F2, i.e. the calibration of the standard object 160 is completed (as shown in fig. 6).

It should be understood that there is no necessary sequence between the above steps, and after the radar 140 and the standard dut 160 are calibrated through the above steps, the radar 140 and the standard dut 160 can be aligned with high precision, so as to improve the accuracy of the radar high-precision alignment and the test of the test system 100.

It should be appreciated that the radar high-precision alignment and test system 100 provided in the embodiment of the present disclosure can confirm the alignment position between the radar 140 and the standard dut 160 through the cooperation of the turntable 130, the standard dut carrier 150 and the laser alignment system 170, so as to adjust the high-precision alignment between the radar 140 and the standard dut 160. Therefore, the system 100 can perform a series of performance specification tests on the radar while adjusting the high-precision alignment between the radar 140 and the standard object to be tested 160, thereby improving the precision of the test result.

FIG. 7 is a perspective view of a radar high accuracy alignment and testing system in an alternative embodiment. Referring to fig. 7, in a possible embodiment, the radar high-precision alignment and testing system 200 further includes a shielding device 210, and the shielding device 210 is used for shielding the radar 140 to simulate the shielded condition of the radar 140 under different working conditions (such as a vehicle body periphery, a climate scene, and a surface shield), so as to perform a performance test on the radar 140 under different shielding conditions.

FIG. 8 is a perspective view of a shielding device in the high accuracy radar alignment and testing system of FIG. 7; FIG. 9 is a perspective view of the covering assembly of FIG. 8 with the simulated skin removed; fig. 10 is a perspective view between a part of the structure of the shielding apparatus shown in fig. 8 and a radar. Referring to fig. 8-10, the shielding device 210 may include a shielding test device base 211, a transmission assembly 212, a driving member 213, a flexible graded shield 214, and a simulated skin 215. The shielding test device base body 211 is installed on the radar fixing tool 131 and can be driven by the rotary table 130 to move. It should be appreciated that the shielding test device base 211 may serve as a carrier to accommodate the radar 140, etc., thereby allowing the shielding device 210 to be relatively self-contained to facilitate subsequent processing and installation.

In some embodiments, the radar 140 is housed in the shielding testing device base 211, and the relative position of the radar 140 and the shielding testing device base 211 is kept fixed. The transmission assembly 212 is also mounted within the shielding test device base 211 and is spaced from the radar 140. The driving member 213 is fixed to the shielding testing apparatus base 211, and the driving member 213 is connected to the transmission assembly 212 to drive the transmission assembly 212 to move. In one specific embodiment, the shielding test device base 211 is a cubic frame structure. It should be understood that the structure of the shielding test device base 211 can be various, as long as the corresponding mounting and bearing functions can be satisfied, and the structure is not limited thereto.

FIG. 11 is a perspective view of the transmission assembly, the driving member and the radar of the shade device of FIG. 8; FIG. 12 is a perspective view of a drive assembly of the covering assembly of FIG. 8. Referring to fig. 11 and 12 together, the driving assembly 212 may include a driving shaft 2120, a driven shaft 2121, a first driving wheel 2122, a second driving wheel 2123, a first driven wheel 2124, a second driven wheel 2125, a first belt 2126, a second belt 2127, a first belt base 2128, and a second belt base 2129. The driving shaft 2120 is connected to the driving member 213 and driven by the driving member 213 to rotate. The first driving wheel 2122 and the second driving wheel 2123 are respectively fixed to two ends of the driving shaft 2120, and the first driving wheel 2122 and the second driving wheel 2123 can rotate along with the driving shaft 2120.

In some embodiments, the primary drive roller 2122 and the primary drive shaft 2120, and the secondary drive roller 2123 and the primary drive shaft 2120, can be fixed by clamping; alternatively, the fixing can be performed by welding; alternatively, the first capstan 2122 and the second capstan 2123 may be coupled to the drive shaft 2120, and the capstan and the drive shaft 2120 may be fixed by a large friction force. It should be understood that the fastening means between the driving shafts 2120 and the

driving wheels

2122 and 2123 include, but are not limited to, the above, and other fastening means can be used, as long as the relative positions of the driving wheels 2120, the driving

wheels

2122 and 2123 are not changed, and the present invention is not limited thereto.

The first driven wheel 2124 and the second driven wheel 2125 are respectively fixed to two ends of the driven shaft 2121, a first belt 2126 is fixed around the first driving wheel 2122 and the first driven wheel 2124, a second belt 2127 is fixed around the second driving wheel 2123 and the second driven wheel 2125, and the first belt 2126 and the second belt 2127 perform a transmission function. The fastening method between the driven shaft 2121 and the first and second driven

wheels

2124 and 2125 is substantially the same as the fastening method between the driving wheel and the driving shaft 2120, and will not be described again.

Through the transmission action of the first transmission belt and the second transmission belt, the first driving wheel 2122 and the second driving wheel 2123 rotate, and the first driven wheel 2124 and the second driven wheel 2125 can be correspondingly driven to rotate. Specifically, when the first driving wheel 2122 rotates along with the driving shaft 2120, the first belt conveyor 2126 rotates around the first driving wheel 2122 and the first driven wheel 2124, so as to drive the first driven wheel 2124 to rotate correspondingly; when the secondary drive wheel 2123 rotates with the drive shaft 2120, the secondary belt 2127 rotates around the secondary drive wheel 2123 and the secondary driven wheel 2125, thereby driving the secondary driven wheel 2125 to rotate accordingly.

In one particular embodiment, the first driver 2122, the second driver 2123, the first driven pulley 2124, and the second driven pulley 2125 are all identical in construction and size. Since the first driving wheel 2122 and the second driving wheel 2123 are both fixed to the driving shaft 2120, and the first driven wheel 2124 and the second driven wheel 2125 are both fixed to the driven shaft 2121, the rotation modes of the first driving wheel 2122, the second driving wheel 2123, the first driven wheel 2124 and the second driven wheel 2125 are the same. It will be appreciated that with the above-described arrangement, the drive assembly 212 is able to drive the flexible graduated shade 214 thereon smoothly.

In some embodiments, a first driving wheel 2122 and a first driven wheel 2124 are mounted to one side of the radar 140, and a second driving wheel 2123 and a second driven wheel 2125 are mounted to the other side of the radar 140 and are remote from the first driving wheel 2122 and the first driven wheel 2124. In the above configuration, the radar 140 can be effectively shielded by the flexible graded shield 214 between the first driving wheel 2122 and the second driving wheel 2123, and the flexible graded shield 214 between the first driven wheel 2124 and the second driven wheel 2125.

In some embodiments, a first drive roller 2128 is affixed to first drive roller 2122 and first driven roller 2124, a second drive roller 2129 is affixed to second drive roller 2123 and second driven roller 2125, and a flexible stepped shroud 214 is affixed to first drive roller 2128 and second drive roller 2129, wherein first drive roller 2128 and second drive roller 2129 can secure and drive flexible stepped shroud 214.

In a specific embodiment, the first conveyor belt 2128 is wound around the outside of the first driving wheel 2122 and the first driven wheel 2124, wherein the flexible graded shield 214 extending between the first driving wheel 2122 and the first driven wheel 2124 is located on the side of the radar 140 facing the standard dut 160. The second transmitting base belt 2129 is wound around the outside of the second driving wheel 2123 and the second driven wheel 2125, wherein the flexible graded shielding 214 extending between the second driving wheel 2123 and the second driven wheel 2125 is located at a side of the radar 140 facing the standard object 160 to effectively shield the electromagnetic wave emitted from the radar 140.

Since the flexible graded shade 214 is fixed to the first and

second conveyor belts

2128 and 2129, the flexible graded shade 214 can rotate synchronously with the rotation of the first and

second conveyor belts

2128 and 2129. Accordingly, the flexible graded shield 214 may shield electromagnetic waves emitted by the radar 140 to perform simulation tests on the performance of the radar 140. In one embodiment, the flexible graded shield 214 is attached to the first conveyor belt 2128 and the second conveyor belt 2129 by bonding, it being understood that the attachment between the flexible graded shield 214 and the conveyor belts (2128, 2129) includes but is not limited to bonding, and any other attachment that meets the requirements may be used without limitation.

FIG. 13 is a schematic view of a flexible graded barrier in one embodiment after flattening; FIG. 14 is a schematic view of another embodiment of a flexible grading shield after flattening. Referring to fig. 13 and 14 together, in one possible embodiment, the flexible graded shade 214 may be spliced from shades 2140 of different shade orders. When the driving pulley and the driven pulley rotate, the first conveyor belt 2128 and the second conveyor belt 2129 rotate the flexible stepped screen 214. With the rotation of the flexible graded shade 214, the portion of the flexible graded shade 214 directly facing the radar 140 is also changed accordingly, so that the shade portions 2140 with different shade magnitudes can shade the electromagnetic waves emitted by the radar 140, and the shading test of the radar 140 can be performed to different degrees.

In one particular embodiment, as shown in FIG. 13, the flexible graded shade 214 is formed by sequentially splicing a plurality of shades 2140 of progressively increasing shade magnitude. As described above, when the flexible graded shielding object 214 is driven by the transmission base belts (2128, 2129) to rotate, the shielding portions 2140 with different shielding levels can move to between the radar 140 and the standard dut 160, so as to shield the radar 140. Therefore, by adjusting the rotating speed of the transmission baseband (2128, 2129), the embodiments of the present application can implement dynamic change test of shielding magnitude on the transmitted wave of the radar 140 and implement rapid switching test of the radar 140 between different shielding magnitudes.

As shown in fig. 14, in another specific embodiment, the shielding portion 2140 of the flexible graded shield 214 includes a plurality of first shielding portions 2141 and a plurality of second shielding portions 2142, the first shielding portions 2141 and the second shielding portions 2142 are alternately connected in sequence, and the first shielding portions 2141 are hollow structures. The hollow first shielding portion 2141 is exemplified as being free from shielding, or shielding magnitude is 0. When the transmission baseband (2128, 2129) drives the flexible graded shielding object 214 to rotate, the flexible graded shielding object 214 can switch the wave of the radar 140 between a shielding state and a non-shielding state, so that a scene simulation test of sudden shielding or sudden shielding cancellation is performed on the wave of the radar 140, and the alarm and detection conditions of the radar 140 under the emergency condition are verified.

It should be understood that in the flexible graded shade 214, the order of splicing between different shades 2140 can be varied to suit different test environment simulations, and the order of splicing between shades 2140 is not specifically limited herein. In addition, leaves, a soaked paper film or other ways can be adhered to some of the shielding portions 2140 to simulate the shielding situation under the corresponding working condition environment, which is not described in detail herein.

It should be appreciated that by controlling the direction of rotation of the driving and driven wheels, the direction of movement of the barrier 2140 between the driving and driven wheels relative to the radar 140 can be adjusted. By controlling the rotational speed of the driving wheel and the driven wheel, the switching speed between different shades 2140 on the flexible graded shade 214 can be adjusted. By controlling the driving wheel and the driven wheel to stop rotating, the shielding portions 2140 between the driving wheel and the driven wheel can be fixed, so that the corresponding shielding test is performed on the wave of the radar 140 under the shielding of the corresponding shielding portions 2140.

In some embodiments, the size of each shielding portion 2140 should be greater than or equal to a Field of View (FOV) size of the radar 140, so that each shielding portion 2140 facing the radar 140 can effectively shield electromagnetic waves, thereby improving the accuracy of the test.

Referring to fig. 11 again, the driving member 213 is fixed to the substrate 211 of the shielding testing apparatus and connected to the transmission assembly 212 to drive the transmission assembly 212 to move. Specifically, the driving member 213 is connected to the driving shaft 2120 to drive the driving shaft 2120 to rotate; the main controller 180 is electrically connected to the driving unit 213 to control the driving unit 213 to be turned on or off, thereby controlling the driving shaft 2120 to be rotated or stopped, and the driving power of the driving unit 213 can be controlled by the main controller 180 to adjust the rotational speed of the driving shaft 2120. It should be understood that the driving member 213 includes, but is not limited to, a driving motor, and may be any other structure having a corresponding driving function, which is not limited to this.

Referring to fig. 8 and 9 again, the simulation skin 215 is fixed to the shielding test apparatus base 211 by a fixing member 2150, and the simulation skin 215 is located on a side of the radar 140 facing the standard dut 160. The simulation skin 215 can shield the wave of the radar 140, so as to simulate the condition that the radar 140 is shielded by the periphery of the vehicle body in the actual use process. It should be appreciated that by varying the size of the fasteners 2150, and the fastening connection, the relative distance and angle between the simulated skin 215 and the radar 140 can also be adjusted to simulate different distance and angle conditions between the radar 140 and the body periphery during actual use. For example: the fixing member 2150 is in threaded connection with the shielding test device base body 211, and the relative distance and the relative angle between the simulation skin 215 and the radar 140 can be adjusted adaptively by adjusting the degree of threaded connection between the fixing member 2150 and the shielding test device base body 211.

In one possible embodiment, the number of the fixing members 2150 is four, and four fixing members 2150 are fixedly connected to the shielding test apparatus base 211 and are fixedly connected to four corners of the simulation skin 215. By varying the size of each fastener 2150 and the condition of the fastening connection, the relative distance and relative angle between the simulated skin 215 and the radar 140 can be adjusted.

In a specific embodiment, the fixing members 2150 are sleeves and screws, the four sleeves are fixedly connected to the shielding testing device base 211 and are respectively disposed opposite to the four corners of the simulation skin 215, through holes are formed in the four corners of the simulation skin 215, and the four screws respectively penetrate through the through holes in the four corners to match with the four sleeves, so that the fixed connection between the simulation skin 215 and the shielding testing device base 211 is achieved. By flexibly changing the length dimensions of the four sleeves, the relative distance and relative angle between the simulated skin 215 and the radar 140 can be adjusted.

The radar high-precision alignment and test system 200 provided by the embodiment of the application can carry out a loopback directional diagram test under the dynamic shielding magnitude on the transmitted wave of the radar 140 by installing the shielding device 210, and can carry out a static and dynamic directional diagram contrast test on the radar 140 when shielding exists or not, and can also carry out a scene simulation test for suddenly shielding the transmitted wave of the radar 140 and suddenly canceling shielding. In addition, after the shielding device 210 is installed, the shielding simulation test under the specific working condition environment can be performed on the radar 140 without placing the radar under the specific working condition environment, and manual replacement of the shielding portions 2140 with different shielding magnitudes is not required, so that the test efficiency of the shielding simulation test is effectively improved.

FIG. 15 is a perspective view of a radar high accuracy alignment and testing system in an alternative embodiment; FIG. 16 is a perspective view of the radar high accuracy alignment and testing system of FIG. 15 from another perspective. Referring to fig. 15 and 16, in one possible embodiment, the radar high-precision alignment and test system 300 further includes a receiving antenna array system 310, wherein the receiving antenna array system 310 is disposed in the darkroom base 110 and opposite to the radar 140 for measuring the emission pattern of the radar 140. It should be appreciated that by matching the receive antenna array system 310 with the occlusion means 210 described above, a critical beamwidth test of the transmit pattern of the radar 140 with dynamic changes in the occlusion magnitude can be achieved.

The receive antenna array system 310 includes a plurality of receive antennas 311, a receive antenna support 312, a plurality of second laser transmitters 313, and a laser receive array 314. The receive antenna array comprises a plurality of receive antennas 311, wherein the number of receive antennas 311 may be odd or even.

The plurality of receiving antennas 311 are arranged in a straight line and are disposed on the receiving antenna support 312, for example: the plurality of receiving antennas 311 may be disposed at intervals along the Y direction. The receiving antenna array may receive electromagnetic waves transmitted by the radar 140. The receiving antenna 311 located at the center of the receiving antenna array faces the phase center of the radar 140, and a connection line between the phase center of the radar 140 and the receiving antenna 311 at the center of the receiving antenna array is perpendicular to the receiving antenna support 312. It should be noted that the receiving antenna 311 located at the center of the receiving antenna array should be installed below the first laser transmitter 171 along the Z direction, so as to ensure that the projection of the laser light emitted by the first laser transmitter 171 along the Z direction coincides with the central axis of the receiving antenna 311 located at the center of the receiving antenna array, and in the above structure, the alignment accuracy between the receiving antenna 311 and the radar 140 can be effectively improved.

FIG. 17 is a partial side view of the radar high accuracy alignment and testing system 300 of FIG. 15; fig. 18 is a schematic diagram illustrating the principle of alignment between the radar and the receiving antenna array in the radar high-precision alignment and test system shown in fig. 15. Referring to fig. 17 and 18, the receiving antenna 311 at the center of the receiving antenna array is installed at the center of the receiving antenna support 312, and the receiving antennas 311 at both sides are slidably connected to the receiving antenna support 312 and can move along the receiving antenna support 312 in the Y direction to adjust the angle between the receiving antennas 311 at both sides and the radar 140; the movement of the receiving antenna 311 may include rotation, that is, the angle between the receiving antenna and the radar 140 may be adjusted by rotation. In addition, the receiving antennas 311 on both sides can also be rotated around the Z direction to align the phase center of the radar 140. It should be understood that the receiving antenna support 312 can also move along the Z direction to adjust the phase centers of the multiple receiving antennas 311 and the radar 140 to be at the same Z-direction height, which is beneficial to improve the measurement accuracy.

As illustrated in fig. 18, the plurality of second laser transmitters 313 are connected to the plurality of receiving antennas 311 in a one-to-one correspondence manner, and each second laser transmitter 313 is disposed on a side of the receiving antenna 311 connected thereto, which is away from the phase center of the radar 140, that is, the phase center of the radar 140, the receiving antenna 311, and the second laser transmitter 313 corresponding to the receiving antenna 311 are located on the same straight line.

The laser receiving array 314 is installed on the inner wall of the darkroom base 110 below the first laser emitter 171 along the Y direction, and the laser receiving array 314 is used for receiving the laser emitted by each second laser emitter 313, so as to obtain the deflection angle of each receiving antenna 311 and the Y-direction distance from each receiving antenna 311 to the receiving antenna 311 located at the center of the receiving antenna array in a feedback manner. It should be understood that the Z-direction distance between the laser light emitted from the first laser emitter 171 and the laser receiving array 314 is the same as the Z-direction distance between the laser light emitted from the first laser emitter 171 and the phase center of the radar 140. With the above configuration, the alignment accuracy between the radar 140, the receiving antenna 311 array, and the laser receiving array 314 can be effectively improved.

When the system 300 for high-precision alignment and test of radar provided by the embodiment of the present application is used, the alignment method between the radar 140 and the array of receiving antennas 311 may include the following steps:

a1, mounting the radar 140 on the turntable 130, so that the turntable 130 can drive the radar 140 to move in all directions.

A2, the main controller 180 controls the lifting rod 153 of the standard dut carrier 150 to descend, so that the standard dut 160 is shielded by the wave-absorbing screen 155, thereby reducing the influence of the standard dut 160 on the emission pattern test.

In some embodiments, step a2 may be omitted when radar high-precision alignment and test system 300 does not include standard dut carrier 150 and standard dut 160.

3, controlling and opening the first laser emitter 171, the second laser receiver 1732, the second laser emitter 313 and the laser receiving array 314 through the main controller 180, so that the second laser receiver 1732 receives the laser emitted by the first laser emitter 171, and the laser receiving array 314 receives the laser emitted by the second laser emitter 313.

A4, controlling the reset movement of the turntable 130 to the last calibration position by the main controller 180.

The last calibration position refers to the position of the turntable 130 in the last alignment operation of the radar 140 and the receiving antenna 311, and when the turntable 130 moves to the last calibration position, the offset distance between the second laser receiving assembly 173 and the laser emitted by the first laser emitter 171 can be effectively reduced, so as to facilitate subsequent high-precision alignment adjustment.

A5, the main controller 180 controls the standard dut carrier 150 to move a certain distance along the Y direction, so as to ensure that the laser beam of the first laser emitter 171 can be emitted to the second laser reflector 1731 without being blocked.

In some embodiments, this step may be omitted when the radar high-precision alignment and test system 300 does not include the standard dut carrier 150 and the standard dut 160.

A6, the laser beam is emitted to the second laser reflector 1731 and reflected on the second reflecting surface F3 to be emitted to the second receiving surface F4 of the second laser receiver 1732, and a coordinate deviation (Δ X2, Δ Y2) is generated between the point D of the laser beam irradiated on the second receiving surface F4 and the origin of the center of the second receiving surface F4.

A7 and the main controller 180 control the turntable 130 to perform corresponding movement and rotation according to the coordinate deviation (Δ X2, Δ Y2) to realize fine adjustment until the irradiation point D of the laser on the second receiving surface F4 coincides with the center origin of the second receiving surface F4, that is, the radar 140 is calibrated.

A8, when the irradiation point D of the laser light on the second receiving surface F4 coincides with the center origin of the second receiving surface F4, the Z-direction height of the incident laser light from the first laser transmitter 171 to the phase center of the radar 140 is recorded as Z1.

A9, controlling the receiving antenna support 312 to move along the Z direction by the main controller 180, so that the second laser transmitter 313 connected to the receiving antenna 311 located at the center of the receiving antenna array emits a laser beam, and the Z-direction distance from the laser beam emitted by the second laser transmitter 313 to the laser beam of the first laser transmitter 171 is also equal to Z1, at this time, the laser beam emitted by the second laser transmitter 313 is irradiated onto the laser receiving array 314, that is, the alignment between the normal direction of the phase center of the radar 140 and the receiving antenna 311 located at the center of the receiving antenna array is completed.

A10, the main controller 180 controls the turntable 130 to move relatively along the X direction, and the X direction distance L0 between the radar 140 and the first laser transmitter 171 is obtained through testing by the first laser transmitter 171 and the second laser receiver 1732.

A11, calculating the distance L1 between the first laser transmitter 171 and the receiving antenna 311 located at the center of the receiving antenna array to the far-field or near-field at the moment when the radar 140 is tested by the main controller 180, i.e., L0-L2 (where L2 is the X-direction distance between the first laser transmitter 171 and the receiving antenna 311).

A12, controlling the receiving antennas 311 on both sides to move to the distance Yn1 of the corresponding angle of the pattern to be tested in the Y direction by the main controller 180.

A13, the main controller 180 receives the distance L1 of the radar 140 in real time, and calculates the angle θ n1 to be deflected, which is arctan (Yn1/L1), by combining the Y-direction distance Yn1 between the receiving antennas 311 on both sides and the receiving antenna 311 located at the center of the receiving antenna array.

A14, a second laser transmitter 313 installed at the rear end of each receiving antenna 311 transmits laser to the laser receiving array 314, calculates the Y-direction distance Yn2 between the incident point and the receiving antenna 311 located at the center of the receiving antenna array, calculates the yaw contrast angle θ n2 as arctan (Yn2/L0), and completes the calibration between the radar 140 and the receiving antenna 311 array according to the high-precision yaw criterion (triangle-like law) if | [ θ n2- θ n1 | < Δ θ. Wherein, Δ θ is a preset angle error value, and if the difference between the angle θ n1 requiring deflection and the deflection contrast angle θ n2 is smaller than the preset angle error value Δ θ, the calibration accuracy between the radar 140 and the receiving antenna 311 array is considered to meet the corresponding requirement.

It should be understood that there is no necessary sequence between the above steps, and after the position calibration is performed on the radar 140 and the receiving antenna 311 arrays through the above steps, the high-precision alignment between the radar 140 and the receiving antenna 311 arrays can be achieved, so that the test on the emission pattern of the radar 140 is facilitated, and the variation of the emission of the radar 140 corresponding to each angle, especially the important concerned wave width angle (3db/6db wave width, etc.), is measured.

It should be noted that, in the radar high-precision alignment and test system 300 provided in the embodiment of the present application, a transmission directional diagram of the radar 140 under a dynamic shielding condition can be tested, and since the receiving antenna arrays are linearly arranged, when the receiving antenna arrays are controlled to move in the X direction, the near-far field transmission directional diagram of the radar 140 can be effectively calculated and measured. However, since the separation distance between each receiving antenna 311 and the phase center of the radar 140 is not the same, there may be a certain degree of spatial attenuation error, resulting in inaccurate measurement of the transmission pattern of the radar 140. In order to reduce the error caused by the partial spatial attenuation, when the system 300 for high-precision alignment and test of radar provided by the embodiment of the present application is used, the calculation formula of the spatial attenuation between the radar 140 and the receiving antenna 311 array is:

Lbf＝32.5+20lgF+20lgD；

where Lbf is the energy of the free space loss (in dB); d is the difference (in km) between the linear distances Ln and L1 between the phase centers of the respective receiving antennas 311 and the radar 140, i.e., D ═ (Ln1-L1), n is a natural number greater than 1, i.e., Ln ≠ L1; f is the frequency (in MHz) of the electromagnetic wave emitted by the radar 140. The energy value obtained by adding the energy value measured by the receiving antenna 311 to the energy value calculated by the above space attenuation formula can be used to obtain the energy value corresponding to the accurate dynamic directional diagram.

The radar high-precision aligning and testing system 300 provided by the embodiment of the application can effectively test the emission pattern of the radar 140 by installing the receiving antenna array system 310, and can effectively test the energy at some key angles of the emission pattern of the radar 140 under the dynamic change of the continuously adjustable shielding magnitude by combining the shielding device 210 with the receiving antenna array system 310.

FIG. 19 is a perspective view of a radar high accuracy alignment and testing system in an alternative embodiment; FIG. 20 is a perspective view of the radar high accuracy alignment and testing system of FIG. 19 from another perspective. Referring to fig. 19 and 20, the radar high-precision alignment and test system 400 of the present embodiment has substantially the same structure as the other structures of the radar high-precision alignment and test system 400, except that the radar high-precision alignment and test system 400 of the present embodiment does not include the standard dut 160 and the standard dut carrier 150, and the emission pattern of the radar 140 under the dynamic shielding condition can be tested only by combining the radar 140, the shielding device 210, and the receiving antenna array system 310.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application; the embodiments and features of the embodiments of the present application may be combined with each other without conflict. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A radar high accuracy alignment and testing system, comprising:

the rotary table can move in multiple directions;

the radar is fixedly connected to the rotary table and used for transmitting and receiving electromagnetic waves;

the standard object carrier to be tested can move in multiple directions;

the standard object to be tested is fixedly connected to the standard object to be tested carrier; the standard object to be measured is arranged opposite to the radar and used for reflecting the electromagnetic wave emitted by the radar;

the system comprises a first laser transmitter, a first laser receiving assembly and a second laser receiving assembly, wherein the first laser receiving assembly is fixedly connected to the standard object carrier to be tested, and the second laser receiving assembly is fixedly connected to the rotary table; the relative position between the first laser receiving assembly and the standard object to be measured is equal to the relative position between the second laser receiving assembly and the radar; the first laser transmitter is arranged on one side of the first laser receiving assembly and deviates from the second laser receiving assembly;

through adjusting the revolving stage with the position of standard determinand carrier, the laser of first laser emitter transmission shines the same position on first laser receiving component and the second laser receiving component to aim at the radar with the standard determinand.

2. The system of claim 1,

the first laser receiving assembly comprises a first laser reflector and a first laser receiver, and the first laser reflector is used for reflecting laser emitted by the first laser emitter so as to irradiate the first laser receiver;

the second laser receiving assembly comprises a second laser reflector and a second laser receiver, and the second laser reflector is used for reflecting the laser emitted by the first laser emitter so as to irradiate the second laser receiver.

3. The system of claim 2, wherein the first laser receiver is located on the top of the standard object to be measured, the first laser receiver has a first receiving surface, the first laser reflector has a first reflecting surface forming an included angle of 45 degrees with the first receiving surface, and the laser emitted by the first laser emitter is reflected by the first reflecting surface and then vertically incident to the first receiving surface;

the second laser receiver is located on the radar and provided with a second receiving surface, the second laser reflector is provided with a second reflecting surface forming an included angle of 45 degrees with the second receiving surface, and laser emitted by the first laser emitter is vertically incident to the second receiving surface after being reflected by the second reflecting surface.

4. The system of claim 1, wherein the standard dut carrier comprises a lifting rod and a wave-absorbing screen, the standard dut is fixedly connected to the lifting rod, and the wave-absorbing screen is disposed between the lifting rod and the turntable;

the lifting rod is used for driving the standard object to be measured to rise and enabling the standard object to be measured to correspondingly reflect the electromagnetic waves emitted by the radar;

the lifting rod is also used for driving the standard object to be tested to descend and enabling the standard object to be tested to be shielded by the wave-absorbing screen.

5. The system according to claim 1, further comprising a shielding device, wherein the shielding device is fixed to the turntable and is used for shielding the electromagnetic wave emitted by the radar.

6. The system of claim 5, wherein the shielding means comprises:

the shielding device base body is fixedly connected to the rotary table and accommodates the radar;

the driving piece is fixedly connected to the shielding device base body;

the transmission assembly is connected with the driving piece and is driven by the driving piece to move;

the flexible grading shielding object is fixedly connected to the transmission assembly and moves along with the transmission assembly; different parts of the flexible graded shielding object can move between the radar and the standard object to be detected so as to shield the electromagnetic waves emitted by the radar in different shielding magnitude.

7. The system of claim 6, wherein the flexible graded shield comprises a plurality of shield portions of different shield levels, each shield portion being movable between the radar and the standard dut to shield electromagnetic waves emitted by the radar.

8. The system of claim 7, wherein the flexible graded shade comprises a plurality of the shades connected in series, and the shade magnitude of the plurality of shades increases in series.

9. The system according to claim 7, characterized in that said flexible grading shade comprises a plurality of first shades and a plurality of second shades, said first shades and said second shades being connected in turn in an alternating manner; the shielding magnitude of the second shielding part is larger than that of the first shielding part.

10. The system of claim 9, wherein the first shade portion is a hollowed-out structure.

11. The system of claim 7, wherein the size of each of the obscurations is greater than or equal to the radar's field of view dimension.

12. The system according to claim 6, wherein the shielding device further comprises a simulation skin fixed to the shielding device base, the simulation skin being disposed on a side of the radar facing the standard object and being configured to shield the electromagnetic wave emitted from the radar.

13. The system of claim 12, wherein the screen apparatus further comprises a plurality of fasteners that secure the mock-up skin to the screen apparatus base and are used to adjust the relative distance and relative angle between the mock-up skin and the radar.

14. The system of any one of claims 1-13, further comprising:

the receiving antenna array comprises a plurality of receiving antennas which are linearly arranged and is used for receiving the electromagnetic waves transmitted by the radar;

and the receiving antenna support bears the receiving antenna array and is used for driving the receiving antenna array to lift so as to enable the receiving antenna array to be as high as the phase center of the radar.

15. The system of claim 14, wherein the receive antenna mount is further configured to allow relative movement of each of the receive antennas to align each of the receive antennas with a phase center of the radar.

16. The system of claim 14, further comprising:

the second laser transmitters are connected with the receiving antennas in a one-to-one correspondence mode and deviate from the phase center of the radar;

the laser receiving array is installed on one side of the first laser transmitter, and the laser receiving array is as high as the phase center of the radar.

17. The system of claim 14, wherein the spatial attenuation between the radar and the receive antenna array is calculated by:

Lbf＝32.5+20lgF+20lg(Ln-L1)；

wherein, Lbf is the energy of free space loss; l1 is the distance between the phase center of the radar and the receiving antenna opposite to the phase center of the radar; ln is a linear distance between the rest receiving antennas and the phase center of the radar, and n is a natural number greater than 1; and F is the frequency of the electromagnetic wave transmitted by the radar.

18. A radar high accuracy alignment and testing system, comprising:

the rotary table can move in multiple directions;

the receiving antenna array comprises a plurality of receiving antennas which are linearly arranged;

the shielding device is fixedly connected to the rotary table and used for shielding the electromagnetic waves emitted by the radar; the receiving antenna array is used for receiving the electromagnetic wave shielded by the shielding device.

19. The system of claim 18, further comprising a receiving antenna support, wherein the receiving antenna support carries the receiving antenna and is configured to lift the receiving antenna to make the receiving antenna array equal to the phase center of the radar; the receiving antenna support is further used for enabling the receiving antennas to move relatively, so that each receiving antenna is aligned to the phase center of the radar.

20. The system of claim 19, further comprising:

a first laser transmitter for transmitting laser light;

the second laser receiving assembly is fixedly connected to the rotary table;

the laser receiving array is installed on one side of the first laser transmitter and is as high as the phase center of the radar.

21. The system of claim 20, wherein the second laser light receiving assembly comprises a second laser light reflector and a second laser light receiver, and wherein the laser light emitted by the first laser light emitter is reflected by the second laser light reflector to illuminate the second laser light receiver.

22. The system of claim 21, wherein the second laser receiver is positioned on top of the shielding device, the second laser receiver has a second receiving surface, the second laser reflector has a second reflecting surface forming an angle of 45 ° with the second receiving surface, and the laser light emitted by the first laser emitter is reflected by the second reflecting surface and then is incident perpendicularly to the second receiving surface.

23. The system of claim 18, wherein the shielding means comprises:

the driving piece is fixedly connected to the shielding device base body;

the flexible grading shelter is fixedly connected to the transmission assembly and moves along with the transmission assembly, and different parts of the flexible grading shelter can move between the radar and the receiving antenna array so as to shelter the electromagnetic waves emitted by the radar in different shelter orders.

24. The system of claim 23, wherein the flexible graded shield comprises a plurality of shields of different shield levels, each shield being movable between the radar and the receive antenna array to shield electromagnetic waves emitted by the radar.

25. The system of claim 24, wherein the flexible graded shade comprises a plurality of the shade portions connected in series, and the shade connections of the plurality of shade portions are sequentially increasing.

26. The system according to claim 24, characterized in that said flexible grading shade comprises a plurality of first shade portions and a plurality of second shade portions, said first shade portions and said second shade portions being connected in turn alternately; the shielding magnitude of the second shielding part is larger than that of the first shielding part.

27. The system of claim 26, wherein the first shade portion is a hollowed-out structure.

28. The system of claim 24, wherein the size of each of the obscurations is greater than or equal to the radar's field of view dimension.

29. The system according to claim 23, wherein the shielding device further comprises a simulation skin fixed to the shielding device base, the simulation skin being provided on a side of the radar facing the receiving antenna to shield the electromagnetic waves emitted from the radar.

30. The system of claim 29, wherein the screen apparatus further comprises a plurality of fasteners that secure the simulated skin to the screen apparatus base and are used to adjust the relative distance and relative angle between the simulated skin and the radar.