CN114839588B - FMCW millimeter wave radar receiving antenna array error compensation method, system and device - Google Patents

FMCW millimeter wave radar receiving antenna array error compensation method, system and device Download PDF

Info

Publication number
CN114839588B
CN114839588B CN202210733319.XA CN202210733319A CN114839588B CN 114839588 B CN114839588 B CN 114839588B CN 202210733319 A CN202210733319 A CN 202210733319A CN 114839588 B CN114839588 B CN 114839588B
Authority
CN
China
Prior art keywords
standard
receiving antenna
standard component
receiving
characterizing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210733319.XA
Other languages
Chinese (zh)
Other versions
CN114839588A (en
Inventor
鲁宏涛
潘攀
宋彦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhuhai Zhenghe Microchip Technology Co ltd
Original Assignee
Zhuhai Zhenghe Microchip Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhuhai Zhenghe Microchip Technology Co ltd filed Critical Zhuhai Zhenghe Microchip Technology Co ltd
Priority to CN202210733319.XA priority Critical patent/CN114839588B/en
Publication of CN114839588A publication Critical patent/CN114839588A/en
Application granted granted Critical
Publication of CN114839588B publication Critical patent/CN114839588B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/023—Monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • 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

Abstract

The application discloses a method, a system and a device for compensating errors of an FMCW millimeter wave radar receiving antenna array. The method comprises the steps of determining the accurate coordinates of a standard component according to a preset placement strategy; the preset placement strategy is used for representing the number and the positions of the standard components determined according to the number of the receiving antennas, the array caliber and the distance resolution; the transmitting antenna transmits a detection wave; the receiving antenna receives the echo signal reflected by the standard component; and determining a compensation amount according to the echo signal and the accurate coordinate of the standard component so as to compensate the received signal. The system comprises a standard component module, a transmitting module, a receiving module and a calculating module. By using the method in the application, the mutual coupling effect of the receiving antenna array and the compensation of the consistency error can be realized in a mode of an external standard component, the compensation precision is favorably improved, the estimation time of the compensation is favorably shortened, and the use of a production line is convenient. The method can be widely applied to the technical field of radars.

Description

FMCW millimeter wave radar receiving antenna array error compensation method, system and device
Technical Field
The application relates to the technical field of radars, in particular to a method, a system and a device for compensating errors of an FMCW millimeter wave radar receiving antenna array.
Background
In the FMCW millimeter wave radar, multiple receiving antennas are usually used to measure the angle of arrival DOA, and for a high-integration antenna structure represented by an AiP/AoP antenna, the accuracy of DOA measurement is severely restricted by the cross-coupling effect and the consistency deviation of the receiving antenna arrays.
Disclosure of Invention
The present application aims to solve at least to some extent one of the technical problems existing in the prior art.
Therefore, the invention aims to provide a cheap and efficient FMCW millimeter wave radar receiving antenna array error compensation method, system and device.
In order to achieve the technical purpose, the technical scheme adopted by the embodiment of the application comprises the following steps:
in one aspect, an embodiment of the present application provides an error compensation method for an FMCW millimeter wave radar receiving antenna array, where the method is used to estimate and compensate for a mutual coupling effect and a consistency error of an AiP/AoP receiving antenna array, and includes the following steps:
determining the accurate coordinates of the standard component according to a preset placing strategy; the preset placement strategy is used for representing the number and the positions of the standard components determined according to the number of the receiving antennas, the array caliber and the distance resolution;
the transmitting antenna transmits a detection wave;
the receiving antenna receives the echo signal reflected by the standard component;
and determining a compensation amount according to the echo signal and the accurate coordinate of the standard component so as to compensate the received signal. By using the method, the mutual coupling effect and consistency error compensation of the receiving antenna array can be realized by an external standard component, so that the compensation precision is favorably improved, the estimation time of compensation is favorably shortened, and the use of a production line is facilitated.
In addition, according to the error compensation method of the above embodiment of the present application, the following additional technical features may also be provided:
further, in an embodiment of the present application, the compensation amount is calculated by the following formula:
Figure 657297DEST_PATH_IMAGE001
；
Figure 741927DEST_PATH_IMAGE002
；
Figure 425719DEST_PATH_IMAGE003
；
Figure 138460DEST_PATH_IMAGE004
；
Figure 593712DEST_PATH_IMAGE005
；
wherein the content of the first and second substances,
Figure 900059DEST_PATH_IMAGE006
for characterizing the compensation quantity;h is used for representing an equivalent receiving matrix of the receiving antenna array, Y is used for representing a received echo signal, X is used for representing a position matrix of a standard component, and Xm is a guide vector of an mth standard component; x M The guide vector of the Mth standard component; m is used for representing the number of standard components, and N is used for representing the number of receiving antennas;
Figure 997328DEST_PATH_IMAGE007
a signal excited at the 1 st receiving antenna for characterizing the echo of the 1 st standard;
Figure 948929DEST_PATH_IMAGE008
a signal excited at the 1 st receiving antenna for characterizing an echo of the mth standard;
Figure 840662DEST_PATH_IMAGE009
a signal excited at the 1 st receiving antenna for characterizing an echo of the mth standard;
Figure 634306DEST_PATH_IMAGE010
for characterizing the exact path length from the transmitting antenna to the nth receiving antenna via the mth standard,
Figure 535266DEST_PATH_IMAGE011
for characterizing the difference between the phase of the signal excited at the nth receiving antenna and the phase of the signal excited at the 1 st receiving antenna of the echo signal of the mth standard,
Figure 81654DEST_PATH_IMAGE012
for characterizing the wavelength.
Further, in an embodiment of the present application, the determining the precise coordinates of the standard component according to the preset placement strategy further includes the following steps:
acquiring the number, the array caliber and the distance resolution of receiving antennas;
determining the number of standard components according to the number of the receiving antennas;
determining a far field area according to the array aperture, and ensuring that all standard components are positioned in the far field area of the receiving antenna;
and determining the precise radial distance of the standard parts according to the distance resolution, so that the difference between the radial distances of any two standard parts is larger than the distance resolution.
Further, in one embodiment of the present application, the determining the precise coordinates of the standard includes:
the exact coordinates of the standard are determined so that the position matrix X is full rank and good.
Further, in an embodiment of the present application, the receiving antenna receives an echo signal reflected by a standard component, and includes:
and processing the echo signal into a distance spectrum through fast Fourier transform, and determining the corresponding relation between a peak value in the distance spectrum and the standard component according to the distance spectrum and the position of the standard component.
Further, in an embodiment of the present application, the determining the precise coordinates of the standard component according to the preset placement strategy includes:
and determining the standard component as a standard radar target component with equal RCS, wherein the standard component comprises a corner reflector, a spherical reflector and a radar target simulator.
On the other hand, the embodiment of the application provides an error compensation system for an FMCW millimeter wave radar receiving antenna array, which is used for estimating and compensating mutual coupling effect and consistency error of an AiP/AoP receiving antenna array, and comprises the following steps:
the standard component module is used for determining the accurate coordinates of the standard component according to a preset placing strategy; the preset placement strategy is used for representing the number and the positions of the standard components determined according to the number of the receiving antennas, the array caliber and the distance resolution;
the transmitting module is used for driving the transmitting antenna to transmit the detection wave;
the receiving module is used for driving the receiving antenna to receive the echo signal reflected by the standard component;
and the calculation module is used for determining a compensation amount according to the echo signal and the accurate coordinate of the standard component so as to compensate the received signal.
On the other hand, the embodiment of the application provides an error compensation device for an FMCW millimeter wave radar receiving antenna array, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement any of the FMCW millimeter wave radar receive antenna array error compensation methods described above.
In another aspect, embodiments of the present application provide a storage medium in which a processor-executable program is stored, where the processor-executable program is used to implement any one of the FMCW millimeter wave radar receive antenna array error compensation methods described above when executed by a processor.
The embodiment of the application can realize the compensation of the mutual coupling effect and the consistency error of the AiP/AoP receiving antenna array in an external standard component mode, is favorable for improving the compensation precision, is favorable for reducing the estimation time of the compensation, and is convenient for the use of a production line.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description is made on the drawings of the embodiments of the present application or the related technical solutions in the prior art, and it should be understood that the drawings in the following description are only for convenience and clarity of describing some embodiments in the technical solutions of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an implementation logic of the error compensation method provided in the present application;
FIG. 2 is a schematic flow chart diagram illustrating an embodiment of an error compensation method provided herein;
FIG. 3 is a schematic diagram of an embodiment of an error compensation system provided herein;
fig. 4 is a schematic structural diagram of an embodiment of an error compensation apparatus provided in the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
In the prior art, the concern of antenna mutual coupling is less in the problem of receiving antenna errors; or an indirect method is adopted for approximation, or long-time integral calculation is needed, so that the efficiency is influenced. Therefore, a method for compensating for an error estimation of a receiving antenna suitable for a fast test scenario in a production line is needed in the related art.
The method and system for compensating the receiving antenna array error of the FMCW millimeter wave radar according to the embodiments of the present application will be described in detail below with reference to the accompanying drawings, and first, the method for compensating the receiving antenna array error of the FMCW millimeter wave radar according to the embodiments of the present application will be described with reference to the accompanying drawings.
Referring to fig. 1 and fig. 2, an embodiment of the present application provides an error compensation method for an array antenna of an FMCW millimeter wave radar receiving system, where the error compensation method for the array antenna of the FMCW millimeter wave radar receiving system in the embodiment of the present application may be applied to a terminal, a server, or software running in the terminal or the server. The terminal may be, but is not limited to, a tablet computer, a notebook computer, a desktop computer, and the like. The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as cloud service, a cloud database, cloud computing, a cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN, and a big data and artificial intelligence platform. The FMCW millimeter wave radar receiving antenna array error compensation method in the embodiment of the application mainly comprises the following steps:
the method is used for estimating and compensating the mutual coupling effect and consistency error of the AiP/AoP receiving antenna array, and comprises the following steps:
s110: determining the accurate coordinates of the standard component according to a preset placing strategy; the preset placement strategy is used for representing the number and the positions of the standard components determined according to the number of the receiving antennas, the array caliber and the distance resolution;
s120: the transmitting antenna transmits a detection wave;
s130: the receiving antenna receives the echo signal reflected by the standard component;
s140: and determining a compensation amount according to the echo signal and the accurate coordinate of the standard component so as to compensate the received signal.
By using the method, the mutual coupling effect and consistency error compensation of the receiving antenna array can be realized by an external standard component, so that the compensation precision is favorably improved, the estimation time of compensation is favorably shortened, and the use of a production line is facilitated.
Optionally, in the error compensation method in the embodiment of the present application, the compensation amount is calculated by the following formula:
Figure 409867DEST_PATH_IMAGE001
(ii) a Formula (1)
Figure 425227DEST_PATH_IMAGE002
(ii) a Formula (2)
Figure 129878DEST_PATH_IMAGE003
(ii) a Formula (3)
Figure 796352DEST_PATH_IMAGE004
(ii) a Formula (4)
Figure 29887DEST_PATH_IMAGE005
(ii) a Formula (5)
Wherein the content of the first and second substances,
Figure 532543DEST_PATH_IMAGE006
for characterizing the compensation quantity; h is used for representing an equivalent receiving matrix of the receiving antenna array, Y is used for representing the received echo signals, X is used for representing a position matrix of the standard component, and X m A guide vector of the mth standard component; x M The guide vector of the Mth standard component; m is used for representing the number of standard components, and N is used for representing the number of receiving antennas;
Figure 775306DEST_PATH_IMAGE007
a signal excited at the 1 st receiving antenna for characterizing the echo of the 1 st standard;
Figure 296286DEST_PATH_IMAGE008
a signal excited at the 1 st receiving antenna for characterizing an echo of the mth standard;
Figure 966302DEST_PATH_IMAGE009
a signal excited at the 1 st receiving antenna for characterizing an echo of the mth standard;
Figure 956255DEST_PATH_IMAGE010
for characterizing the exact path length from the transmitting antenna to the nth receiving antenna via the mth standard,
Figure 471550DEST_PATH_IMAGE011
for characterizing the difference between the phase of the signal excited at the nth receiving antenna and the phase of the signal excited at the 1 st receiving antenna of the echo signal of the mth standard,
Figure 987981DEST_PATH_IMAGE012
for characterizing wavesLong.
Optionally, in the error compensation method in this embodiment of the present application, the determining the precise coordinates of the standard component according to the preset placement strategy further includes the following steps:
acquiring the number, the array caliber and the distance resolution of receiving antennas;
determining the number of standard components according to the number of the receiving antennas;
determining that all standard components are positioned in a far field area of the receiving antenna according to the array aperture;
and determining the precise radial distance of the standard parts according to the distance resolution, so that the difference between the radial distances of any two standard parts is larger than the distance resolution.
Optionally, in the error compensation method in this embodiment of the present application, the method further includes the following steps:
compensating the received signal by the compensation amount;
wherein the content of the first and second substances,
Figure 953532DEST_PATH_IMAGE013
；
Figure 555415DEST_PATH_IMAGE014
；
Figure 15346DEST_PATH_IMAGE015
(ii) a H is used to characterize the equivalent receive matrix of the receive antenna array.
Optionally, in the error compensation method in this embodiment of the present application, the determining the precise coordinates of the standard component includes:
the exact coordinates of the standard are determined so that the position matrix X is full rank and good.
In some possible embodiments, if the standards are placed far enough, the pitch and azimuth of the standards need to be accurately determined. I.e. the exact orientation of the standards is determined, the difference in orientation between different standards is large enough to make the position matrix X full rank and good. It will be appreciated by those skilled in the art that in this embodiment the accuracy requirements for the distance may be suitably reduced.
Optionally, in the error compensation method in this embodiment of the present application, the receiving antenna receives an echo signal reflected by a standard component, and includes:
and processing the echo signal into a distance spectrum through fast Fourier transform, and determining the corresponding relation between a peak value in the distance spectrum and the standard component according to the distance spectrum and the position of the standard component.
Optionally, in the error compensation method in this embodiment of the present application, the determining the precise coordinates of the standard component according to the preset placement strategy includes:
and determining the standard component as a standard radar target component with equal RCS, wherein the standard component comprises a corner reflector, a spherical reflector and a radar target simulator.
In some possible embodiments, a schematic structural diagram of the present application implementing logic is shown in fig. 1, where T is used to denote a transmitting antenna; the 1 st standard, the 2 nd standard, the 3 rd standard to the M th standard represent M standards; r 1 To R N Representing N receive antennas; likewise, the 1 st through nth receive channels are used to characterize the N receive channels. The transmitter sends a detection waveform through the transmitting antenna, and the detection waveform is reflected to the receiving antenna after encountering a measured object in the air to form an echo signal. Ideally, the receiving antenna should receive the echo signal without any influence other than the designed gain and the designed phase shift. In an actual circuit, particularly in an integrated AiP/AoP antenna chip, receiving antennas are extremely close to each other, and mutual coupling effect and consistency error generated between the receiving antennas enter echo signals, so that the resolving performance of a radar system is influenced. The mutual coupling effect and the consistency error of the receiving antenna are assumed to be only circuit dependent, which means that the mutual coupling effect and the consistency error of the receiving antenna can be estimated and recorded in factory test, and the estimated value is directly used for compensation after factory shipment.
When an echo signal reflected by a 1 st standard component reaches a receiving antenna array, signals excited by different receiving antennas have different phases, and enter an estimation module after being processed by a receiving channel, wherein the signals seen by the estimation module can be represented as follows:
Figure 776498DEST_PATH_IMAGE016
formula (6)
Wherein the content of the first and second substances,
Figure 788316DEST_PATH_IMAGE017
，
Figure 487282DEST_PATH_IMAGE018
representing the difference between the phase of the signal excited at the nth receiving antenna and the phase of the signal excited at the 1 st receiving antenna for the echo signal of the 1 st standard element, the variable depending only on the angle of arrival of the 1 st standard element with respect to the receiving antenna array.
Figure 141117DEST_PATH_IMAGE019
，
Figure 225617DEST_PATH_IMAGE020
Indicating the amplitude of the signal excited by the echo signal of standard 1 at all receiving antennas (when the distance of standard 1 from the receiving antenna is much larger than the size of the receiving antenna array, the amplitudes of the signals received by all antennas can be considered equal),
Figure 408336DEST_PATH_IMAGE021
the phase of the signal excited at the 1 st receiving antenna R1 by the echo signal of the 1 st standard is shown.
Figure 860177DEST_PATH_IMAGE015
An equivalent receiving matrix representing a receiving antenna array;
Figure 786545DEST_PATH_IMAGE022
the coupling coefficient from the nth receiving antenna to the mth receiving antenna is shown, namely the antenna mutual coupling effect;
Figure 991130DEST_PATH_IMAGE023
indicating the reception complex of the nth receiving antennaGain, the complex gain of different receiving antennas is not consistent, namely the problem of consistency error of the receiving antennas.
The echo signals of all M standard components are combined in an estimation module to obtain the following expression:
Figure 875910DEST_PATH_IMAGE013
formula (7)
Wherein
Figure 549468DEST_PATH_IMAGE014
Representing the observation matrix, i.e. the observed echo signals,
Figure 13947DEST_PATH_IMAGE002
a position matrix representing the standard. Since the relative position of the standard can be precisely calibrated by the instrument, this means that
Figure 78898DEST_PATH_IMAGE024
And
Figure 869000DEST_PATH_IMAGE025
is obtainable by measurement, so that X is a known matrix, in which case the solution of equation (7) can be represented by equation (1), i.e.
Figure 29854DEST_PATH_IMAGE001
. Wherein, will
Figure 298024DEST_PATH_IMAGE006
As the compensation quantity, the compensation quantity is easy to obtain and convenient for the use of a production line.
Writing the estimation quantity of the equivalent receiving matrix to a compensation module, and executing the following compensation operation on the receiving signal by the compensation module:
Figure 477201DEST_PATH_IMAGE026
formula (8)
Therefore, after compensationThe compensated received signal and the ideal value are different by a constant complex gain
Figure 438204DEST_PATH_IMAGE027
The constant complex gain acts on all the antennas, so that the influence on the subsequent radar conventional operations such as target detection, angle calculation, target tracking and the like is avoided.
In a factory test, the coordinates of the M standard parts and the distances of the receiving antennas are accurately calibrated and have a difference exceeding the distance resolution of the radar, and the set of relative position relations can derive the position matrix of the standard parts, namely the formula (4) and the formula (5):
Figure 820775DEST_PATH_IMAGE005
、
Figure 892636DEST_PATH_IMAGE004
。
the X matrix can be obtained by substituting the above equations (4) and (5) into equation (3). In the above-mentioned formula,
Figure 191899DEST_PATH_IMAGE010
the path length from the transmitting antenna to the mth standard and then to the nth receiving antenna is shown and equation (4) assumes that the radar cross-sectional areas (RCS) of the standards are equal.
The transmitter transmits a primary detection waveform, the receiving antenna and the receiving channel receive an echo signal, the echo signal is converted into a distance spectrum and then sent to the estimation module, and the estimation module screens echoes of different standard components on the distance spectrum. In view of the fact that the distances between different standard components and the transceiving antenna need to be not less than one time of distance resolution, the echo information of different standard components received by the same receiving antenna is located at different positions of the distance spectrum output by the current receiving channel, and the estimation module can conveniently extract and construct the measurement matrix Y.
The mutual coupling effect and the consistency error estimation quantity of the receiving antenna can be obtained by substituting the obtained X and Y into the formula (1), wherein the number and the position of the standard elements are selected according to the criterion of ensuring that the X is full rank, and in addition, in order to ensure the error performance in practical engineering, the number and the position of the standard elements need to be carefully set so that the X is not only full rank but also good state, namely the condition number is small enough.
The estimation module sends the estimation result to the compensation module, and the compensation module calculates and stores the estimation result for use in the subsequent compensation operation, wherein the compensation operation is defined by the formula (8).
The following describes the compensation method of the present application with a specific example:
for a millimeter wave radar with two receiving antennas, a first receiving antenna and a second receiving antenna, and the two receiving antennas are separated by a half wavelength, a corner reflector, namely a first corner reflector and a second corner reflector, is arranged in each of two directions of 0 azimuth angle and 30-degree azimuth angle of the radar, the distance between the two corner reflectors and the radar is far greater than the distance between the two receiving antennas, and then the phase value of 4 echoes can be obtained through measurement
Figure 792645DEST_PATH_IMAGE028
、
Figure 52725DEST_PATH_IMAGE029
、
Figure 538064DEST_PATH_IMAGE030
And
Figure 957413DEST_PATH_IMAGE031
in total, the four measurement results, combined with the definition of equation (5) and the azimuth of the placement, can further result in the following relationship:
Figure 260219DEST_PATH_IMAGE032
Figure 882961DEST_PATH_IMAGE033
Figure 31045DEST_PATH_IMAGE034
further assuming that the distances from the two corner reflectors to the radar are much greater than the difference between the distances from the two corner reflectors to the radar, the distance can be obtained from equation (4)
Figure 304901DEST_PATH_IMAGE035
Substituting equation (2) in combination with equation (3) may result in
Figure 778607DEST_PATH_IMAGE036
And the inversion result of the above formula is
Figure 357487DEST_PATH_IMAGE037
The mutual coupling effect and consistency error compensation of the receiving antenna can be realized by substituting the formula into the formula (1).
As can be known from the description, the estimation process of the method can be completed only by transmitting the detection waveform once by the transmitter, the time consumption is short, and the method is convenient for production line use.
Next, a receiving antenna array error compensation system of an FMCW millimeter wave radar according to an embodiment of the present application will be described with reference to the drawings.
Fig. 3 is a schematic structural diagram of an FMCW millimeter wave radar receiving antenna array error compensation system according to an embodiment of the present application, which is configured to estimate and compensate for mutual coupling effect and consistency error of an AiP/AoP receiving antenna array, and includes:
the standard component module 310 is used for determining the precise coordinates of the standard component according to a preset placing strategy; the preset placement strategy is used for representing the number and the positions of the standard components determined according to the number of the receiving antennas, the array caliber and the distance resolution;
a transmitting module 320, configured to drive a transmitting antenna to transmit a probe wave;
a receiving module 330, configured to drive a receiving antenna to receive an echo signal reflected by the standard component;
and the calculating module 340 is configured to determine a compensation amount according to the echo signal and the precise coordinates of the standard component, so as to compensate the received signal.
It can be seen that the contents in the foregoing method embodiments are all applicable to this system embodiment, the functions specifically implemented by this system embodiment are the same as those in the foregoing method embodiment, and the advantageous effects achieved by this system embodiment are also the same as those achieved by the foregoing method embodiment.
Referring to fig. 4, an embodiment of the present application provides an error compensation apparatus for an FMCW millimeter wave radar receiving antenna array, including:
at least one processor 410;
at least one memory 420 for storing at least one program;
when the at least one program is executed by the at least one processor 410, cause the at least one processor 410 to implement the FMCW millimeter wave radar receive antenna array error compensation method.
Similarly, the contents of the method embodiments are all applicable to the apparatus embodiments, the functions specifically implemented by the apparatus embodiments are the same as the method embodiments, and the beneficial effects achieved by the apparatus embodiments are also the same as the beneficial effects achieved by the method embodiments.
The embodiment of the present application further provides a computer-readable storage medium, in which a program executable by the processor 410 is stored, and the program executable by the processor 410 is used for executing the control method of the fresh air system described above when executed by the processor 410.
Similarly, the contents in the foregoing method embodiments are all applicable to this storage medium embodiment, the functions specifically implemented by this storage medium embodiment are the same as those in the foregoing method embodiments, and the advantageous effects achieved by this storage medium embodiment are also the same as those achieved by the foregoing method embodiments.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present application are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion regarding the actual implementation of each module is not necessary for an understanding of the present application. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the present application as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the application, which is to be determined by the appended claims along with their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium, which includes programs for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable programs that can be considered for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with a program execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the programs from the program execution system, apparatus, or device and execute the programs. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the program execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable program execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the foregoing description of the specification, reference to the description of "one embodiment/example," "another embodiment/example," or "certain embodiments/examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
While the present application has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (8)

1. An FMCW millimeter wave radar receiving antenna array error compensation method is characterized in that the method is used for estimating and compensating mutual coupling effect and consistency error of an AiP/AoP receiving antenna array, and comprises the following steps:
determining the accurate coordinates of the standard component according to a preset placing strategy; the preset placement strategy is used for representing the number and the positions of the standard components determined according to the number of the receiving antennas, the array caliber and the distance resolution;
the transmitting antenna transmits a detection wave;
the receiving antenna receives the echo signal reflected by the standard component;
determining a compensation amount according to the echo signal and the accurate coordinate of the standard component so as to compensate the received signal;
the compensation amount is calculated by the following formula:
Figure FDA0004066417960000011
Figure FDA0004066417960000012
Figure FDA0004066417960000013
Figure FDA0004066417960000014
Figure FDA0004066417960000015
wherein the content of the first and second substances,
Figure FDA0004066417960000016
for characterizing the compensation quantity; h is used for representing an equivalent receiving matrix of the receiving antenna array, Y is used for representing the received echo signal, X is used for representing a position matrix of a standard component, and Xm is a guide vector of the mth standard component; x M The guide vector of the Mth standard component; m is used for representing the number of standard components, and N is used for representing the number of receiving antennas; e.g. of the type 1 For characterizing 1 st standardThe signal excited by the wave at the 1 st receiving antenna; e.g. of the type m A signal excited at the 1 st receiving antenna for characterizing an echo of the mth standard; e.g. of the type M A signal excited at the 1 st receiving antenna for characterizing an echo of the mth standard;
Figure FDA0004066417960000017
for characterizing the exact path length from the transmitting antenna through the mth standard to the nth receiving antenna,
Figure FDA0004066417960000018
the difference between the phase of the signal excited at the nth receiving antenna and the phase of the signal excited at the 1 st receiving antenna is used for characterizing the echo signal of the mth standard component, and lambda is used for characterizing the wavelength.
2. The error compensation method of claim 1, wherein the determining the precise coordinates of the standard according to a predetermined placement strategy further comprises the steps of:
acquiring the number, the array caliber and the distance resolution of receiving antennas;
determining the number of standard components according to the number of the receiving antennas;
determining that all standard components are positioned in a far field area of the receiving antenna according to the array caliber;
and determining the precise radial distance of the standard parts according to the distance resolution, so that the difference between the radial distances of any two standard parts is larger than the distance resolution.
3. The error compensation method of claim 1, wherein the determining the precise coordinates of the standard comprises:
the exact coordinates of the standard are determined so that the position matrix X is full rank and good.
4. The error compensation method of claim 1, wherein the receiving antenna receives the echo signal reflected by the standard, and comprises:
and processing the echo signal into a distance spectrum through fast Fourier transform, and determining the corresponding relation between a peak value in the distance spectrum and the standard component according to the distance spectrum and the position of the standard component.
5. The error compensation method of claim 1, wherein the determining the precise coordinates of the standard according to the predetermined placement strategy comprises:
and determining the standard component as a standard radar target component with equal RCS, wherein the standard component comprises a corner reflector, a spherical reflector and a radar target simulator.
6. An FMCW millimeter wave radar receive antenna array error compensation system for estimating and compensating for AiP/AoP receive antenna array mutual coupling effects and consistency errors, comprising:
the standard component module is used for determining the accurate coordinates of the standard component according to a preset placing strategy; the preset placement strategy is used for representing the number and the positions of the standard components determined according to the number of the receiving antennas, the array caliber and the distance resolution;
the transmitting module is used for driving the transmitting antenna to transmit the detection wave;
the receiving module is used for driving the receiving antenna to receive the echo signal reflected by the standard component;
the computing module is used for determining a compensation amount according to the echo signal and the accurate coordinate of the standard component so as to compensate the received signal;
the compensation amount is calculated by the following formula:
Figure FDA0004066417960000021
Figure FDA0004066417960000022
Figure FDA0004066417960000023
Figure FDA0004066417960000024
Figure FDA0004066417960000025
wherein the content of the first and second substances,
Figure FDA0004066417960000026
for characterizing the compensation quantity; h is used for representing an equivalent receiving matrix of the receiving antenna array, Y is used for representing the received echo signal, X is used for representing a position matrix of a standard component, and Xm is a guide vector of the mth standard component; x M The guide vector of the Mth standard component; m is used for representing the number of standard components, and N is used for representing the number of receiving antennas; e.g. of the type 1 A signal excited at the 1 st receiving antenna for characterizing the echo of the 1 st standard; e.g. of the type m A signal excited at the 1 st receiving antenna for characterizing an echo of the mth standard; e.g. of the type M A signal excited at the 1 st receiving antenna for characterizing an echo of the mth standard;
Figure FDA0004066417960000031
for characterizing the exact path length from the transmitting antenna to the nth receiving antenna via the mth standard,
Figure FDA0004066417960000032
the difference between the phase of the signal excited at the nth receiving antenna and the phase of the signal excited at the 1 st receiving antenna is used for characterizing the echo signal of the mth standard element, and lambda is used for characterizing the wavelength.
7. An FMCW millimeter wave radar receiving antenna array error compensation device, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the FMCW millimeter wave radar receive antenna array error compensation method of any of claims 1-5.
8. A computer-readable storage medium in which a program executable by a processor is stored, characterized in that: the processor executable program when executed by a processor is for implementing the FMCW millimeter wave radar receive antenna array error compensation method of any of claims 1-5.
CN202210733319.XA 2022-06-27 2022-06-27 FMCW millimeter wave radar receiving antenna array error compensation method, system and device Active CN114839588B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210733319.XA CN114839588B (en) 2022-06-27 2022-06-27 FMCW millimeter wave radar receiving antenna array error compensation method, system and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210733319.XA CN114839588B (en) 2022-06-27 2022-06-27 FMCW millimeter wave radar receiving antenna array error compensation method, system and device

Publications (2)

Publication Number Publication Date
CN114839588A CN114839588A (en) 2022-08-02
CN114839588B true CN114839588B (en) 2023-03-21

Family

ID=82574760

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210733319.XA Active CN114839588B (en) 2022-06-27 2022-06-27 FMCW millimeter wave radar receiving antenna array error compensation method, system and device

Country Status (1)

Country Link
CN (1) CN114839588B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117220725B (en) * 2023-10-30 2024-03-26 威海天拓合创电子工程有限公司 Detection error correction method and device for multi-phased array antenna

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111308437A (en) * 2020-02-27 2020-06-19 南京慧尔视智能科技有限公司 Entropy-solving and speed-ambiguity-solving method for millimeter wave MIMO traffic radar
CN114267949A (en) * 2021-12-08 2022-04-01 广州程星通信科技有限公司 Phased array antenna beam control method, system, device and storage medium

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102077000B1 (en) * 2018-01-29 2020-04-07 주식회사 만도 Apparatus and Method for compensating refection loss of antenna for Radar, and Radar Apparatus using the same
CN108776330B (en) * 2018-08-17 2020-02-07 湖南时变通讯科技有限公司 High-precision calibration method and device for multiple receiving channels of FMCW radar
EP4080235B1 (en) * 2020-01-08 2024-02-28 Huawei Technologies Co., Ltd. Near-field estimation method and apparatus
CN111537966B (en) * 2020-04-28 2022-06-10 东南大学 Array antenna error correction method suitable for millimeter wave vehicle-mounted radar field
CA3180930A1 (en) * 2020-05-30 2021-12-09 Dapeng LAO Radar signal transmitting method, radar signal receiving method, and apparatus
WO2021258358A1 (en) * 2020-06-24 2021-12-30 华为技术有限公司 Target detection method and apparatus, radar, and vehicle
CN112673272B (en) * 2020-07-27 2022-03-11 华为技术有限公司 Signal processing method, device and storage medium
US11789118B2 (en) * 2020-10-23 2023-10-17 Nxp Usa, Inc. Calibration of a phased array
CN113189592B (en) * 2021-03-08 2022-10-25 苏州乐达纳米科技有限公司 Vehicle-mounted millimeter wave MIMO radar angle measurement method considering amplitude mutual coupling error
CN113900084B (en) * 2021-09-06 2022-06-28 珠海正和微芯科技有限公司 Crystal-oscillator-free FMCW radar transceiver system and frequency calibration method
CN114185038B (en) * 2021-11-29 2022-08-12 珠海安自达科技有限公司 Method and system for realizing ultrahigh angle resolution based on millimeter wave radar network

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111308437A (en) * 2020-02-27 2020-06-19 南京慧尔视智能科技有限公司 Entropy-solving and speed-ambiguity-solving method for millimeter wave MIMO traffic radar
CN114267949A (en) * 2021-12-08 2022-04-01 广州程星通信科技有限公司 Phased array antenna beam control method, system, device and storage medium

Also Published As

Publication number Publication date
CN114839588A (en) 2022-08-02

Similar Documents

Publication Publication Date Title
CN105589067B (en) MIMO radar system
CN108776330B (en) High-precision calibration method and device for multiple receiving channels of FMCW radar
CN108549059B (en) Low-altitude target elevation angle estimation method under complex terrain condition
CN107976660B (en) Missile-borne multi-channel radar ultra-low-altitude target analysis and multi-path echo modeling method
CN114839588B (en) FMCW millimeter wave radar receiving antenna array error compensation method, system and device
Long et al. High accuracy unambiguous angle estimation using multi‐scale combination in distributed coherent aperture radar
Li et al. Software-defined calibration for FMCW phased-array radar
Feng et al. MIMO–monopulse target localisation for automotive radar
CN113253206B (en) Variable polarization monopulse radar target angle estimation method, system, device and medium
US20070216420A1 (en) Method and system for eliminating VSWR errors in magnitude measurements
CN113534077A (en) Radar radiation source power inversion method and device and electronic equipment
CN111090094B (en) Method and system for measuring dual-beam angle of pulse Doppler radar and storage medium
CN112698319A (en) Experimental method for measuring target angle by radar
CN116500626A (en) Multi-receiving array element data receiving-transmitting combination conversion method
CN111880168A (en) Target positioning method based on passive digital array radar
CN116819466A (en) Double-base ISAR azimuth calibration and geometric correction method based on minimum entropy of image
CN114265055A (en) Phase comparison single pulse sum and difference phase correction method based on measured data
US7315797B2 (en) Method and system for eliminating VSWR errors in phase and amplitude measurements
CN107329128B (en) A kind of super-resolution high-precision low latitude angle-measuring method based on Rapid storage technique
US11733367B1 (en) Chromatic correlation interferometry direction finding
CN111766559A (en) Direction finding method, device, system, computer equipment and storage medium
Haibo et al. The study of mono-pulse angle measurement based on digital array radar
CN117233716B (en) Method and device for controlling and testing beam of satellite-borne phased array antenna
CN111257861B (en) 24GHz continuous wave radar angle measurement method
JP2006052977A (en) Radar system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant