CN117111006A - Automatic detection method and device for antenna performance parameters of transceiver-integrated radar - Google Patents
Automatic detection method and device for antenna performance parameters of transceiver-integrated radar Download PDFInfo
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Abstract
The invention discloses an automatic detection method and device for antenna performance parameters of a transceiver-integrated radar, wherein the detection method comprises the following steps: in a microwave darkroom, fixing a radar to be tested on an automatic turntable, and placing an angle reflector in front of the radar to be tested, wherein a receiving and transmitting antenna of the radar to be tested faces the angle reflector; after the test is started, the tested radar periodically transmits frequency modulation continuous electromagnetic waves, receives the electromagnetic waves reflected by the corner reflectors and obtains a target signal intensity value; the turntable is controlled to rotate at a constant speed in a designated range in the horizontal direction and the pitching direction respectively, and the angle values of the turntable in the horizontal direction and the pitching direction and the target signal intensity detected by the detected radar are synchronously obtained; and obtaining antenna patterns of the horizontal azimuth plane and the pitching direction plane according to the corresponding relations between different angle states in the horizontal direction and the pitching direction and the target signal intensity. The invention has the advantages of simple operation, low cost, high detection efficiency, high detection precision and the like.
Description
Technical Field
The invention relates to the technical field of radar antenna measurement, in particular to an automatic detection method and device for antenna performance parameters of a transceiver-integrated radar.
Background
The antenna performance parameters of the radar comprise parameter information such as an antenna pattern, half Power Beam Width (HPBW), peak Side Lobe Ratio (PSLR), antenna gain, main beam central angle and the like, wherein the antenna pattern can reflect the radiation condition of radar electromagnetic waves at different azimuth angles in space, so that it is important to accurately measure the antenna pattern of the radar to determine whether the performance of the radar antenna meets the design requirement.
For radar antenna performance parameter measurement, in the prior art, measurement is usually performed using a frequency meter, for example, for an antenna pattern, a measurement process using the frequency meter is usually: in darkroom environment, the radar transmitter transmits electromagnetic wave with specific frequency through the radar antenna, the spectrometer receives electromagnetic wave signals transmitted by the radar antenna through the radio frequency receiving probe under far field condition, the radiation intensity of the radar under the current angle is measured, and the radar antenna pattern is obtained by measuring the radiation intensity values at different angles. However, the above scheme must rely on a specific frequency meter, which is not only high in cost and complex in operation, but also as the working frequency band of the radar antenna is higher and higher, for example, the working frequency band of the millimeter wave radar antenna is gradually increased from 24GH to 77GHz, the frequency meter is difficult to meet the above frequency band measurement requirement, and meanwhile, the time required for measurement is long, so that the requirement of rapid verification on the aspect of batch radar performance consistency cannot be met.
Practitioners propose a mode of using an additional erection auxiliary transceiver and an auxiliary antenna to realize the measurement of the radar antenna pattern, but the scheme also needs to realize the measurement by means of additional auxiliary equipment, so that the method is high in cost, complex in operation, low in detection efficiency, and practically suitable for outdoor measurement of a large-scale radar antenna and not suitable for indoor measurement of the antenna.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides the automatic detection method and the device for the antenna performance parameters of the transceiver integrated radar, which are simple to operate, low in cost, high in detection efficiency and high in precision.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the method for automatically detecting the antenna performance parameters of the receiving-transmitting integrated radar comprises a transmitting antenna, a receiving antenna and a signal processing unit, wherein the transmitting antenna transmits a frequency modulation continuous wave signal generated by the radar in the form of electromagnetic waves, and the receiving antenna receives the electromagnetic waves reflected by a target, and the method comprises the following steps:
in a microwave darkroom, fixing a radar to be tested on an automatic turntable, and placing an angle reflector at a specified distance in front of the radar to be tested, wherein a receiving and transmitting antenna of the radar to be tested faces the angle reflector;
after the test is started, the tested radar periodically transmits frequency modulation continuous electromagnetic waves through a transmitting antenna, receives the electromagnetic waves reflected by the angle reflector through a receiving antenna, and processes a target echo signal through a signal processing unit to obtain a target signal intensity value; the turntable is controlled to rotate at a constant speed in a designated range in the horizontal direction and the pitching direction respectively, and angle values of the turntable in the horizontal direction and the pitching direction and target signal intensity values detected by the detected radar are synchronously acquired and stored;
and obtaining antenna patterns of the horizontal azimuth plane and the pitching direction plane according to the corresponding relations between different angle states in the horizontal direction and the pitching direction and the target signal intensity.
Further, the step of the radar to be tested detecting the target signal intensity value includes:
carrying out mixing processing on a target echo signal received in a current angle state to obtain an intermediate frequency signal of the target echo;
ADC sampling is carried out on the intermediate frequency signal to obtain ADC data;
performing distance dimension FFT calculation on the ADC data obtained by sampling to obtain distance dimension FFT data;
and searching the maximum value of the amplitude value in the distance dimension FFT data to obtain a target signal intensity value corresponding to the angle reflector in the current angle state.
Further, searching for the maximum value of the amplitude in the distance dimension FFT data in a preset range near a distance unit N where the angle reflector is located, if the distance unit where the maximum value of the FFT amplitude is located is found, judging that the detection data is valid, otherwise judging that the detection data is invalid and outputting the amplitude with a specified size, wherein the distance unit N is obtained by dividing the distance R between the angle reflector and the radar to be detected by the radar distance resolution dres, and the distance R between the angle transmitter and the radar to be detected satisfies R not less than 2*D 2 And lambda is the radar working wavelength, and D is the radar antenna aperture size.
Further, respectively acquiring target signal intensities corresponding to the corner reflectors obtained in different angle states in the horizontal direction and the pitching direction, and carrying out logarithmic operation to obtain a plurality of detection data points Px; and respectively taking the turntable angle and the target signal intensity as the abscissa and the ordinate, and performing curve fitting by using each detection data point Px to form an antenna pattern to the horizontal azimuth plane and the pitching azimuth plane.
Further, the step of determining the gain of the radar antenna further includes the steps of:
under the condition that the structure size and the antenna gain of a receiving antenna of the tested radar are the same, constructing a relation model between the maximum value Pm in a radar antenna pattern curve and the antenna gain G:wherein Pt is the transmitting power of the radar to be measured, lambda is the wavelength of electromagnetic waves, sigma is the reflecting sectional area of the angle reflector, R is the distance between the angle reflector and the radar, and k0 is a fixed constant;
searching a maximum value Pm according to the antenna pattern curve obtained by current detection;
and obtaining the antenna gain G according to a relation model between the maximum value Pm in the radar antenna pattern curve and the antenna gain G and the found maximum value Pm.
Further, the gain Gt of the transmitting antenna of the radar to be measured is equal to the gain Gr of the receiving antenna, that is, gt=gr=g, and the construction step of the relation model between the maximum value Pm in the radar antenna pattern curve and the antenna gain G is as follows:
constructing a radar distance equation:
according to the fact that gains of a transmitting antenna and a receiving antenna of the tested radar are equal, simplifying the radar distance equation to obtain a simplified distance equation:
and taking logarithms from two ends of a simplified radar distance equation according to the relation between the maximum value Pmax of the target signal strength and the electromagnetic wave power Pr received by the radar to be tested, and constructing a relation model between the maximum value Pm and the antenna gain G.
Further, the step of determining the beam width of the antenna-3 ndB further includes the step of determining the beam width of the antenna-3 ndB after the antenna patterns of the horizontal azimuth plane and the elevation direction plane are obtained, n is a positive integer, and the step includes: according to the multiple relation between Pm and antenna gain G, searching an abscissa angle of Pm-6ndB leftwards and rightwards by taking a Pm value corresponding to the antenna pattern as a center to obtain the single antenna-3 ndB beam width, wherein the beam width comprises a horizontal direction and a pitching direction, and Pm is the maximum value in a radar antenna pattern curve; and/or the step of determining the antenna main beam central angle further comprises the steps of: and taking the obtained turntable angle value corresponding to the Pm value on the radar antenna pattern as a main beam central angle, wherein the main beam central angle comprises a horizontal central angle and a pitching central angle.
Further, the method also comprises an antenna channel consistency testing step, which comprises the following steps:
respectively acquiring and processing the received data of each channel of the radar to be tested to obtain an antenna pattern and antenna performance parameters of each channel;
and comparing antenna performance parameters among different channels, and evaluating the consistency of the antenna channels of the radar to be tested according to the comparison result.
The antenna performance parameter automatic detection device of the receiving and transmitting integrated radar comprises a transmitting antenna, a receiving antenna and a signal processing unit, wherein the transmitting antenna transmits frequency modulation continuous wave signals generated by the radar in the form of electromagnetic waves, the receiving antenna receives the electromagnetic waves reflected back by a target, the antenna comprises a microwave darkroom, an automatic turntable, an angle reflector, a control module and a data processing module, the angle reflector, the turntable and the radar to be detected are arranged in the microwave darkroom, the radar to be detected is fixed on the turntable, the angle reflector is arranged at a specified distance in front of the radar to be detected, and the transmitting antenna of the radar to be detected faces the angle reflector; the method comprises the steps that after a test is started, a tested radar periodically transmits electromagnetic wave signals through a transmitting antenna, receives electromagnetic waves reflected by an angle reflector through a receiving antenna, processes target echo signals through a signal processing unit to obtain target signal intensity values, and the control module controls the turntable to rotate in a designated range in the horizontal direction and the pitching direction respectively, synchronously acquires and stores the angle values of the turntable in the horizontal direction and the pitching direction, and the target signal intensity detected by the tested radar; and the data processing module obtains antenna patterns of a horizontal azimuth plane and a pitching direction plane according to the corresponding relations between different angle states in the horizontal direction and the pitching direction and the target signal intensity.
Further, the data processing module is further configured to obtain an antenna gain G according to the current calculated Pm and a relation model between the Pm and the antenna gain G, where Pm is a maximum value of a curve in the radar antenna pattern, the control module and the data processing module are integrated in a controller, and the tested radar and the turntable are respectively connected with the controller to send a rotation angle control instruction to the turntable and receive a detection result of a target signal intensity value output by the tested radar.
Compared with the prior art, the invention has the advantages that:
1. the invention fully utilizes the structural system characteristics of the integrated radar of the receiving and transmitting antenna, the radar to be tested is arranged on a turntable in a microwave darkroom, the receiving and transmitting antenna and the angle transmitter of the radar are combined to detect the maximum value of the target signal intensity, and meanwhile, the turntable is used for controlling the detection angle to be adjusted in the horizontal direction and the pitching direction, so that the maximum value of the target signal intensity corresponding to different angles in the horizontal direction and the pitching direction can be conveniently and rapidly obtained, the antenna directional diagram of the horizontal azimuth plane and the pitching direction plane is further obtained, a frequency spectrograph is not needed, and additional equipment such as an auxiliary transceiver and an auxiliary antenna is not needed to be additionally configured, thereby being particularly suitable for indoor test of the radar antenna, greatly reducing the detection cost and complexity, and improving the detection efficiency and the detection precision.
2. The invention further aims at the characteristic of consistent receiving and transmitting antenna gains in the receiving and transmitting integrated radar, and a relation model between the maximum value Pm of the curve in the radar antenna pattern and the antenna gain G is constructed, so that the relation model can be utilized to rapidly and accurately calculate the radar antenna gain by using the detected antenna pattern.
3. The invention further detects and compares the antenna performance parameters of each channel, can realize the automatic detection of the radar multiple-input multiple-output antenna, realizes the rapid detection of the antenna parameters such as the antenna pattern, the relative value of the antenna receiving and transmitting gain, the beam center angle, the beam width and the like of each channel, and can rapidly evaluate the consistency of the multiple-input multiple-output channels, thereby fully detecting the performance of the radar antenna.
Drawings
Fig. 1 is a schematic diagram of a transceiver-integrated radar according to the present embodiment.
Fig. 2 is a diagram of an automatic detection method for antenna performance parameters of a transceiver-integrated radar according to the present embodiment.
Fig. 3 is a schematic diagram of a detection flow of an antenna pattern of a transceiver-integrated radar according to an embodiment of the present invention.
Fig. 4 is a schematic diagram showing the effect of the antenna pattern detected in the embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an automatic antenna performance parameter detecting device for a transceiver-integrated radar according to an embodiment of the present invention.
Detailed Description
The invention is further described below in connection with the drawings and the specific preferred embodiments, but the scope of protection of the invention is not limited thereby.
As shown in fig. 1, the transceiver integrated radar of the present embodiment includes a transmitting antenna and a receiving antenna, where the transmitting antenna transmits a frequency modulated continuous wave signal generated by the radar in the form of electromagnetic waves, and the receiving antenna receives electromagnetic waves reflected back by a target. The radar also comprises a radio frequency transmitting module, a radio frequency receiving module, an ADC and a signal processing module, wherein the radio frequency transmitting module can generate a frequency modulation continuous wave signal and amplify the power, and then the frequency modulation continuous wave signal is transmitted out in an electromagnetic wave mode through a transmitting antenna; the receiving antenna receives the electromagnetic wave reflected by the target, sends the electromagnetic wave to the radio frequency receiving module for filtering, amplifying and mixing treatment, outputs an intermediate frequency signal to the ADC module for digital sampling, and the signal processing module carries out operation treatment on the sampled digital signal.
The antenna pattern is a pattern that the relative field intensity of the radiation field changes along with the direction at a certain distance from the antenna, wherein two mutually perpendicular plane patterns in the maximum radiation direction of the antenna are the antenna patterns of a horizontal azimuth plane and a pitching direction plane. The receiving and transmitting integrated radar can send frequency modulation continuous wave signals to a target, can receive echo signals reflected by the target, and can obtain the target signal intensity based on analysis of the echo signals.
As shown in fig. 2, the method for automatically detecting the antenna performance parameter of the transceiver integrated radar according to the embodiment includes the steps of:
s01, arranging a radar to be tested on an automatic turntable in a microwave darkroom, arranging a corner reflector at a specified distance in front of the radar to be tested, and enabling a receiving and transmitting antenna of the radar to face the corner reflector;
s02, after the test is started, the tested radar periodically transmits frequency modulation continuous waves through a transmitting antenna, receives electromagnetic waves reflected by the angle reflector through a receiving antenna, and processes target echo signals through a signal processing unit to obtain target signal intensity values;
s03, controlling the turntable to rotate at a constant speed in a specified range in the horizontal direction and the pitching direction respectively, and synchronously acquiring and storing angle values of the turntable in the horizontal direction and the pitching direction and target signal intensity values detected by the detected radar;
s04, according to the corresponding relation between different angle states in the horizontal direction and the pitching direction and the maximum value of the target signal intensity, an antenna pattern of the horizontal azimuth plane and the pitching direction plane is obtained.
According to the embodiment, the characteristics of the structural system of the transceiver-antenna integrated radar are fully utilized, the radar to be detected is arranged on the rotary table, the transceiver antenna and the angle transmitter with the radar are combined to detect the maximum value of the target signal intensity, and meanwhile, the detection angle is adjusted in the horizontal direction and the pitching direction through the control of the rotary table, so that the maximum value of the target signal intensity corresponding to different angles in the horizontal direction and the pitching direction can be conveniently and rapidly obtained, the antenna pattern of the horizontal azimuth plane and the pitching direction plane is further obtained, a frequency spectrograph is not needed, additional equipment such as an auxiliary transceiver and an auxiliary antenna is not needed, the method is particularly suitable for indoor test of the radar antenna, the detection cost and the complexity are greatly reduced, and the detection efficiency and the detection precision are improved.
In this embodiment, the step of detecting the maximum value of the target signal intensity by the radar to be detected includes:
mixing the electromagnetic wave signals received in the current angle state to obtain intermediate frequency signals of the target echo;
ADC sampling is carried out on the intermediate frequency signal to obtain ADC data;
performing distance dimension FFT calculation on the ADC data obtained by sampling to obtain distance dimension FFT data;
and searching the maximum value of the amplitude value in the distance dimension FFT data to obtain the maximum value of the target signal intensity corresponding to the corner reflector in the current angle state.
In this embodiment, the radar internal radio frequency receiving module specifically performs filtering, amplifying and mixing processing, outputs an intermediate frequency signal to the ADC module to perform ADC sampling to obtain ADC data, the signal processing module performs distance dimension FFT computation on the ADC data obtained by sampling to obtain distance dimension FFT data, and searches for a maximum value of a magnitude in the distance dimension FFT data according to a distance unit where the corner reflector is located, so as to obtain and output a target signal strength Pmax corresponding to the corner reflector in a current angle state.
In this embodiment, the maximum value Pmax of the amplitude value in the distance dimension FFT data is found in a preset range (for example, in the range of N-2 to n+2) around the distance unit N where the angular reflector is located, if the distance unit where the maximum value of the FFT amplitude value is found, the detection data is determined to be valid, otherwise, the detection data is determined to be invalid and the amplitude value of the specified size is output, so that the correct target echo data can be quickly found, where the distance unit N is the distance unit where the angular reflector is located, and the distance unit N is determined according to the distance R between the angular reflector and the radar to be detected and the radar distance resolution dres, specifically, n=r/dres is satisfied, that is, the distance unit N is obtained by dividing the distance R between the angular reflector and the radar to be detected by the radar distance resolution dres, and the distance R between the angular reflector and the radar to be detected satisfies R is greater than or equal to 2*D 2 And lambda is the radar working wavelength, and D is the radar antenna aperture size.
In a specific application embodiment, when the target signal strength value Pmax is found, calculating the average value Pavg of the FFT data amplitude values in the range of N-2 to n+2, if the condition Pmax > pavg+pthr is satisfied, wherein Pthr is a preset fixed threshold, indicating that the current target data search is valid, otherwise, indicating that the target data is invalid, setting the value Pmax to 1, that is, setting the output amplitude value to 1, so as to further ensure the validity of the target signal strength maximum value Pmax.
In this embodiment, the maximum values of the target signal intensities corresponding to the corner reflectors obtained in different angle states in the horizontal direction and the pitch direction are respectively obtained, and the logarithm is taken, that is, px=10×lg (Pmax), so as to obtain a plurality of detection data points Px; and respectively taking the turntable angle and the target signal intensity as the abscissa and the ordinate, and performing curve fitting by using each detection data point Px to form an antenna directional diagram reaching a horizontal azimuth plane and a pitching direction plane, wherein each detection data point Px in the antenna directional diagram corresponds to the maximum value of the target signal intensity of the distance unit.
In a specific application embodiment, as shown in fig. 3, the detailed steps for implementing automatic detection of an antenna pattern of a transceiver-integrated radar are as follows:
step 1: the turntable is controlled to rotate to a measured horizontal starting angular position.
Step 2: the radar continuously transmits frequency modulation continuous wave signals with certain bandwidth through the transmitting antenna at fixed time intervals; and to bring the corner reflector in the radar range.
Step 3: after the radar electromagnetic wave reaches the angle reflector, the electromagnetic wave is reflected back to the radar receiving antenna and mixed by the radio frequency receiving module, an intermediate frequency signal of a target echo is obtained, the intermediate frequency signal is digitally sampled by the radar ADC module, a data signal processor is adopted to carry out windowing and FFT processing, distance dimension FFT data are obtained, a distance unit N=R/dres where the angle reflector is located is calculated according to a distance R between the angle reflector and the radar and a radar distance resolution dres, the maximum value in the amplitude of the distance dimension FFT data is recorded as Pmax near the distance unit N, if the condition meets Pmax > Pavg+Pthr, wherein Pthr is a fixed threshold value, the target data searching is effective, otherwise, the target data is invalid, and the value of Pmax is set as 1. Outputting the detected Pmax.
Step 4: after receiving Pmax, the Pmax is subjected to logarithmic conversion operation, px=10x lg (Pmax), and meanwhile, the current angle state value Ax of the turntable is obtained, and Ax and Px are used as a pair of data to record.
Step 5: the turntable is controlled to rotate in the horizontal direction by an angle (typically 1 deg. or less).
Step 6: after the steps 3 to 6 are circularly executed, the Px corresponding to each angle is drawn as a curve, and an antenna pattern of the horizontal azimuth plane is obtained, as shown in fig. 4.
Step 7: the horizontal angle of the control turntable is set to be 0, and the control turntable rotates by an angle (generally less than or equal to 1 DEG) in the pitching direction.
Step 8: and (3) circularly executing the steps 3-6, and drawing Px corresponding to each angle into a curve to obtain an antenna pattern of the pitching azimuth plane.
The maximum value Pm in the Px curve reflects the sum of the gains of the transmitting antenna and the receiving antenna, i.e. the gain of the radar antenna can be determined from Pm. In the embodiment, a relation model between a maximum value Pm in a radar antenna pattern curve and an antenna gain G is firstly constructed, and the specific steps are as follows:
constructing a radar distance equation:
wherein Pr is electromagnetic wave power received by the radar to be detected, pt is transmitting power of the radar to be detected, R is distance between the corner reflector and the radar, sigma is reflecting sectional area of the corner reflector target, and sigma is a fixed constant.
If the gain Gt of the transmitting antenna of the radar to be measured is equal to the gain Gr of the receiving antenna, namely gt=gr=g, the radar distance equation can be simplified to obtain a simplified distance equation:
the magnitude of the measured value Pmax is proportional to the received electromagnetic wave power Pr, namely:
Pmax＝Pr/k0 (3)
wherein k0 is a fixed constant.
Further taking the logarithm of the two ends of the simplified radar distance equation to obtain:
Pm(dB) ＝ 2*G(dB)+k(dB) (4)
wherein,
when the wavelength λ of the radar electromagnetic wave is substantially constant, k is approximately a fixed constant, that is, according to Pm, the relative value of the antenna gain G can be obtained according to the relation model between Pm and the antenna gain G obtained by equation (2).
After obtaining the antenna patterns of the horizontal azimuth plane and the elevation direction plane, the embodiment further includes a radar antenna gain determining step S05, including:
s501, pre-constructing a relation model between Pm and antenna gain G, wherein Pm=2×G+k;
s502, calculating to obtain a corresponding Pm value according to the antenna pattern obtained by current detection;
s503, obtaining the antenna gain G according to the maximum value Pm obtained by current calculation and a relation model between the maximum value Pm and the antenna gain G.
According to the method, the relation model between Pm and the antenna gain G can be constructed according to the characteristic that the gains of the transmitting and receiving integrated radar transmitting antenna are consistent, and then the radar antenna gain can be calculated rapidly and accurately by using the detected antenna pattern by using the relation model.
The embodiment further includes an antenna-3 ndB beam width determining step S06, where n is a positive integer, that is, n=1, 2, …, after obtaining the antenna patterns of the horizontal azimuth plane and the elevation direction plane, and the steps include: if the gains of the transmitting antenna and the receiving antenna of the measured radar are equal, according to the multiple relation between the maximum value Pm and the antenna gain G, namely Pm (dB) = 2*G (dB) +k (dB), searching the abscissa angle of Pm-6ndB leftwards and rightwards by taking the Pm value corresponding to the antenna pattern as the center, and obtaining the single antenna-3 ndB beam width, wherein the beam width comprises the horizontal direction and the pitching direction. For example, the single antenna-3 dB beamwidth may be obtained by searching for an abscissa angle of Pm-6dB to the left and right with the Pm value corresponding to the antenna pattern as the center, and the single antenna-6 dB beamwidth may also be obtained by searching for an abscissa angle of Pm-12dB to the left and right with the Pm value corresponding to the antenna pattern as the center. Through the steps, the multiple relation between Pm and the antenna gain G and the detected antenna pattern can be fully utilized, and the-3 ndB beam width of the radar antenna can be rapidly determined.
Further, other antenna performance parameters, such as an antenna main beam central angle, may be determined by using the antenna pattern, where the turntable angle value corresponding to the Pm value corresponding to the obtained antenna pattern is used as the main beam central angle, where the main beam central angle includes a horizontal central angle and a pitch central angle.
The embodiment further includes an antenna channel consistency testing step S07 after obtaining the antenna patterns of the horizontal azimuth plane and the elevation direction plane, including:
s701, respectively acquiring and processing the received data of each channel of the radar to be tested to obtain an antenna pattern and antenna performance parameters of each channel;
s702, comparing antenna performance parameters among different channels, and evaluating the consistency of the antenna channels of the radar to be tested according to comparison results.
According to the radar with the multiple-input multiple-output antenna, the ADC sampling and the signal processing are simultaneously carried out on each receiving channel, the target signal intensity Px corresponding to the angle reflector of each channel is obtained, the antenna pattern of each channel is obtained through measurement of each channel Px under different angles, the consistency of the multiple-input multiple-output antenna channels is evaluated according to the comparison of the antenna patterns (such as the antenna channel gain, the antenna channel beam width and other parameters) among different channels, the automatic detection of the radar multiple-input multiple-output antenna can be realized, the rapid detection of the antenna pattern, the antenna receiving and transmitting gain relative value, the beam central angle, the beam width and other antenna parameters of each channel is realized, and meanwhile, the consistency of the multiple-input multiple-output channels can be rapidly evaluated.
As shown in fig. 2, the device mainly comprises a microwave darkroom, an automatic turntable, a radar to be measured, an angle reflector, an industrial personal computer and a connecting cable. The automatic turntable, the radar to be tested and the corner reflector are placed in the darkroom, the industrial personal computer is placed outside the darkroom, and the connecting cable is used for communication between the industrial personal computer and the turntable as well as between the industrial personal computer and the radar to be tested. The radar transmits frequency modulation continuous waves through a self-contained radio frequency transmitting module, after the radar electromagnetic waves meet the angle reflectors, part of electromagnetic waves are returned to a radar receiving antenna, the radio frequency receiving module obtains intermediate frequency signals after processing such as frequency mixing, amplifying and filtering on the received electromagnetic wave signals, the radar ADC module carries out ADC sampling on the intermediate frequency signals, and the radar processing module carries out digital signal processing on ADC data to obtain target energy values corresponding to the angle reflectors under the current turntable angle. The industrial personal computer controls the turntable to rotate to different angles, respectively measures target energy values under different angles, and obtains an antenna azimuth graph through measurement conditions of the target energy values under different angles.
The radar signal processing module performs windowing and FFT processing on the ADC data to obtain distance dimension FFT data, and calculates a distance unit N=R/dres where the angle reflector is located according to a distance R between the angle reflector and the radar and a radar distance resolution dres; and (3) searching a maximum value in the FFT data amplitude values of the distance dimension near the distance unit N (generally in the range of N-2-N+2, ensuring that the target echo data has the correct value), marking the maximum value as Pmax, marking the average value of the FFT data amplitude values in the range of N-2-N+2 as Pavg, and if the condition satisfies Pmax > Pavg+Pthr, wherein Pthr is a fixed threshold value, indicating that the target data searching is effective. Otherwise, the target data is invalid, and the amplitude of the invalid data is set to be 1.
As shown in fig. 5, the antenna performance parameter automatic detection device of the transceiver integrated radar of the embodiment comprises a microwave darkroom, a turntable, a corner reflector, a control module and a data processing module, wherein the corner reflector, the turntable and the radar to be detected are arranged in the microwave darkroom, the radar to be detected is arranged on the turntable, the corner reflector is arranged in front of the radar to be detected and at a specified distance from the turntable, and the transmitting antenna of the radar to be detected faces the corner reflector; the control module is connected with the rotation control end of the turntable, the input end of the data processing module is connected with the output end of the tested radar, the tested radar periodically transmits electromagnetic wave signals through the transmitting antenna after the test is started, receives electromagnetic waves reflected by the angle reflector through the receiving antenna, processes target echo signals through the signal processing unit to obtain target signal intensity values, the control module controls the turntable to rotate at a constant speed in a designated range in the horizontal direction and the pitching direction respectively, and synchronously acquires and stores angle values of the turntable in the horizontal direction and the pitching direction and the target signal intensity detected by the tested radar; and the data processing module obtains antenna patterns of the horizontal azimuth plane and the pitching direction plane according to the corresponding relations between different angle states in the horizontal direction and the pitching direction and the maximum value of the target signal intensity.
The receiving and transmitting integrated radar in the embodiment specifically comprises a transmitting antenna and a receiving antenna, wherein the transmitting antenna transmits a frequency modulation continuous wave signal generated by the radar in the form of electromagnetic waves, the receiving antenna receives the electromagnetic waves reflected by a target, the radar also comprises a radio frequency transmitting module, a radio frequency receiving module, an ADC (analog to digital converter) and a signal processing module, the radio frequency transmitting module can generate the frequency modulation continuous wave signal and amplify the power, and the frequency modulation continuous wave signal is transmitted out in the form of electromagnetic waves through the transmitting antenna; the receiving antenna receives the electromagnetic wave reflected by the target, sends the electromagnetic wave to the radio frequency receiving module for filtering, amplifying and mixing treatment, outputs an intermediate frequency signal to the ADC module for digital sampling, and the signal processing module carries out operation treatment on the sampled digital signal.
In this embodiment, the corner reflector, the turntable and the tested radar are disposed in a microwave darkroom to avoid interference signals and ensure detection accuracy, the control module and the data processing module are specifically integrated in a controller (industrial personal computer), and the tested radar and the turntable are respectively connected with the controller (industrial personal computer) to send a rotation angle control instruction to the turntable and receive a detection result of a target signal intensity maximum value output by the tested radar. Namely, the turntable rotation is used by a controller (industrial personal computer) to accurately control the turntable rotation, the current angle state of the turntable can be obtained, the turntable rotation comprises a horizontal direction and a pitching direction, and meanwhile data output by a radar are received.
The automatic detection device for the antenna performance parameters of the transceiver-integrated radar in this embodiment corresponds to the automatic detection method for the antenna performance parameters of the transceiver-integrated radar, and is not described in detail herein.
The invention is especially suitable for millimeter wave radar with integrated transceiver, and can be applied to radar systems with similar principles according to actual requirements.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention shall fall within the scope of the technical solution of the present invention.
Claims (10)
1. The method for automatically detecting the antenna performance parameters of the receiving-transmitting integrated radar comprises a transmitting antenna, a receiving antenna and a signal processing unit, wherein the transmitting antenna transmits a frequency modulation continuous wave signal generated by the radar in the form of electromagnetic waves, and the receiving antenna receives electromagnetic wave signals reflected by a target, and the method is characterized by comprising the following steps:
in a microwave darkroom, fixing a radar to be tested on an automatic turntable, and placing an angle reflector at a specified distance in front of the radar to be tested, wherein a receiving and transmitting antenna of the radar to be tested faces the angle reflector;
after the test is started, the tested radar periodically transmits frequency modulation continuous electromagnetic waves through a transmitting antenna, receives the electromagnetic waves reflected by the angle reflector through a receiving antenna, and processes a target echo signal through a signal processing unit to obtain a target signal intensity value; the turntable is controlled to rotate at a constant speed in a designated range in the horizontal direction and the pitching direction respectively, and angle values of the turntable in the horizontal direction and the pitching direction and target signal intensity values detected by the detected radar are synchronously acquired and stored;
and obtaining antenna patterns of the horizontal azimuth plane and the pitching direction plane according to the corresponding relations between different angle states in the horizontal direction and the pitching direction and the target signal intensity.
2. The method for automatically detecting antenna performance parameters of a transceiver-integrated radar according to claim 1, wherein the step of detecting the target signal strength value by the radar under test comprises:
carrying out mixing processing on a target echo signal received in a current angle state to obtain an intermediate frequency signal of the target echo;
ADC sampling is carried out on the intermediate frequency signal to obtain ADC data;
performing distance dimension FFT calculation on the ADC data obtained by sampling to obtain distance dimension FFT data;
and searching the maximum value of the amplitude value in the distance dimension FFT data to obtain a target signal intensity value corresponding to the angle reflector in the current angle state.
3. The method for automatically detecting antenna performance parameters of a transceiver-integrated radar according to claim 2, wherein a maximum value of amplitude values in the distance dimension FFT data is found in a preset range around a distance unit N where an angular reflector is located, if the distance unit where the maximum value of the FFT amplitude values is found, the detection data is determined to be valid, otherwise, the detection data is determined to be invalid and the amplitude value of a specified size is output, wherein the distance unit N is obtained by dividing a distance R between the angular reflector and a radar to be detected by a radar distance resolution dres, and a distance R between the angular emitter and the radar to be detected satisfies R not less than 2*D 2 And lambda is the radar working wavelength, and D is the radar antenna aperture size.
4. The method for automatically detecting the antenna performance parameters of the transceiver-integrated radar according to claim 1, wherein the method is characterized in that target signal intensities corresponding to the corner reflectors obtained in different angle states in the horizontal direction and the pitching direction are respectively obtained and logarithmic operation is carried out to obtain a plurality of detection data points Px; and respectively taking the turntable angle and the target signal intensity as the abscissa and the ordinate, and performing curve fitting by using each detection data point Px to form an antenna pattern to the horizontal azimuth plane and the pitching azimuth plane.
5. The method for automatically detecting antenna performance parameters of a transceiver-integrated radar according to claim 1, wherein the step of determining the antenna gain further comprises the steps of:
under the condition that the structure size and the antenna gain of the receiving and transmitting antenna of the radar to be tested are the same, constructing a relation model between the maximum value Pm in the antenna pattern curve of the radar and the antenna gain G, wherein Pm=2 xG+k,wherein Pt is the transmitting power of the radar to be measured, lambda is the wavelength of electromagnetic waves, sigma is the reflecting sectional area of the angle reflector, R is the distance between the angle reflector and the radar, and k0 is a fixed constant;
searching a maximum value Pm according to the antenna pattern curve obtained by current detection;
and obtaining the antenna gain G according to a relation model between the maximum value Pm in the radar antenna pattern curve and the antenna gain G and the found maximum value Pm.
6. The method for automatically detecting antenna performance parameters of a transceiver-integrated radar according to claim 5, wherein the gain Gt of the transmitting antenna and the gain Gr of the receiving antenna of the radar to be detected are equal, that is, gt=gr=g, and the construction step of the relation model between the maximum value Pm in the radar antenna pattern curve and the antenna gain G is as follows:
constructing a radar distance equation:
according to the fact that gains of a transmitting antenna and a receiving antenna of the tested radar are equal, simplifying the radar distance equation to obtain a simplified distance equation:
and taking logarithms from two ends of a simplified radar distance equation according to the relation between a target signal intensity value Pmax and electromagnetic wave power Pr received by the radar to be detected, and constructing a relation model between the maximum value Pm and the antenna gain G.
7. The method for automatically detecting antenna performance parameters of a transceiver-integrated radar according to any one of claims 1 to 6, wherein the step of determining the beam width of the antenna-3 ndB after obtaining the antenna patterns of the horizontal azimuth plane and the elevation direction plane is further included, and n is a positive integer, and the step includes: according to the multiple relation between Pm and antenna gain G, searching an abscissa angle of Pm-6ndB leftwards and rightwards by taking a Pm value corresponding to the antenna pattern as a center to obtain the single antenna-3 ndB beam width, wherein the beam width comprises a horizontal direction and a pitching direction, and Pm is the maximum value in a radar antenna pattern curve; and/or the step of determining the antenna main beam central angle further comprises the steps of: and taking the obtained turntable angle value corresponding to the Pm value on the radar antenna pattern as a main beam central angle, wherein the main beam central angle comprises a horizontal central angle and a pitching central angle.
8. The method for automatically detecting antenna performance parameters of a transceiver-integrated radar according to any one of claims 1 to 6, further comprising an antenna channel consistency testing step, comprising:
respectively acquiring and processing the received data of each channel of the radar to be tested to obtain an antenna pattern and antenna performance parameters of each channel;
and comparing antenna performance parameters among different channels, and evaluating the consistency of the antenna channels of the radar to be tested according to the comparison result.
9. The utility model provides an antenna performance parameter automatic checkout device of receiving and dispatching integral type radar, receiving and dispatching integral type radar includes transmitting antenna, receiving antenna, signal processing unit, transmitting antenna is the form of electromagnetic wave with the frequency modulation continuous wave signal that the radar produced and is launched, by receiving antenna receives the electromagnetic wave that the target was reflected back, its characterized in that: the detection device comprises a microwave darkroom, an automatic turntable, an angle reflector, a control module and a data processing module, wherein the angle reflector, the turntable and a radar to be detected are arranged in the microwave darkroom, the radar to be detected is fixed on the turntable, the angle reflector is arranged at a specified distance in front of the radar to be detected, and a transmitting antenna of the radar to be detected faces the angle reflector; the method comprises the steps that after a test is started, a tested radar periodically transmits electromagnetic wave signals through a transmitting antenna, receives electromagnetic waves reflected by an angle reflector through a receiving antenna, processes target echo signals through a signal processing unit to obtain target signal intensity values, and the control module controls the turntable to rotate at a constant speed in a designated range in the horizontal direction and the pitching direction respectively, synchronously acquires and stores the angle values of the turntable in the horizontal direction and the pitching direction, and the target signal intensity detected by the tested radar; and the data processing module obtains antenna patterns of a horizontal azimuth plane and a pitching direction plane according to the corresponding relations between different angle states in the horizontal direction and the pitching direction and the target signal intensity.
10. The automatic detection device for antenna performance parameters of integrated transceiver radar according to claim 9, wherein the data processing module is further configured to obtain an antenna gain G according to a currently calculated Pm and a relation model between Pm and the antenna gain G, where Pm is a maximum value of a curve in a radar antenna pattern, the control module and the data processing module are integrated in a controller, and the detected radar and the turntable are respectively connected with the controller to send a rotation angle control instruction to the turntable and receive a detection result of a target signal strength value output by the detected radar.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117420520A (en) * | 2023-12-18 | 2024-01-19 | 中国电子科技集团公司第十研究所 | Secondary radar interrogation antenna detection method based on signal processing information |
| CN117908026A (en) * | 2024-02-27 | 2024-04-19 | 南京雷电信息技术股份有限公司 | Outfield test method for ground radar power test |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117420520A (en) * | 2023-12-18 | 2024-01-19 | 中国电子科技集团公司第十研究所 | Secondary radar interrogation antenna detection method based on signal processing information |
| CN117420520B (en) * | 2023-12-18 | 2024-03-29 | 中国电子科技集团公司第十研究所 | Secondary radar interrogation antenna detection method based on signal processing information |
| CN117908026A (en) * | 2024-02-27 | 2024-04-19 | 南京雷电信息技术股份有限公司 | Outfield test method for ground radar power test |
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