CN117269910A - Multi-radar calibration method and system based on track matching - Google Patents
Multi-radar calibration method and system based on track matching Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention provides a multi-radar calibration method and system based on track matching, comprising the following steps: installing a plurality of millimeter wave radars in the same space to ensure that overlapping areas exist among the radars; placing a preset track in an overlapping area of the millimeter wave radar, and placing a small ball at the upper end of the track so that the small ball naturally rolls on the track; acquiring a movement curve of a small ball track under each radar coordinate system; obtaining the best matching result of any two radar moving curves, and calculating the conversion relation between any two radar coordinate systems; calculating average matching weights of all the radars, and selecting the radar with the highest weight as a reference; and obtaining the conversion relation from all radar coordinate systems to a reference radar coordinate system. The method solves the problem that a plurality of radars are difficult to accurately and rapidly acquire the translation quantity and the rotation quantity from a radar coordinate system to a reference coordinate system, thereby realizing the conversion of all target tracks to the same coordinate system and realizing the continuous tracking of targets.
Description
Technical Field
The invention relates to the technical field of radar calibration, in particular to a radar calibration method and system, and more particularly relates to a multi-radar calibration method and system based on track matching.
Background
In the intelligent pension field, when target tracking and detection are performed, target relay tracking needs to convert all target tracks into the same coordinate system, and all target tracks are converted into the same coordinate system, so that the translation and rotation relation between each radar coordinate system and a reference coordinate system needs to be known.
However, since the coordinates and angles of the indoor radar installation are obtained by direct measurement, the error is large, and it is difficult to accurately realize the conversion from the radar coordinate system to the reference coordinate system. Also, since the radar-by-radar measurement process is complicated, the translational amount and the rotational amount from the radar coordinate system to the reference coordinate system cannot be obtained quickly.
Therefore, how to accurately and quickly acquire the translation amount and the rotation amount from the radar coordinate system to the reference coordinate system, so as to realize that all target tracks are converted to the same coordinate system, and realize relay tracking of the targets will be a problem to be solved.
Patent document CN116840795a discloses an external parameter calibration method, system and medium for camera and radar based on track alignment, the method comprises the following steps: acquiring a pixel center track and a radar center track which are obtained by running the center of a preset reflecting plate in a common detection area of a camera and a millimeter wave radar along a preset track and respectively and correspondingly detecting the camera and the millimeter wave radar; calculating the pixel center track and the radar center track based on a polynomial fitting algorithm, and correspondingly obtaining a pixel center fitting track and a radar center fitting track; and performing track alignment on the pixel center fitting track and the radar center fitting track based on a batch optimization optimization algorithm to obtain a target external parameter matrix in an external parameter conversion relation between a camera and the millimeter wave radar. However, the method does not solve the problem that the translation and rotation of the radar coordinate system to the reference coordinate system cannot be accurately and rapidly acquired, so that all target tracks are converted to the same coordinate system.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a multi-radar calibration method and system based on track matching.
The multi-radar calibration method based on track matching provided by the invention comprises the following steps:
step S1: installing a plurality of millimeter wave radars in the same space to ensure that overlapping areas exist among the radars;
step S2: placing a preset track in an overlapping area of the millimeter wave radar, and placing a small ball at the upper end of the track so that the small ball naturally rolls on the track;
step S3: acquiring a movement curve of a small ball track under each radar coordinate system;
step S4: obtaining the best matching result of any two radar moving curves, and calculating the conversion relation between any two radar coordinate systems;
step S5: calculating average matching weights of all the radars, and selecting the radar with the highest weight as a reference;
step S6: and obtaining the conversion relation from all radar coordinate systems to a reference radar coordinate system.
Preferably, according to the conversion relation from each radar to a reference radar coordinate system, all target tracks detected by the radar are converted to the same coordinate system, so that conversion and fusion of multi-radar data are realized, and continuous detection and tracking of targets are completed.
Preferably, in said step S2:
the preset track is a linear track with a preset gradient, and the linear track can be used for sliding a specific small ball.
Preferably, in said step S3:
and calculating the positions of the moving points of the small ball in each radar coordinate system through a target tracking algorithm, removing the erroneously detected interference points by calculating the distance between the two moving points, and removing the points with larger errors by judging the moving trend to obtain the moving track of the small ball in each coordinate system.
Preferably, in said step S4:
the rotation matrix and the translation matrix which are optimally matched with the two movement curves are calculated, so that the rotation matrix and the translation matrix between the two radar coordinate systems are obtained;
the rotation matrix R and the translation matrix T which are optimally matched are calculated by the following formula:
wherein θ is the rotation angle between the two radar coordinate systems,
wherein,B i for the ith point of the track detected by radar B,/i>For sequence { B i Mean value of A i For the ith point of the track detected by radar A,/th point of the track detected by radar A>For the sequence { A } i Mean value of }.
Preferably, the rotation matrix and the translation matrix which are optimally matched can enable the error of the small ball movement track sequence under two radar coordinate systems to be minimum after the small ball movement track sequence is converted into the same coordinate system;
the average matching weight is calculated by the following formula:
wherein J is ij Is the weight between the ith radar and the jth radar, S ij-k ＝R ij B k -A k ，R ij For the rotation matrix between the ith radar and the jth radar, B k A for the kth point of the track detected by the ith radar k For the kth point of the track detected by the jth radar, m is the minimum of the number of detection points of the ith radar and the jth radar,for the sequence { S ] ij mean,/-A }>Is the normalized weight between the ith radar and the jth radar, J min For the sequence { J ij Minimum value }, of ∈>The weight is normalized to the average of the ith radar, n is the number of radars registered with the ith radar.
Preferably, the average matching weight is calculated by the average error of the sequence of ball trajectories after the single radar and all other radars are optimally matched.
According to the multi-radar calibration system based on track matching provided by the invention, the multi-radar calibration method based on track matching is executed, and the multi-radar calibration system based on track matching comprises the following steps:
hardware module: obtaining the moving track of the small ball track in each millimeter wave radar coordinate system by using the millimeter wave radar and the calibration block;
software module: and obtaining the most accurate radar coordinate system by using a data processing algorithm as a reference coordinate system, calculating the conversion relation between each radar coordinate system and the reference coordinate system, and displaying the calibration result on software.
Preferably, in the hardware module, it includes:
the millimeter wave radar device comprises a plurality of millimeter wave radar plates, a calibration block and a connecting piece, wherein the calibration block is a linear track with a preset gradient and a small ball, the small ball slides freely on the track, and the millimeter wave radar records the moving data of the small ball.
Preferably, in the software module, it includes:
data acquisition, a data processing algorithm and a result display interface;
receiving data acquired by the millimeter wave radar board, setting a maximum threshold value of the distance between two points, removing data of error detection, removing data with larger error according to the movement trend of the small ball, obtaining a movement track, and displaying the movement track under each millimeter wave radar coordinate system, the track matched to the reference radar coordinate system, the rotation translation matrix converted to the reference coordinate system by each radar and the average matching weight of each radar.
Compared with the prior art, the invention has the following beneficial effects:
1. the method solves the problem that a plurality of radars are difficult to accurately and rapidly acquire the translation quantity and the rotation quantity from a radar coordinate system to a reference coordinate system, so that all target tracks are converted into the same coordinate system, and continuous tracking of targets is realized;
2. according to the method, the conversion relation among the radar coordinate systems is obtained rapidly through the moving track of the calibration block, and the radar coordinate system with highest precision is selected as the reference coordinate system, so that all target tracks detected by the radar are converted into the reference coordinate system, and conversion and fusion of multi-radar data are realized.
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Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of the method steps of the present invention;
FIG. 2 is a schematic diagram of a radar application scenario of the present invention;
FIG. 3 is a schematic diagram of a calibration block apparatus of the present invention;
FIG. 4 is a block diagram of a system of the present invention;
FIG. 5 is a diagram of a hardware module according to the present invention;
FIG. 6 is a schematic diagram of a display interface of a software module according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1:
according to the method, a specific track is placed in an overlapping area of all the radars, a small ball rolls in the track, moving track points of small ball tracks under all radar coordinate systems are obtained, track points with larger errors are removed through a data processing method, the best matching result of any two radar moving curves is obtained according to a track matching method, the conversion relation between any two radar coordinate systems is calculated, then the matching weight between any two radar coordinate systems is calculated, the radar with the highest weight is selected as a reference, the conversion relation from each radar coordinate system to the reference coordinate system is obtained, the target tracks detected by all the radars are converted to the same coordinate, and the problems that multiple radars are difficult to accurately and rapidly obtain the translation quantity and the rotation quantity of the radar coordinate systems to the reference coordinate system are solved, so that all the target tracks are converted to the same coordinate system, and continuous tracking of the targets is achieved.
According to the multi-radar calibration method based on track matching, as shown in fig. 1-6, the method comprises the following steps:
step S1: installing a plurality of millimeter wave radars in the same space to ensure that overlapping areas exist among the radars;
step S2: placing a preset track in an overlapping area of the millimeter wave radar, and placing a small ball at the upper end of the track so that the small ball naturally rolls on the track;
specifically, in the step S2:
the preset track is a linear track with a preset gradient, and the linear track can be used for sliding a specific small ball.
Step S3: acquiring a movement curve of a small ball track under each radar coordinate system;
specifically, in the step S3:
and calculating the positions of the moving points of the small ball in each radar coordinate system through a target tracking algorithm, removing the erroneously detected interference points through calculating the distance between the two moving points, and removing the points with errors through judging the moving trend to obtain the moving track of the small ball in each coordinate system.
Step S4: obtaining the best matching result of any two radar moving curves, and calculating the conversion relation between any two radar coordinate systems;
specifically, in the step S4:
the rotation matrix and the translation matrix which are optimally matched with the two movement curves are calculated, so that the rotation matrix and the translation matrix between the two radar coordinate systems are obtained;
the rotation matrix R and the translation matrix T which are optimally matched are calculated by the following formula:
wherein θ is the rotation angle between the two radar coordinate systems,
wherein,B i for the ith point of the track detected by radar B,for sequence { B i Mean value of A i For the ith point of the track detected by radar A,/th point of the track detected by radar A>For the sequence { A } i Mean value of }.
Step S5: calculating average matching weights of all the radars, and selecting the radar with the highest weight as a reference;
step S6: and obtaining the conversion relation from all radar coordinate systems to a reference radar coordinate system.
Specifically, according to the conversion relation from each radar to a reference radar coordinate system, all target tracks detected by the radar are converted to the same coordinate system, so that conversion and fusion of multi-radar data are realized, and continuous detection and tracking of targets are completed.
Specifically, the rotation matrix and the translation matrix which are optimally matched can enable the error of the small ball movement track sequence under two radar coordinate systems to be minimum after the small ball movement track sequence is converted into the same coordinate system;
the average matching weight is calculated by the following formula:
wherein J is ij Is the weight between the ith radar and the jth radar, S ij-k ＝R ij B k -A k ，R ij For the rotation matrix between the ith radar and the jth radar, B k A for the kth point of the track detected by the ith radar k The kth point of the track detected by the jth radar, m is the ith radar and the jth radarThe minimum value of the number of radar detection points,for the sequence { S ] ij The mean value of the number of the three,is the normalized weight between the ith radar and the jth radar, J min For the sequence { J ij Minimum value }, of ∈>The weight is normalized to the average of the ith radar, n is the number of radars registered with the ith radar.
Specifically, the average matching weight is calculated by the average error of the small ball track sequence after the single radar and all other radars are optimally matched.
Example 2:
example 2 is a preferable example of example 1 to more specifically explain the present invention.
The invention also provides a track-matching-based multi-radar calibration system, which can be realized by executing the flow steps of the track-matching-based multi-radar calibration method, namely, a person skilled in the art can understand the track-matching-based multi-radar calibration method as a preferred implementation mode of the track-matching-based multi-radar calibration system.
According to the multi-radar calibration system based on track matching provided by the invention, the multi-radar calibration method based on track matching is executed, and the multi-radar calibration system based on track matching comprises the following steps:
hardware module: obtaining the moving track of the small ball track in each millimeter wave radar coordinate system by using the millimeter wave radar and the calibration block;
software module: and obtaining the most accurate radar coordinate system by using a data processing algorithm as a reference coordinate system, calculating the conversion relation between each radar coordinate system and the reference coordinate system, and displaying the calibration result on software.
Specifically, in the hardware module, it includes:
the millimeter wave radar device comprises a plurality of millimeter wave radar plates, a calibration block and a connecting piece, wherein the calibration block is a linear track with a preset gradient and a small ball, the small ball slides freely on the track, and the millimeter wave radar records the moving data of the small ball.
Specifically, the software module includes:
data acquisition, a data processing algorithm and a result display interface;
receiving data acquired by the millimeter wave radar board, setting a maximum threshold value of the distance between two points, removing data of error detection, removing data with larger error according to the movement trend of the small ball, obtaining a movement track, and displaying the movement track under each millimeter wave radar coordinate system, the track matched to the reference radar coordinate system, the rotation translation matrix converted to the reference coordinate system by each radar and the average matching weight of each radar.
Example 3:
example 3 is a preferable example of example 1 to more specifically explain the present invention.
The invention provides a multi-radar calibration method and system based on track matching, which aims to solve the problem that in the prior art, translation and rotation of a radar coordinate system to a reference coordinate system cannot be accurately and rapidly obtained, so that all target tracks are converted to the same coordinate system.
The embodiment discloses a multi-radar calibration method based on track matching, as shown in fig. 1, comprising the following steps:
s10, installing a plurality of millimeter wave radars in the same space to ensure that overlapping areas exist among the radars;
in this example, multiple radars are mounted at different locations and angles within the room for tracking and detection of targets.
For example, referring to fig. 2, the number of radars is 4, namely, radar a, radar B, radar C, and radar D, each having a coordinate system.
S20, placing a calibration track in an overlapping area of the millimeter wave radar, and placing a small ball at the upper end of the track so that the small ball naturally rolls on the track;
for example, referring to fig. 2 and 3, the number of radars is 4, namely, radar a, radar B, radar C and radar D, and a track is provided in the overlapping area of all the radars, and a shutter is moved to allow the pellets to roll freely.
S30, acquiring a movement curve of the small ball track under each radar coordinate system;
in the present embodiment, the movement curves under the respective radar coordinate systems are calculated by the target tracking algorithm.
For example, referring to fig. 2, the trajectory of the movement trajectory of the ball acquired from the overlapping region in the coordinate system of radar a, radar B, radar C, and radar D is L A 、L B 、L C And L D The tracks are composed of coordinate data of a plurality of track points, the track points are optimized by using a data processing method, a certain threshold delta is set, when the distance difference between two continuous track points is larger than the threshold, the track points with error detection or interference points in the environment are indicated, meanwhile, the moving direction of the small ball is judged, the track points with error track change trend are deleted, and finally the optimized small ball moving track is obtained.
S40, obtaining an optimal matching result of any two radar moving curves according to a track matching method, and calculating a conversion relation between any two radar coordinate systems;
in this step, the conversion relationship between the two radar coordinate systems may be represented by the rotation angle and the translation amount between the two radar coordinate systems, so this step is specifically:
and calculating the rotation angle and the translation between the two radar coordinate systems by the rotation angle and the translation which are optimally matched with the track of the small ball under the two radar coordinate systems.
In the present embodiment, the rotation angle and the translation amount between the radars B to a are taken as an example.
In this step, see step S30, the trajectories of the known small ball trajectories in the coordinate systems of radar a and radar B are L A And L B Then
Wherein,A i the trajectory L detected for radar a A I < th > point->For the sequence { A } i Mean value of B i The trajectory L detected for radar B B I < th > point->For sequence { B i Mean value of }. The rotation angle and the translation amount between any two radars of the radars A, B, C and D can be obtained by repeating the calculation.
S50, calculating average matching weights of all the radars, and selecting the radar with the highest weight as a reference;
wherein J is ij Is the weight between the ith radar and the jth radar, S ij-k ＝R ij B k -A k ，R ij For the rotation matrix between the ith radar and the jth radar, B k A for the kth point of the track detected by the ith radar k For the kth point of the track detected by the jth radar, m is the minimum of the number of detection points of the ith radar and the jth radar,is the mean value of the sequence Sij,is the normalized weight between the ith radar and the jth radar, J min For the sequence { J ij Minimum value }, of ∈>The weight is normalized for the average of the ith radar, n is the number of radars registered with the ith radar;
in the present embodiment, weights of the radar a, the radar B, the radar C, and the radar D are calculated by the formulas (1), (2), and (3), respectivelyAnd->Wherein->The value is maximum, and the radar A is selected as a reference radar.
S60, obtaining the conversion relation from all radar coordinate systems to a reference radar coordinate system.
In the present embodiment, referring to step S50, radar a is selected as the reference radar, and referring to step S60, rotation and translation matrices of radar B, radar C, and radar D to radar a are obtained.
In the step, the conversion relation from each radar to the reference coordinate system is known, and the target tracks detected by all the radars can be converted to the same coordinate system, so that the conversion and the fusion of multi-radar data are realized, and the continuous detection and the tracking of the targets are completed.
The embodiment discloses a multi-radar calibration system based on track matching, as shown in fig. 4: the method comprises the following steps of: obtaining the moving track of the small ball track in each millimeter wave radar coordinate system by using the millimeter wave radar and the calibration block; software module: the data processing algorithm is used for obtaining the most accurate radar coordinate system as a reference coordinate system, the conversion relation between each radar coordinate system and the reference coordinate system is calculated, and the calibration result is displayed on software;
in the embodiment, the accurate calibration of a plurality of millimeter wave radar modules is realized through a hardware module and a software module, and the target tracks detected by all the millimeter wave radar modules are converted into the same coordinate system according to the conversion relation between the radar coordinate system and a reference coordinate system, so that continuous tracking of the targets can be realized;
in this embodiment, the hardware module includes: the system comprises a plurality of millimeter wave radar boards, a calibration block and a connecting piece, wherein the calibration block is a straight line track with a certain gradient and a small ball, the small ball freely slides on the track, the millimeter wave radar records the moving data of the small ball, and a hardware system physical diagram is shown in fig. 5;
in this embodiment, the software module includes: data acquisition, a data processing algorithm and a result display interface. The data acquisition receives data acquired by the millimeter wave radar board, the data processing algorithm comprises a target tracking algorithm, a data processing optimization algorithm and a track matching algorithm, a result display interface is shown in fig. 6, and the moving track under each millimeter wave radar coordinate system, the track matched to the reference radar coordinate system, the rotation translation matrix converted to the reference coordinate system by each radar and the average matching weight of each radar are displayed;
the number of radars and the positional relationship of the radars depicted in the drawings represent only one manner of use of the present patent, are for illustrative purposes only, and are not to be construed as limiting the present patent.
Furthermore, the terms "a," "B," and the like in the drawings are used for descriptive purposes only and are primarily for distinguishing between different radars and are not to be construed as indicating or implying a relative importance of the different devices.
Those skilled in the art will appreciate that the invention provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. The multi-radar calibration method based on track matching is characterized by comprising the following steps of:
step S1: installing a plurality of millimeter wave radars in the same space to ensure that overlapping areas exist among the radars;
step S2: placing a preset track in an overlapping area of the millimeter wave radar, and placing a small ball at the upper end of the track so that the small ball naturally rolls on the track;
step S3: acquiring a movement curve of a small ball track under each radar coordinate system;
step S4: obtaining the best matching result of any two radar moving curves, and calculating the conversion relation between any two radar coordinate systems;
step S5: calculating average matching weights of all the radars, and selecting the radar with the highest weight as a reference;
step S6: and obtaining the conversion relation from all radar coordinate systems to a reference radar coordinate system.
2. The track matching-based multi-radar calibration method according to claim 1, wherein:
according to the conversion relation from each radar to the reference radar coordinate system, all the target tracks detected by the radar are converted to the same coordinate system, so that the conversion and fusion of multi-radar data are realized, and the continuous detection and tracking of the targets are completed.
3. The track-matching-based multi-radar calibration method according to claim 1, wherein in the step S2:
the preset track is a linear track with a preset gradient, and the linear track can be used for sliding a specific small ball.
4. The track-matching-based multi-radar calibration method according to claim 1, wherein in the step S3:
and calculating the positions of the moving points of the small ball in each radar coordinate system through a target tracking algorithm, removing the erroneously detected interference points through calculating the distance between the two moving points, and removing the points with errors through judging the moving trend to obtain the moving track of the small ball in each coordinate system.
5. The track-matching-based multi-radar calibration method according to claim 1, wherein in the step S4:
the rotation matrix and the translation matrix which are optimally matched with the two movement curves are calculated, so that the rotation matrix and the translation matrix between the two radar coordinate systems are obtained;
the rotation matrix R and the translation matrix T which are optimally matched are calculated by the following formula:
wherein θ is the rotation angle between the two radar coordinate systems,
wherein,B i for the ith point of the track detected by radar B,/i>For sequence { B i Mean value of A i For the ith point of the track detected by radar A,/th point of the track detected by radar A>For the sequence { A } i Mean value of }.
6. The track matching-based multi-radar calibration method according to claim 5, wherein:
the rotation matrix and the translation matrix which are optimally matched can enable the error of the small ball movement track sequence under two radar coordinate systems to be minimum after the small ball movement track sequence is converted into the same coordinate system;
the average matching weight is calculated by the following formula:
wherein J is ij Is the weight between the ith radar and the jth radar, S ij-k ＝R ij B k -A k ，R ij For the rotation matrix between the ith radar and the jth radar, B k A for the kth point of the track detected by the ith radar k For the kth point of the track detected by the jth radar, m is the minimum of the number of detection points of the ith radar and the jth radar,for the sequence { S ] ij mean,/-A }>Is the normalized weight between the ith radar and the jth radar, J min For the sequence { J ij Minimum value }, of ∈>The weight is normalized to the average of the ith radar, n is the number of radars registered with the ith radar.
7. The track matching-based multi-radar calibration method according to claim 1, wherein:
the average matching weight is obtained by calculating the average error of the small ball track sequence after the single radar and all other radars are optimally matched.
8. A track-matching-based multi-radar calibration system, characterized in that a track-matching-based multi-radar calibration method according to any one of claims 1-5 is performed, comprising:
hardware module: obtaining the moving track of the small ball track in each millimeter wave radar coordinate system by using the millimeter wave radar and the calibration block;
software module: and obtaining the most accurate radar coordinate system by using a data processing algorithm as a reference coordinate system, calculating the conversion relation between each radar coordinate system and the reference coordinate system, and displaying the calibration result on software.
9. The track-matching based multi-radar calibration system of claim 8, wherein in the hardware module, comprising:
the millimeter wave radar device comprises a plurality of millimeter wave radar plates, a calibration block and a connecting piece, wherein the calibration block is a linear track with a preset gradient and a small ball, the small ball slides freely on the track, and the millimeter wave radar records the moving data of the small ball.
10. The track-matching based multi-radar calibration system of claim 8, wherein in the software module, comprising:
data acquisition, a data processing algorithm and a result display interface;
receiving data acquired by the millimeter wave radar board, setting a maximum threshold value of the distance between two points, removing data of error detection, removing data with larger error according to the movement trend of the small ball, obtaining a movement track, and displaying the movement track under each millimeter wave radar coordinate system, the track matched to the reference radar coordinate system, the rotation translation matrix converted to the reference coordinate system by each radar and the average matching weight of each radar.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117452407A (en) * | 2023-12-26 | 2024-01-26 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Radar data service system and method for vehicle-mounted auxiliary driving system |
-
2023
- 2023-11-03 CN CN202311459702.1A patent/CN117269910A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117452407A (en) * | 2023-12-26 | 2024-01-26 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Radar data service system and method for vehicle-mounted auxiliary driving system |
| CN117452407B (en) * | 2023-12-26 | 2024-03-08 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Radar data service system and method for vehicle-mounted auxiliary driving system |
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