CN117518098A - Method, device and storage medium for evaluating antenna array calibration coefficient - Google Patents
Method, device and storage medium for evaluating antenna array calibration coefficient Download PDFInfo
- Publication number
- CN117518098A CN117518098A CN202210910844.4A CN202210910844A CN117518098A CN 117518098 A CN117518098 A CN 117518098A CN 202210910844 A CN202210910844 A CN 202210910844A CN 117518098 A CN117518098 A CN 117518098A
- Authority
- CN
- China
- Prior art keywords
- angle
- antenna array
- array calibration
- angular
- radar
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000011159 matrix material Substances 0.000 claims abstract description 118
- 238000001228 spectrum Methods 0.000 claims abstract description 106
- 238000012360 testing method Methods 0.000 claims abstract description 96
- 238000011156 evaluation Methods 0.000 claims abstract description 12
- 230000003595 spectral effect Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 description 16
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 238000003491 array Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/10—Radiation diagrams of antennas
- G01R29/105—Radiation diagrams of antennas using anechoic chambers; Chambers or open field sites used therefor
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention discloses an evaluation method, a device and a storage medium of antenna array calibration coefficients, wherein the method comprises the following steps: transmitting radar test signals to angular reaction in darkroom, determining position coordinates of angular reaction in Cartesian coordinate system with geometric center of radar as origin under each test angle, obtaining echo signals fed back by angular reaction to form original echo data matrix, and obtaining wave path phase difference matrix corresponding to multiple channels according to position information of antenna; compensating the original echo data matrix according to the wave path phase difference matrix and the antenna array calibration coefficient; and obtaining an angular spectrum based on the compensated echo data matrix, and further evaluating the antenna array calibration coefficient. The technical scheme provided by the invention can solve the technical problem that errors possibly exist in the array calibration coefficient generated in the darkroom by using the near field mode in the prior art, can evaluate the array calibration coefficient of the MIMO radar under the near field condition, and ensures the accuracy of the array calibration coefficient.
Description
Technical Field
The present invention relates to the field of radar technologies, and in particular, to a method and apparatus for evaluating an antenna array calibration coefficient, and a storage medium.
Background
MIMO (Multiple input multiple output ) radar has the ability to transmit multiple orthogonal signals simultaneously, and by matching separation at the receiving end, a very large virtual aperture can be obtained, so that the target angular resolution can be greatly improved.
Although a good wiring match may minimize the chip-to-antenna PCB (Printed Circuit Board ) trace phase offset of the MIMO radar, this phase offset cannot be completely eliminated by the wiring. Further, there is necessarily a fixed phase difference between the received signals due to internal differences of the package and the chip, etc., and such fixed phase differences are also different on different antenna boards. Therefore, the array antennas need to be calibrated before MIMO radar is used.
The calibration coefficients need to be equivalently generated in advance in a darkroom by using a near field mode or directly generated outdoors by using a far field mode. Because outdoor test is easily influenced by factors such as weather, when MIMO radar mass production, in order to improve production efficiency, generally, a near field mode is used for equivalently generating a calibration coefficient. After the calibration coefficient is generated, the effect of the calibration coefficient needs to be verified so as to ensure the angle measurement performance of the MIMO radar. In the prior art, since the darkroom scene does not meet the far field condition and cannot be directly subjected to angle measurement, the technical problem that the calibration coefficient generated by using the near field mode may have errors exists.
Disclosure of Invention
The invention provides an evaluation method, an evaluation device and a storage medium for antenna array calibration coefficients, which aim to effectively solve the technical problem that errors possibly exist in calibration coefficients generated in a darkroom by using a near field mode in the prior art.
According to an aspect of the present invention, there is provided a method of evaluating an antenna array calibration coefficient for a MIMO radar including a plurality of transmitting antennas and a plurality of receiving antennas, the plurality of transmitting antennas and the plurality of receiving antennas constituting a plurality of channels, the method comprising:
the method comprises the steps of driving a turntable carrying radar in a darkroom to rotate in a stepping mode according to a preset mode, reversely transmitting radar test signals to angles at preset positions in the darkroom under each test angle, determining the position coordinates of the angles in a Cartesian coordinate system taking the geometric center of the radar as an origin under each test angle, and acquiring echo signals fed back by the angles against the radar test signals;
obtaining echo data of the channels under each test angle according to the echo signals to form an original echo data matrix;
Obtaining corresponding wave path phase differences of the channels under each test angle according to the position information of the transmitting antennas and the receiving antennas in the Cartesian coordinate system so as to form a wave path phase difference matrix;
compensating the original echo data matrix according to the wave path phase difference matrix and the antenna array calibration coefficient to be evaluated so as to obtain a compensated echo data matrix;
and obtaining an angular spectrum based on the compensated echo data matrix, and evaluating the antenna array calibration coefficient to be evaluated according to the angular spectrum.
Further, the obtaining the corresponding wave path phase difference of the channels under each test angle according to the position information of the transmitting antennas and the receiving antennas in the cartesian coordinate system to form a wave path phase difference matrix comprises:
for each channel under each test angle, a first distance phase difference is obtained according to the position coordinates of the transmitting antenna corresponding to the channel and the position coordinates of the angular opposition, a second distance phase difference is obtained according to the position coordinates of the receiving antenna corresponding to the channel and the position coordinates of the angular opposition, and a wave path phase difference corresponding to the channel is obtained according to the first distance phase difference and the second distance phase difference;
And forming the wave path phase difference matrix according to the wave path phase differences corresponding to all the channels, wherein the wave path phase difference corresponding to each channel forms an element at a corresponding position in the wave path phase difference matrix.
Further, the compensating the original echo data matrix according to the wave path phase difference matrix and the antenna array calibration coefficient to be evaluated to obtain a compensated echo data matrix includes:
the compensated echo data matrix is obtained according to the following formula:
S nm ＝D mn *conj(TR mn )*repmat(C n ,M,1)，
wherein S is nm Representing the compensated echo data matrix, D mn Representing the original echo data matrix, TR mn Representing the wave path phase difference matrix, C n Represents the antenna array calibration coefficient to be evaluated, M represents the number of angular counter-rotations, function conj (TR mn ) Represents the pair TR mn Performing a conjugate-taking operation, a function repmat (C n M, 1) represents C n Repeating M times to form a corresponding M x N dimensional matrix, wherein N represents the number of the plurality of channels.
Further, the obtaining an angular spectrum based on the compensated echo data matrix, and the evaluating the antenna array calibration coefficient to be evaluated according to the angular spectrum includes:
performing fast fourier transform on the compensated echo data matrix to obtain the angular spectrum;
And evaluating the antenna array calibration coefficient to be evaluated based on the angle spectrum peak value, the angle precision and the angle signal-to-noise ratio of the angle spectrum respectively.
Further, the evaluating the antenna array calibration coefficient to be evaluated based on the angular spectrum peak value, the angular precision and the angular signal-to-noise ratio of the angular spectrum respectively includes:
obtaining the maximum signal amplitude corresponding to the maximum peak value in the angular spectrum;
calculating a difference between the signal amplitude of each spectral peak in the angular spectrum and the maximum signal amplitude;
and acquiring the number of spectrum peaks corresponding to the difference value larger than a preset amplitude threshold, and if the number of spectrum peaks is larger than the preset number threshold, determining the antenna array calibration coefficient to be evaluated as an unavailable antenna array calibration coefficient.
Further, the evaluating the antenna array calibration coefficient to be evaluated based on the angular spectrum peak value, the angular precision and the angular signal-to-noise ratio of the angular spectrum respectively further includes:
and obtaining an angle value corresponding to each channel under each test angle based on the angle spectrum, and determining that the antenna array calibration coefficient is an unavailable antenna array calibration coefficient if any one angle value is larger than a preset angle threshold value.
Further, the evaluating the antenna array calibration coefficient to be evaluated based on the angular spectrum peak value, the angular precision and the angular signal-to-noise ratio of the angular spectrum respectively further includes:
and acquiring a signal amplitude average value of the angular spectrum, acquiring the angle signal-to-noise ratio based on the maximum signal amplitude and the signal amplitude average value, and determining the antenna array calibration coefficient as an unavailable antenna array calibration coefficient if the angle signal-to-noise ratio is smaller than a preset signal-to-noise ratio threshold.
Further, the step-by-step rotation of the turntable for driving the camera to carry the radar in the camera according to a preset mode and the back emission of the radar test signal to the angle at the preset position in the camera under each test angle comprises:
the turntable is driven to rotate in a stepping mode within the view angle range of the radar, wherein the step length of each rotation is 0.5 degrees.
According to another aspect of the present invention, there is provided an apparatus for evaluating an antenna array calibration coefficient for a MIMO radar including a plurality of transmitting antennas and a plurality of receiving antennas, between which a plurality of channels are formed, the apparatus comprising:
The driving and echo signal acquisition unit is used for driving a turntable carrying the radar in the darkroom to rotate in a stepping mode according to a preset mode, reversely transmitting radar test signals to angles at preset positions in the darkroom under each test angle, determining the position coordinates of the angles in a Cartesian coordinate system taking the geometric center of the radar as an origin under each test angle, and acquiring echo signals fed back by the angles against the radar test signals;
the original echo data matrix determining unit is used for obtaining echo data of the channels under each test angle according to the echo signals so as to form an original echo data matrix;
the wave path phase difference matrix determining unit is used for obtaining wave path phase differences corresponding to the channels under each test angle according to the position information of the transmitting antennas and the receiving antennas in the Cartesian coordinate system so as to form a wave path phase difference matrix;
the compensation unit is used for compensating the original echo data matrix according to the wave path phase difference matrix and the antenna array calibration coefficient to be evaluated so as to obtain a compensated echo data matrix;
And the evaluation unit is used for obtaining an angular spectrum based on the compensated echo data matrix and evaluating the antenna array calibration coefficient to be evaluated according to the angular spectrum.
According to another aspect of the present invention there is also provided a storage medium having stored therein a plurality of instructions adapted to be loaded by a processor to perform the method of evaluating any antenna array calibration coefficients as described above.
Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved:
in the technical scheme disclosed by the invention, echo signals of all channels under different testing angles are obtained, so that corresponding original echo data matrixes are obtained, then, the wave path phase difference generated among the transmitting antenna, the receiving antenna and the angular opposition in the radar darkroom is calculated, the original echo data matrixes are further compensated according to the wave path phase difference matrixes and the antenna array calibration coefficients to be evaluated, so that the compensated echo data matrixes are obtained, corresponding angular spectrums are finally obtained, and the antenna array calibration coefficients are evaluated according to the relevant information of the angular spectrums.
The estimated and determined available antenna array calibration coefficients can enable a plurality of performance indexes of the angular spectrum to meet the measurement requirement at the same time, and specifically, the available antenna array calibration coefficients can ensure that the spectrum peak value error of the angular spectrum is smaller, the angle precision is higher, and the measurement result has a larger signal-to-noise ratio. By evaluating the antenna array calibration coefficient, the detection accuracy of the radar can be remarkably improved, and the high-precision measurement of the radar is ensured.
In addition, when the radar products are produced in batches, through the technical scheme, the calibration coefficient can be evaluated in the darkroom in a near-field mode equivalently, so that the measurement performance of each radar angle (namely whether the calibration coefficient is correct) is prevented from being tested outdoors, the testing mode is simplified, and the production efficiency can be remarkably improved.
Drawings
The technical solution and other advantageous effects of the present invention will be made apparent by the following detailed description of the specific embodiments of the present invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of steps of a method for evaluating an antenna array calibration coefficient according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a radar test darkroom according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an echo signal processing procedure according to an embodiment of the present invention;
FIG. 4 is an illustration of an angular squat character intent provided by an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an evaluation device for antenna array calibration coefficients according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and defined otherwise, the term "and/or" herein is merely an association relationship describing associated objects, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. The character "/" herein generally indicates that the associated object is an "or" relationship unless otherwise specified.
In radar systems, the principle of radar detection of a target is to use the time difference between a transmitted pulse and a received pulse and the propagation speed (speed of light) of electromagnetic waves to obtain an accurate distance between the radar and the target. The principle of measuring the angular position of a target is to determine the direction of the target by utilizing the directivity of the antenna, wherein when the antenna beam is aligned to the target, the echo signal is strongest, and the directivity of the antenna beam when the received echo is strongest. The principle of measuring speed is that the radar generates a frequency Doppler effect according to the relative motion between the radar and the target. The target echo frequency received by the radar is different from the radar transmitting frequency, and the difference between the target echo frequency and the radar transmitting frequency is called Doppler frequency. One of the main information that can be extracted from the doppler frequency is the rate of change of the distance between the radar and the target, which in turn gives the speed of motion of the target. Information such as the movement speed, the movement direction and the distance of the target can be obtained.
MIMO (Multiple-Input Multiple-Output) radar technology refers to using Multiple transmit antennas and receive antennas at a transmitting end and a receiving end, respectively, so that signals are transmitted on Multiple channels, thereby improving communication quality. The system can fully utilize space resources, realize multiple transmission and multiple reception through a plurality of antennas, and can doubly improve the system channel capacity under the condition of not increasing frequency spectrum resources and antenna transmitting power.
In a MIMO radar system, the antennas include a plurality of transmitting antennas and a plurality of receiving antennas, wherein a channel corresponds between any one of the transmitting antennas and any one of the receiving antennas. One transmitting antenna corresponds to a plurality of receiving antennas, and accordingly, a channel array is formed between one transmitting antenna and the plurality of receiving antennas.
Before MIMO radar is used, the array antennas need to be calibrated. The far field test environment is built in a very long distance, so that the method is not suitable for testing the far field in an all-anechoic chamber directly. It is also difficult to find an outdoor test base and the use of an outdoor base is limited by weather factors. Limited by the time and cost of far field testing of antennas, near field equivalent generation is generally used to improve production efficiency.
Generally, an antenna near field measurement system is an automated measurement system that performs antenna near field scanning, data acquisition, test data processing, and test result display and output under control of a central computer. Near field measurements are typically performed in a dark room. The darkroom is also called an anechoic chamber, and some darkrooms are also called microwave darkrooms, reflection-free rooms and the like. The darkroom is used for preventing the interference of external electromagnetic waves, so that the measuring activity is not influenced by the external electromagnetic environment, and the test signals are prevented from radiating outwards to form an interference source, pollute the electromagnetic environment and cause interference to other electronic equipment. On the one hand, the test in the darkroom can achieve confidentiality and avoid external electromagnetic interference, and the work is stable and reliable. On the other hand, the test can be carried out in the indoor test environment of the darkroom, so that all-weather work can be realized, and the interference of environmental factors is avoided.
In a radar darkroom testing environment, the installation angle is reversed, and the corner reflectors are also called radar reflectors, and are radar wave reflectors with different specifications, which are made of sheet metal according to different purposes. When the radar electromagnetic wave scans to angle reflection, the electromagnetic wave can generate refraction amplification on a metal angle, a strong echo signal is generated, and correspondingly, a strong echo target appears on a receiving system of the radar.
After the calibration coefficient is generated, the effect of the calibration coefficient needs to be verified so as to ensure the angle measurement performance of the MIMO radar. In the prior art, since the darkroom scene does not meet the far field condition and cannot be directly subjected to angle measurement, the technical problem that the calibration coefficient generated by using the near field mode may have errors exists. According to the scheme, the array calibration coefficient of the MIMO radar can be evaluated under the near field condition, and the accuracy of the array calibration coefficient is guaranteed.
According to an aspect of the present invention, the present invention provides a method for evaluating an antenna array calibration coefficient, which is used for a MIMO radar, where the MIMO radar includes a plurality of transmitting antennas and a plurality of receiving antennas, and the plurality of transmitting antennas and the plurality of receiving antennas form a plurality of channels, and fig. 1 is a flowchart illustrating steps of the method for evaluating an antenna array calibration coefficient provided by an embodiment of the present invention, and the method includes:
step 101: the method comprises the steps of driving a turntable carrying radar in a darkroom to rotate in a stepping mode according to a preset mode, reversely transmitting radar test signals to angles at preset positions in the darkroom under each test angle, determining the position coordinates of the angles in a Cartesian coordinate system taking the geometric center of the radar as an origin under each test angle, and acquiring echo signals fed back by the angles against the radar test signals;
Step 102: obtaining echo data of the channels under each test angle according to the echo signals to form an original echo data matrix;
step 103: obtaining corresponding wave path phase differences of the channels under each test angle according to the position information of the transmitting antennas and the receiving antennas in the Cartesian coordinate system so as to form a wave path phase difference matrix;
step 104: compensating the original echo data matrix according to the wave path phase difference matrix and the antenna array calibration coefficient to be evaluated so as to obtain a compensated echo data matrix;
step 105: and obtaining an angular spectrum based on the compensated echo data matrix, and evaluating the antenna array calibration coefficient to be evaluated according to the angular spectrum.
Fig. 2 is a schematic view of a radar test darkroom according to an embodiment of the present invention, in which a radar, an angular inversion, and a turntable are arranged in the manner shown in fig. 2. The radar is arranged on the turntable and rotates along with the rotation of the turntable, and when the radar rotates to different positions, the measuring angles of the radar are different. The angular reaction is then set at a preset position, wherein the distance between the radar and the angular reaction is R.
The above steps 101 to 105 are specifically described below.
In the step 101, a turntable carrying a radar in a darkroom is driven to rotate step by step in a preset manner, a radar test signal is reversely transmitted to an angle at a preset position in the darkroom under each test angle, a position coordinate of the angle under the test angle in a cartesian coordinate system taking the geometric center of the radar as an origin is determined for each test angle, and an echo signal fed back by the angle reverse to the radar test signal is obtained.
In the darkroom shown in fig. 2, the radar is disposed on the turntable, and the turntable rotates in a stepwise manner according to a preset manner, that is, stops at a rotation angle, rotates at a rotation angle, and reciprocates cyclically. Each time the turntable is paused, a test angle is corresponding, under the test angle, the radar reversely emits radar test signals to the angle, and receives echo signals reversely reflected by the angle.
Meanwhile, under each test angle, the positions of the transmitting antenna, the positions of the receiving antenna and the opposite relative positions of the angles are all changed, and in order to obtain phase differences caused by different distances, a three-dimensional Cartesian coordinate system needs to be established, wherein the origin position is the geometric center of the radar. Then at each test angle, the position coordinates of the angle in the Cartesian coordinate system are obtained for subsequent calculation of the phase difference.
In the step 102, echo data of the channels at each test angle is obtained according to the echo signals, so as to form an original echo data matrix.
Illustratively, in a MIMO radar system, the antennas include a plurality of transmitting antennas and a plurality of receiving antennas, where a channel corresponds between any one of the transmitting antennas and any one of the receiving antennas, and a channel array corresponds to any one of the receiving antennas. For example, assuming a radar with 6 transmit antennas and 8 receive antennas, there are 48 channels corresponding. Accordingly, for each transmitted radar test signal, 48 channel arrays correspond to 48 echo signals.
Fig. 3 is a schematic diagram of an echo signal processing flow provided in an embodiment of the present invention, under each test angle, an echo signal reflected by an angular anti-reflection is obtained, signal processing is performed on the echo signal, as shown in fig. 3, signal processing is performed on N data from the original data of the antenna 1 to the original data of the antenna N, two-dimensional fast fourier transform (Fast Fourier Transform, FFT) is performed respectively, then a constant false alarm detection technique (CFAR) is performed on the data to filter out background clutter so as to obtain echo data, specifically including an angular anti-range doppler index, and then data of strong detection points of each receiving channel are extracted in a two-dimensional FFT matrix according to the range doppler index so as to form an original echo data matrix.
According to the inverse angle range Doppler index of CFAR detection, echo data of each receiving channel is extracted from the two-dimensional FFT matrix, and specifically, an original echo data matrix can be constructed according to the following formula:
wherein D is mn Represents the original echo data matrix, m= (1, 2,., M) represents the maximum number of turntable rotations, n= (1, 2, n., N represents the number of MIMO radar virtual antenna arrays.
In step 103, the corresponding wave path phase differences of the channels under each test angle are obtained according to the position information of the transmitting antennas and the receiving antennas in the cartesian coordinate system, so as to form a wave path phase difference matrix.
For example, in the present invention, in order to evaluate the antenna array calibration coefficient, it is necessary to obtain a wave path phase difference based on distance information of a transmitting antenna and an angular inversion and distance information between the angular inversion and a receiving antenna at each test angle, and then obtain a wave path phase difference matrix from the wave path phase differences obtained at all the test angles.
In step 104, the original echo data matrix is compensated according to the wave path phase difference matrix and the antenna array calibration coefficient to be evaluated, so as to obtain a compensated echo data matrix.
The antenna array calibration factor is illustratively measured in the near field when the radar is shipped from the factory, because there is a space between the transmitting antenna and the receiving antenna, which results in an error phase difference between the echo signals of the same detection point received by each channel, and in order to eliminate the error phase difference, the antenna array calibration factor is calculated according to the echo signals.
The wave path phase difference matrix is a phase difference generated by the transmission distance corresponding to each channel calculated according to the position of the transmitting antenna, the position of the receiving antenna and the position of the angle reverse direction.
And carrying out phase compensation on the original echo data matrix based on the wave path phase difference matrix and the antenna array calibration coefficient to be evaluated, so as to obtain a compensated echo data matrix.
In the step 105, an angular spectrum is obtained based on the compensated echo data matrix, and the antenna array calibration coefficient to be evaluated is evaluated according to the angular spectrum.
Illustratively, the echo data matrix corresponding to all channels under all test angles is subjected to Fast Fourier Transform (FFT) processing, so as to obtain an angular spectrum of each corresponding angle, and by analyzing the angular spectrum, an angle value can be obtained. And when all the data are analyzed from three dimensions of the number SPN of the angle spectrum peaks, the angle precision AA and the angle signal-to-noise ratio SNR, and all the data meet the preset requirements, determining the antenna array calibration coefficient as the available antenna array calibration coefficient.
Further, the obtaining the corresponding wave path phase difference of the channels under each test angle according to the position information of the transmitting antennas and the receiving antennas in the cartesian coordinate system to form a wave path phase difference matrix comprises:
for each channel under each test angle, a first distance phase difference is obtained according to the position coordinates of the transmitting antenna corresponding to the channel and the position coordinates of the angular opposition, a second distance phase difference is obtained according to the position coordinates of the receiving antenna corresponding to the channel and the position coordinates of the angular opposition, and a wave path phase difference corresponding to the channel is obtained according to the first distance phase difference and the second distance phase difference;
and forming the wave path phase difference matrix according to the wave path phase differences corresponding to all the channels, wherein the wave path phase difference corresponding to each channel forms an element at a corresponding position in the wave path phase difference matrix.
For example, fig. 4 is an illustration of an angular squat meaning provided in an embodiment of the present invention, where the coordinate system is a cartesian coordinate system established with the geometric center of the radar structure as the origin, the spatial geometric relationship between the radar and the angular coordinate is shown in fig. 4, and the angular coordinate may be expressed as:
C m ＝(R m cos(φ m )sin(θ m ),R m cos(φ m )cos(θ m ),R m sin(φ m ))，
Wherein R is m R is the distance between the radar and the angle vice versa under the current test angle, when the test angles are different m With minor variations, phi m Is the pitch angle theta in the vertical direction between the radar and the angular reaction m Is the azimuth angle between the radar and the angle vice versa in the horizontal direction.
The position coordinates of the radar transmitting antenna can be expressed as:
T m ＝[T 1 ,T 2 ,...,T Nt ]wherein T is k ＝(x,y,z)(k＝1,2,...N t )，N t Is the number of transmit antennas.
The position coordinates of the radar receiving antenna can be expressed as:
R m ＝[R 1 ,R 2 ,...,R Nr ]wherein R is k ＝(x,y,z)(k＝1,2,...N r )，N r Is the number of receive antennas.
After the position coordinates of the transmitting antenna, the receiving antenna and the angular opposition are determined, a first distance phase difference and a second distance phase difference are obtained for each channel under each test angle, and a wave path phase difference corresponding to the channel is obtained according to the first distance phase difference and the second distance phase difference.
Specifically, since the distance between the radar and the angular inversion does not satisfy the far-field condition, the angular inversion echo signal does not make a plane wave assumption, and the angular inversion wave path phase difference is directly generated in a near-field manner. Below with transmitting antenna T 1 And a receiving antenna R 1 The process of generating the wave path phase difference is described.
Position coordinates T of transmitting antennas corresponding to channels 1 The distance between the position coordinates opposite the angle can be expressed as: R_C m T 1 ＝sqrt(T 1 -C m ) Accordingly, the first distance phase difference is: t (T) phase ＝e i2πRct/λ 。
Similarly, the position coordinates R of the receiving antenna corresponding to the channel 1 The distance between the position coordinates opposite the angle can be expressed as: R_C xyz R 1 ＝sqrt(R 1 -C xyz ) Accordingly, the second distance phase difference is: r is R phase ＝e i2πRcr/λ 。
Obtaining a wave path phase difference corresponding to the channel according to the first distance phase difference and the second distance phase difference, namely a transmitting antenna T 1 The transmitted signal returns to the receiving antenna R after angular inversion 1 The phase of (2) is: t (T) 1 R 1phase ＝e i2πRct/λ e i2 πRcr/λ 。
Similarly, the wave path phase differences of other antennas at various angles of the turntable can be deduced, and the wave path phase difference matrix is formed according to the wave path phase differences corresponding to all channels, wherein the wave path phase differences corresponding to each channel form elements at corresponding positions in the wave path phase difference matrix. The wave path phase difference matrix is specifically shown as follows:
wherein, m= (1, 2,., M), M is the number of times that the revolving stage rotated, n= (1, 2,.. N), N is the number of MIMO radar virtual antenna arrays.
Further, the compensating the original echo data matrix according to the wave path phase difference matrix and the antenna array calibration coefficient to be evaluated to obtain a compensated echo data matrix includes:
The compensated echo data matrix is obtained according to the following formula:
S nm ＝D mn *conj(TR mn )*repmat(C n ,M,1)，
wherein S is nm Representing the compensated echo data matrix, D mn Representing the original echo data matrix, TR mn Representing the wave path phase difference matrix, C n Represents the antenna array calibration coefficient to be evaluated, M represents the number of angular counter-rotations, function conj (TR mn ) Represents the pair TR mn Performing a conjugate-taking operation, a function repmat (C n M, 1) represents C n Repeating M times to form a corresponding M x N dimensional matrix, wherein N represents the number of the plurality of channels.
Illustratively, a raw echo data matrix D of each angular radar channel to be acquired ij Compensating for the phase difference TR of the wave path due to the wave path formation mn And the phase difference C between the arrays of the radar itself n ＝(c 1 ,c 2 ,...,c n ) (i.e., calibration coefficients), where n= (1, 2,..n), N is the number of MIMO radar virtual antenna arrays.
Further, the obtaining an angular spectrum based on the compensated echo data matrix, and the evaluating the antenna array calibration coefficient to be evaluated according to the angular spectrum includes:
performing fast fourier transform on the compensated echo data matrix to obtain the angular spectrum;
and evaluating the antenna array calibration coefficient to be evaluated based on the angle spectrum peak value, the angle precision and the angle signal-to-noise ratio of the angle spectrum respectively.
Illustratively, the compensated echo data matrix is subjected to signal processing such as fast Fourier transform to obtain an angular spectrum A m For each angular spectrum A m The magnitude spectrum, namely the peak value V of the angle spectrum, can be obtained by performing the modulo operation m Representing the intensity of the signal. Wherein, all the angle spectrum peaks form an angle spectrum peak diagram according to the angle spectrum A m The location of the angular spectrum peak of (c) may determine information about the target.
Then, based on the angle spectrum peak value V of the angle spectrum m And evaluating the antenna array calibration coefficient to be evaluated, the angle accuracy AA and the angle signal-to-noise ratio SNR. And when all the antenna array calibration coefficients meet the preset requirements, determining the antenna array calibration coefficients as available antenna array calibration coefficients.
Further, the evaluating the antenna array calibration coefficient to be evaluated based on the angular spectrum peak value, the angular precision and the angular signal-to-noise ratio of the angular spectrum respectively includes:
obtaining the maximum signal amplitude corresponding to the maximum peak value in the angular spectrum;
calculating a difference between the signal amplitude of each spectral peak in the angular spectrum and the maximum signal amplitude;
and acquiring the number of spectrum peaks corresponding to the difference value larger than a preset amplitude threshold, and if the number of spectrum peaks is larger than the preset number threshold, determining the antenna array calibration coefficient to be evaluated as an unavailable antenna array calibration coefficient.
For example, in the angular spectrum peak diagram, when the antenna array calibration coefficient is more accurate, there is only one maximum peak in the diagram correspondingly, so the maximum peak can be used as a reference standard, and if one or more spectrum peaks with larger amplitude are also present, the antenna array calibration coefficient may be indicated as unusable.
For example, the number of spectral peaks (set as SPN) greater than the reference value among all the spectral peaks is determined by taking the maximum peak drop 3dB in the angular spectrum as the reference value, and if the SPN is greater than 1, the angular spectrum quality is considered to be poor, and the current array calibration coefficient is not available.
The difference in amplitude between each spectral peak and the maximum peak may also be calculated, and based on the difference, it may be determined whether the antenna array calibration coefficients are available.
Further, the evaluating the antenna array calibration coefficient to be evaluated based on the angular spectrum peak value, the angular precision and the angular signal-to-noise ratio of the angular spectrum respectively further includes:
and obtaining an angle value corresponding to each channel under each test angle based on the angle spectrum, and determining that the antenna array calibration coefficient is an unavailable antenna array calibration coefficient if any one angle value is larger than a preset angle threshold value.
Illustratively, due to the compensated echo data matrix S mn The wave path phase difference caused by the wave path and the inherent phase difference of the radar array (namely the antenna array calibration coefficient) are compensated, therefore, the measurement result under each angle should be 0, namely the angle value V i The deviation from 0 deg. should be small.
And obtaining an angle value corresponding to each channel under each test angle based on the angle spectrum, and comparing the angle value with a preset angle threshold value to judge whether the antenna array calibration coefficient is available. For example, in practical applications, the value of the angular accuracy AA is typically less than 0.5 ° through batch testing of the radar, and the antenna array calibration coefficients are considered unusable when the angular value of one of the wave positions is greater than 0.5 ° in all channels under all tested angles.
Further, the evaluating the antenna array calibration coefficient to be evaluated based on the angular spectrum peak value, the angular precision and the angular signal-to-noise ratio of the angular spectrum respectively further includes:
and acquiring a signal amplitude average value of the angular spectrum, acquiring the angle signal-to-noise ratio based on the maximum signal amplitude and the signal amplitude average value, and determining the antenna array calibration coefficient as an unavailable antenna array calibration coefficient if the angle signal-to-noise ratio is smaller than a preset signal-to-noise ratio threshold.
Illustratively, the angular signal-to-noise ratio SNR is defined as angular spectrum A m Main peak sum A m Is shown as follows:
SNR＝20log 10 (A h /mean(A i ))，
wherein A is h Representing the main peak A m Main peak, mean (A m ) To calculate the mean of the angular spectrum.
For example, assuming a signal-to-noise threshold of 12dB, the calibration coefficients are considered unusable when the signal-to-noise SNR is less than 12 dB.
Further, the step-by-step rotation of the turntable for driving the camera to carry the radar in the camera according to a preset mode and the back emission of the radar test signal to the angle at the preset position in the camera under each test angle comprises:
the turntable is driven to rotate in a stepping mode within the view angle range of the radar, wherein the step length of each rotation is 0.5 degrees.
By way of example, the turntable is rotated once every 0.5 ° and the rotation range may be set to ±30°, whereby it is known that in this example, the total rotation angle is 60 ° and every time 0.5 ° is rotated, a total of 120 times is possible. In practical applications, the adjustment may be performed according to the field angle (The field of view, FOV) of the radar itself, which is not limited by the present invention.
Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved:
In the technical scheme disclosed by the invention, echo signals of all channels under different testing angles are obtained, so that corresponding original echo data matrixes are obtained, then, the wave path phase difference generated among the transmitting antenna, the receiving antenna and the angular opposition in the radar darkroom is calculated, the original echo data matrixes are further compensated according to the wave path phase difference matrixes and the antenna array calibration coefficients to be evaluated, so that the compensated echo data matrixes are obtained, corresponding angular spectrums are finally obtained, and the antenna array calibration coefficients are evaluated according to the relevant information of the angular spectrums.
The estimated and determined available antenna array calibration coefficients can enable a plurality of performance indexes of the angular spectrum to meet the measurement requirement at the same time, and specifically, the available antenna array calibration coefficients can ensure that the spectrum peak value error of the angular spectrum is smaller, the angle precision is higher, and the measurement result has a larger signal-to-noise ratio. By evaluating the antenna array calibration coefficient, the detection accuracy of the radar can be remarkably improved, and the high-precision measurement of the radar is ensured.
In addition, when the radar products are produced in batches, through the technical scheme, the calibration coefficient can be evaluated in the darkroom in a near-field mode equivalently, so that the measurement performance of each radar angle (namely whether the calibration coefficient is correct) is prevented from being tested outdoors, the testing mode is simplified, and the production efficiency can be remarkably improved.
According to another aspect of the present invention, based on the same inventive concept as the method for evaluating an antenna array calibration coefficient according to an embodiment of the present invention, there is further provided an apparatus for evaluating an antenna array calibration coefficient for a MIMO radar including a plurality of transmitting antennas and a plurality of receiving antennas, between which a plurality of channels are formed, referring to fig. 5, the apparatus comprising:
a driving and echo signal obtaining unit 201, configured to drive a turntable carrying a radar in a darkroom to rotate in a preset manner, and reversely emit a radar test signal to an angle at a preset position in the darkroom under each test angle, and for each test angle, determine a position coordinate of the angle in a cartesian coordinate system with a geometric center of the radar as an origin under the test angle, and obtain an echo signal fed back by the angle reverse for the radar test signal;
an original echo data matrix determining unit 202, configured to obtain echo data of the multiple channels under each test angle according to the echo signals, so as to form an original echo data matrix;
a wave path phase difference matrix determining unit 203, configured to obtain wave path phase differences corresponding to the channels under each test angle according to the position information of the transmitting antennas and the receiving antennas in the cartesian coordinate system, so as to form a wave path phase difference matrix;
The compensation unit 204 is configured to compensate the original echo data matrix according to the wave path phase difference matrix and the antenna array calibration coefficient to be evaluated, so as to obtain a compensated echo data matrix;
and the evaluation unit 205 is configured to obtain an angular spectrum based on the compensated echo data matrix, and evaluate the antenna array calibration coefficient to be evaluated according to the angular spectrum.
Further, the wave path phase difference matrix determining unit 203 is further configured to:
for each channel under each test angle, a first distance phase difference is obtained according to the position coordinates of the transmitting antenna corresponding to the channel and the position coordinates of the angular opposition, a second distance phase difference is obtained according to the position coordinates of the receiving antenna corresponding to the channel and the position coordinates of the angular opposition, and a wave path phase difference corresponding to the channel is obtained according to the first distance phase difference and the second distance phase difference;
and forming the wave path phase difference matrix according to the wave path phase differences corresponding to all the channels, wherein the wave path phase difference corresponding to each channel forms an element at a corresponding position in the wave path phase difference matrix.
Further, the compensation unit 204 is further configured to:
The compensated echo data matrix is obtained according to the following formula:
S nm ＝D mn *conj(TR mn )*repmat(C n ,M,1)，
wherein S is nm Representing the compensated echo data matrix, D mn Representing the original echo data matrix, TR mn Representing the wave path phase difference matrix, C n Represents the antenna array calibration coefficient to be evaluated, M represents the number of angular counter-rotations, function conj (TR mn ) Represents the pair TR mn Performing a conjugate-taking operation, a function repmat (C n M, 1) represents C n Repeating M times to form correspondingAn M x N dimensional matrix, where N represents the number of the plurality of channels.
Further, the evaluation unit 205 is further configured to:
performing fast fourier transform on the compensated echo data matrix to obtain the angular spectrum;
and evaluating the antenna array calibration coefficient to be evaluated based on the angle spectrum peak value, the angle precision and the angle signal-to-noise ratio of the angle spectrum respectively.
Further, the evaluation unit 205 is further configured to:
obtaining the maximum signal amplitude corresponding to the maximum peak value in the angular spectrum;
calculating a difference between the signal amplitude of each spectral peak in the angular spectrum and the maximum signal amplitude;
and acquiring the number of spectrum peaks corresponding to the difference value larger than a preset amplitude threshold, and if the number of spectrum peaks is larger than the preset number threshold, determining the antenna array calibration coefficient to be evaluated as an unavailable antenna array calibration coefficient.
Further, the evaluation unit 205 is further configured to:
and obtaining an angle value corresponding to each channel under each test angle based on the angle spectrum, and determining that the antenna array calibration coefficient is an unavailable antenna array calibration coefficient if any one angle value is larger than a preset angle threshold value.
Further, the evaluation unit 205 is further configured to:
and acquiring a signal amplitude average value of the angular spectrum, acquiring the angle signal-to-noise ratio based on the maximum signal amplitude and the signal amplitude average value, and determining the antenna array calibration coefficient as an unavailable antenna array calibration coefficient if the angle signal-to-noise ratio is smaller than a preset signal-to-noise ratio threshold.
Further, the driving and echo signal obtaining unit 201 is further configured to:
the turntable is driven to rotate in a stepping mode within the view angle range of the radar, wherein the step length of each rotation is 0.5 degrees.
Other aspects and implementation details of the device for evaluating the antenna array calibration coefficients are the same as or similar to those of the method for evaluating the antenna array calibration coefficients described above, and are not described herein.
According to another aspect of the present invention there is also provided a storage medium having stored therein a plurality of instructions adapted to be loaded by a processor to perform the method of evaluating any antenna array calibration coefficients as described above.
In summary, although the present invention has been described in terms of the preferred embodiments, the preferred embodiments are not limited to the above embodiments, and various modifications and changes can be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention is defined by the appended claims.
Claims (10)
1. A method of evaluating antenna array calibration coefficients for a MIMO radar, the MIMO radar comprising a plurality of transmit antennas and a plurality of receive antennas, the plurality of transmit antennas and the plurality of receive antennas forming a plurality of channels, the method comprising:
the method comprises the steps of driving a turntable carrying radar in a darkroom to rotate in a stepping mode according to a preset mode, reversely transmitting radar test signals to angles at preset positions in the darkroom under each test angle, determining the position coordinates of the angles in a Cartesian coordinate system taking the geometric center of the radar as an origin under each test angle, and acquiring echo signals fed back by the angles against the radar test signals;
obtaining echo data of the channels under each test angle according to the echo signals to form an original echo data matrix;
Obtaining corresponding wave path phase differences of the channels under each test angle according to the position information of the transmitting antennas and the receiving antennas in the Cartesian coordinate system so as to form a wave path phase difference matrix;
compensating the original echo data matrix according to the wave path phase difference matrix and the antenna array calibration coefficient to be evaluated so as to obtain a compensated echo data matrix;
and obtaining an angular spectrum based on the compensated echo data matrix, and evaluating the antenna array calibration coefficient to be evaluated according to the angular spectrum.
2. The method of claim 1, wherein the deriving the corresponding wave path phase differences for the plurality of channels at each test angle based on the position information of the plurality of transmit antennas and the plurality of receive antennas in the cartesian coordinate system to form a wave path phase difference matrix comprises:
for each channel under each test angle, a first distance phase difference is obtained according to the position coordinates of the transmitting antenna corresponding to the channel and the position coordinates of the angular opposition, a second distance phase difference is obtained according to the position coordinates of the receiving antenna corresponding to the channel and the position coordinates of the angular opposition, and a wave path phase difference corresponding to the channel is obtained according to the first distance phase difference and the second distance phase difference;
And forming the wave path phase difference matrix according to the wave path phase differences corresponding to all the channels, wherein the wave path phase difference corresponding to each channel forms an element at a corresponding position in the wave path phase difference matrix.
3. The method of claim 2, wherein compensating the original echo data matrix based on the wave path phase difference matrix and the antenna array calibration coefficients to be evaluated to obtain a compensated echo data matrix comprises:
the compensated echo data matrix is obtained according to the following formula:
S nm ＝D mn *conj(TR mn )*repmat(C n ,M,1)，
wherein S is nm Representing the compensated echo data matrix, D mn Representing the original echo data matrix, TR mn Representing the wave path phase difference matrix, C n Representing the antenna array calibration system to be evaluatedThe number M represents the number of times the angle is counter rotated, the function conj (TR mn ) Represents the pair TR mn Performing a conjugate-taking operation, a function repmat (C n M, 1) represents C n Repeating M times to form a corresponding M x N dimensional matrix, wherein N represents the number of the plurality of channels.
4. The method of claim 3, wherein the deriving an angular spectrum based on the compensated echo data matrix and evaluating the antenna array calibration coefficients to be evaluated according to the angular spectrum comprises:
Performing fast fourier transform on the compensated echo data matrix to obtain the angular spectrum;
and evaluating the antenna array calibration coefficient to be evaluated based on the angle spectrum peak value, the angle precision and the angle signal-to-noise ratio of the angle spectrum respectively.
5. The method of claim 4, wherein the evaluating the antenna array calibration coefficients to be evaluated based on an angular spectrum peak, an angular accuracy, and an angular signal-to-noise ratio of the angular spectrum, respectively, comprises:
obtaining the maximum signal amplitude corresponding to the maximum peak value in the angular spectrum;
calculating a difference between the signal amplitude of each spectral peak in the angular spectrum and the maximum signal amplitude;
and acquiring the number of spectrum peaks corresponding to the difference value larger than a preset amplitude threshold, and if the number of spectrum peaks is larger than the preset number threshold, determining the antenna array calibration coefficient to be evaluated as an unavailable antenna array calibration coefficient.
6. The method of claim 5, wherein the evaluating the antenna array calibration coefficients to be evaluated based on the angular spectrum peak, angular accuracy, and angular signal-to-noise ratio of the angular spectrum, respectively, further comprises:
and obtaining an angle value corresponding to each channel under each test angle based on the angle spectrum, and if any one angle value is larger than a preset angle threshold value, determining that the antenna array calibration coefficient is an unavailable antenna array calibration coefficient.
7. The method of claim 6, wherein the evaluating the antenna array calibration coefficients to be evaluated based on the angular spectrum peak, angular accuracy, and angular signal-to-noise ratio of the angular spectrum, respectively, further comprises:
and acquiring a signal amplitude average value of the angular spectrum, acquiring the angle signal-to-noise ratio based on the maximum signal amplitude and the signal amplitude average value, and determining the antenna array calibration coefficient as an unavailable antenna array calibration coefficient if the angle signal-to-noise ratio is smaller than a preset signal-to-noise ratio threshold.
8. The method of claim 1, wherein the step of driving the radar-bearing turret in the darkroom to rotate in a predetermined manner and transmitting radar test signals at each test angle back to an angle at a predetermined location in the darkroom comprises:
the turntable is driven to rotate in a stepping mode within the view angle range of the radar, wherein the step length of each rotation is 0.5 degrees.
9. An evaluation device for antenna array calibration coefficients for a MIMO radar, the MIMO radar comprising a plurality of transmitting antennas and a plurality of receiving antennas, a plurality of channels being formed between the plurality of transmitting antennas and the plurality of receiving antennas, the device comprising:
The driving and echo signal acquisition unit is used for driving a turntable carrying the radar in the darkroom to rotate in a stepping mode according to a preset mode, reversely transmitting radar test signals to angles at preset positions in the darkroom under each test angle, determining the position coordinates of the angles in a Cartesian coordinate system taking the geometric center of the radar as an origin under each test angle, and acquiring echo signals fed back by the angles against the radar test signals;
the original echo data matrix determining unit is used for obtaining echo data of the channels under each test angle according to the echo signals so as to form an original echo data matrix;
the wave path phase difference matrix determining unit is used for obtaining wave path phase differences corresponding to the channels under each test angle according to the position information of the transmitting antennas and the receiving antennas in the Cartesian coordinate system so as to form a wave path phase difference matrix;
the compensation unit is used for compensating the original echo data matrix according to the wave path phase difference matrix and the antenna array calibration coefficient to be evaluated so as to obtain a compensated echo data matrix;
And the evaluation unit is used for obtaining an angular spectrum based on the compensated echo data matrix and evaluating the antenna array calibration coefficient to be evaluated according to the angular spectrum.
10. A storage medium having stored therein a plurality of instructions adapted to be loaded by a processor to perform the method of evaluating antenna array calibration coefficients of any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210910844.4A CN117518098A (en) | 2022-07-29 | 2022-07-29 | Method, device and storage medium for evaluating antenna array calibration coefficient |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210910844.4A CN117518098A (en) | 2022-07-29 | 2022-07-29 | Method, device and storage medium for evaluating antenna array calibration coefficient |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117518098A true CN117518098A (en) | 2024-02-06 |
Family
ID=89742612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210910844.4A Pending CN117518098A (en) | 2022-07-29 | 2022-07-29 | Method, device and storage medium for evaluating antenna array calibration coefficient |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117518098A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118362991A (en) * | 2024-06-11 | 2024-07-19 | 长沙莫之比智能科技有限公司 | Millimeter wave radar antenna calibration method based on statistical distribution |
-
2022
- 2022-07-29 CN CN202210910844.4A patent/CN117518098A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118362991A (en) * | 2024-06-11 | 2024-07-19 | 长沙莫之比智能科技有限公司 | Millimeter wave radar antenna calibration method based on statistical distribution |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10571503B2 (en) | Methods and systems for ESA metrology | |
| JP5480339B2 (en) | Calibration method for receive-only phased array radar antenna | |
| US11933912B2 (en) | Test system for testing a radar sensor | |
| CN113225147A (en) | Method, device and system for measuring total radiation power of array antenna | |
| JP2017134026A (en) | Massive-mimo antenna measurement device and method for measuring directivity of the same | |
| US20180090837A1 (en) | Radio frequency scanner | |
| US20240272276A1 (en) | Method and system for antenna array calibration for cross-coupling and gain/phase variations in radar systems | |
| JP6678554B2 (en) | Antenna measuring device | |
| CN111090094B (en) | Method and system for measuring dual-beam angle of pulse Doppler radar and storage medium | |
| CN117518207B (en) | Outfield test system and method for multi-beam phased array antenna | |
| US4740790A (en) | Antenna polarization measuring methods | |
| Olk et al. | Highly accurate fully-polarimetric radar cross section facility for mono-and bistatic measurements at W-band frequencies | |
| CN117518098A (en) | Method, device and storage medium for evaluating antenna array calibration coefficient | |
| Fordham | An introduction to antenna test ranges, measurements and instrumentation | |
| JP2010237069A (en) | Apparatus for measuring radar reflection cross-section | |
| CN117347958A (en) | Millimeter wave radar testing method and testing system | |
| CN114994597A (en) | Interferometer direction finding method based on uniform circular array | |
| CN114720781A (en) | Antenna consistency testing platform system convenient to maintain | |
| Mirkovic et al. | Polarimetric weather radar calibration by computational electromagnetics | |
| Schmid et al. | Mutual coupling and compensation in FMCW MIMO radar systems | |
| US10804605B2 (en) | Calibration using quaternionic scattering models | |
| CN117527093B (en) | 5G terminal wireless communication performance testing method and system | |
| CN116559745B (en) | Scanning probe correction method in planar near field method antenna measurement | |
| Geschke et al. | Post-integration Antenna Characterisation for a V-band Drone-detection Radar | |
| Kuzin et al. | The Technique of Measurement of the Pattern of Receive Phased Antenna Array for Automotive Radar |
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 |