CN117630832A - Method for calibrating alignment of electric axis of radar and optical axis of camera - Google Patents
Method for calibrating alignment of electric axis of radar and optical axis of camera Download PDFInfo
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- CN117630832A CN117630832A CN202311309659.0A CN202311309659A CN117630832A CN 117630832 A CN117630832 A CN 117630832A CN 202311309659 A CN202311309659 A CN 202311309659A CN 117630832 A CN117630832 A CN 117630832A
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Abstract
A method for aligning and calibrating an electric axis of a radar and an optical axis of a camera uses a beacon as a tested object, rotates a turntable, and measures and records to obtain an azimuth angle and a pitch angle of the beacon at the center of a monitoring picture of the camera; rotating the turntable to test the azimuth-amplitude curve and the pitching-amplitude curve of the radar respectively; finding out an azimuth angle corresponding to the maximum value position in the azimuth-amplitude curve and a pitch angle corresponding to the maximum value position in the pitch-amplitude curve, and calculating the deviation between the radar and the azimuth angle pitch angle of the camera; and adjusting an adjusting device of the camera according to the deviation value, so that the optical axis of the camera is aligned with the electric axis of the radar antenna. The invention improves the working efficiency of the equipment, is convenient for a user to synchronously detect the target through the radar system and the optical system, and can improve the accuracy of the system to the target detection signal while improving the detection efficiency.
Description
Technical Field
The invention relates to a calibration method, in particular to a method for calibrating alignment of an electric axis of a radar and an optical axis of a camera based on turntable movement.
Background
After the 21 st century, development of stealth technology has promoted the aggravation of competition of weaponry of various countries, and in order to achieve ideal stealth effect by aiming at detection of various detection technologies or various detection systems, stealth is not feasible by only depending on a certain stealth technology or only in a certain direction, and comprehensive application of various stealth technologies for comprehensive and multifunctional stealth including radar, infrared and visible light stealth technologies is necessary.
The anti-stealth technology is updated continuously, radar detection and optical detection become indispensable detection means, and radar detection generally has directivity, namely, when radar irradiates to target, the radar can detect the signal of the target, and when the radar does not irradiate to the target, the radar cannot receive the reflected signal of the target. The optical detection is also directional, and the optical system needs to be directed to the target position in order to detect the target.
However, due to the fact that the directivity of the radar and the directivity of the optical system are difficult to position, the installation clearance of the installation platform are error, and the like, the radar antenna and the optical camera under the same installation platform are difficult to accurately point to the same position, and even larger deviation occurs in the direction between the radar antenna and the optical camera.
Therefore, how to obtain the deviation value between the radar antenna and the optical camera conveniently and rapidly with lower cost and difficulty, and guide and adjust the directions of the antenna and the optical camera to align the directions, becomes a technical problem to be solved in the prior art.
Disclosure of Invention
The invention aims to provide a method for calibrating alignment of an electric axis of a radar and an optical axis of a camera based on turntable movement.
To achieve the purpose, the invention adopts the following technical scheme:
a method for calibrating alignment of an electric axis of a radar and an optical axis of a camera is characterized in that,
the method comprises the following experimental devices, a camera, a signal acquisition device, a beacon machine, a turntable and a control and processing device;
the camera and the signal acquisition device are both positioned on the turntable, the signal acquisition device is connected to the radar end, the turntable can rotate on the azimuth axis and the pitching axis, an erection adjusting device is arranged between the camera and the turntable, and the erection adjusting device can adjust the pitch angle and the azimuth angle of the camera;
the control and processing device is used for controlling the rotation of the turntable, calculating an azimuth-amplitude curve and a pitching-amplitude curve of the radar, and calculating the deviation between the azimuth angle pitch angle of the radar relative to the camera;
the method comprises the following steps:
beacon frame setting step S110:
setting up a beacon machine in an open field, wherein equipment which can not be shielded and has other signal interference exists between the beacon machine and a radar to be detected;
video positioning step S120:
operating the turntable to enable the beacon to be displayed in the center of the video picture monitored by the camera, and recording a first azimuth angle a1 and a first pitch angle b1 of the current turntable;
radar signal acquisition step S130:
the radar is respectively subjected to azimuth signal acquisition and pitching signal acquisition, and the azimuth signal acquisition is as follows: adjusting the pitch angle of the turntable to the angle of a visual pointing target, namely a beacon, controlling the azimuth movement of the turntable, and synchronously collecting signal information collected by radars in different azimuth; the acquisition of the pitching signals is as follows: adjusting the azimuth angle of the turntable to the angle of a visual pointing target, namely a beacon, controlling the pitching motion of the turntable, and synchronously collecting signal information collected by radars with different pitching;
offset difference calculation step S140:
finding out a second azimuth angle a2 and a second pitch angle B2 of the maximum position of the radar signal in azimuth signal acquisition and radar signal acquisition respectively, and subtracting the second azimuth angle a2 and the second pitch angle B2 from the first azimuth angle a1 and the first pitch angle B1 in the video positioning step S120 respectively to obtain an azimuth angle difference A and a pitch angle difference B;
camera calibration step S150:
and carrying out angle adjustment on the erection adjusting device of the camera by utilizing the azimuth angle difference A and the pitch angle difference B, so that the electric axis of the radar and the optical axis of the camera are aligned and calibrated.
Optionally, in a radar signal acquisition step S130,
the acquisition of the azimuth signal is specifically as follows: when the pitch angle of the turntable is regulated to basically aim at the beacon machine, controlling the turntable to rotate in azimuth, synchronously recording signals acquired by the signal acquisition equipment under different azimuth angles, and generating a curve with the amplitude changing along with the azimuth angle, namely an azimuth-amplitude curve;
the acquisition of the pitching signals is specifically as follows: when the azimuth angle of the turntable is regulated to basically aim at the beacon machine, the turntable is controlled to rotate in a pitching mode, signals collected by the signal collecting devices under different pitching angles are synchronously recorded, and a curve of which the amplitude changes along with the pitching angle, namely a pitching-amplitude curve, is generated.
Optionally, in step S110, the site requirement is that the beacon frame is set at a position within a range of more than 500 meters from the radar to be measured and visible for camera monitoring.
Optionally, in step S110, the field is open around the field, and no shielding and signal interference exist.
Optionally, the beacon comprises a signal generating device, an antenna, a tripod and a power source.
Optionally, the signal generating device comprises a vector network analyzer and a signal source for emitting radar wave signals.
Optionally, the camera is a camera with infrared fog penetration and zooming functions.
Optionally, the signal acquisition device comprises a vector network and a spectrometer.
Optionally, the erection adjusting device is an azimuth and elevation adjusting device and supports scale adjustment, so that the azimuth and elevation angle of the camera can be accurately adjusted.
The invention has the following advantages:
according to the invention, the rotation of the turntable is controlled to respectively measure the pointing direction of the radar antenna and the pointing direction of the optical camera, so that the deviation values of the two measuring systems are quantized, and the deviation can be quickly and efficiently regulated according to the known deviation values, so that the radar electric axis and the optical axis of the camera are in an aligned state. The working efficiency of the device is improved, the user can conveniently and synchronously detect the target through the radar system and the optical system, and the accuracy of the system to the target detection signal can be improved while the detection efficiency is improved.
Drawings
FIG. 1 is a diagram of an experimental setup for a method of calibrating alignment of an electrical axis of a radar with an optical axis of a camera, according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for calibrating alignment of an electrical axis of a radar with an optical axis of a camera in accordance with a specific embodiment of the present invention;
FIG. 3 is a plot of signal amplitude for an azimuth axis test in accordance with an embodiment of the present invention;
FIG. 4 is a graph of signal amplitude for a pitch axis test in accordance with an embodiment of the present invention;
the technical features indicated by the reference numerals in the drawings are as follows:
1. a camera; 2. a signal acquisition device; 3. a beacon machine; 4. a turntable; 5. control and processing means.
Description of the embodiments
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
The invention mainly comprises the following steps: the beacon machine is used as a tested object, the turntable is rotated, and the azimuth angle and the pitch angle of the beacon machine, which are positioned in the center of a monitoring picture of the camera, are measured and recorded; rotating the turntable to test the azimuth-amplitude curve and the pitching-amplitude curve of the radar respectively; finding out an azimuth angle corresponding to the maximum value position in the azimuth-amplitude curve and a pitch angle corresponding to the maximum value position in the pitch-amplitude curve, and calculating the deviation between the radar and the azimuth angle pitch angle of the camera; and adjusting an adjusting device of the camera according to the deviation value, so that the optical axis of the camera is aligned with the electric axis of the radar antenna.
Specifically, referring to fig. 1, an experimental device for a method for calibrating alignment of an electric axis of a radar and an optical axis of a camera is shown, and the experimental device comprises a camera 1, a signal acquisition device 2, a beacon 3, a turntable 4 and a control and processing device 5;
the camera 1 and the signal acquisition device 2 are both positioned on the turntable 4, the signal acquisition device 2 is connected to the radar end, the turntable 4 can rotate on an azimuth axis and a pitching axis, an erection adjusting device is arranged between the camera 1 and the turntable 4, and the erection adjusting device can adjust the pitch angle and the azimuth angle of the camera 1;
the control and processing device 5 is used for controlling the rotation of the turntable 4, calculating an azimuth-amplitude curve and a pitching-amplitude curve of the radar, and calculating the deviation between the azimuth pitch angle of the radar and the azimuth pitch angle of the camera.
The method comprises the following steps:
beacon frame setting step S110:
setting up a beacon machine in an open field, wherein equipment which can not be shielded and has other signal interference exists between the beacon machine and a radar to be detected;
video positioning step S120:
operating the turntable to enable the beacon to be displayed in the center of the video picture monitored by the camera, and recording a first azimuth angle a1 and a first pitch angle b1 of the current turntable;
radar signal acquisition step S130:
the radar is respectively subjected to azimuth signal acquisition and pitching signal acquisition, and the azimuth signal acquisition is as follows: adjusting the pitch angle of the turntable to the angle of a visual pointing target, namely a beacon, controlling the azimuth movement of the turntable, and synchronously collecting signal information collected by radars in different azimuth; the acquisition of the pitching signals is as follows: adjusting the azimuth angle of the turntable to the angle of a visual pointing target, namely a beacon, controlling the pitching motion of the turntable, and synchronously collecting signal information collected by radars with different pitching;
specifically, in this step,
the acquisition of the azimuth signal is specifically as follows: when the pitch angle of the turntable is adjusted to basically aim at the beacon, the azimuth rotation of the turntable is controlled, signals acquired by the signal acquisition equipment under different azimuth angles are synchronously recorded, and a curve of which the amplitude changes along with the azimuth angle, namely an azimuth-amplitude curve, is generated, for example, see fig. 3.
The acquisition of the pitching signals is specifically as follows: when the azimuth angle of the turntable is adjusted to basically aim at the beacon machine, the turntable is controlled to pitch and rotate, signals acquired by the signal acquisition devices under different pitch angles are synchronously recorded, and a curve of amplitude changing along with the pitch angle, namely a pitch-amplitude curve is generated, for example, see fig. 4.
Offset difference calculation step S140:
finding out a second azimuth angle a2 and a second pitch angle B2 of the maximum position of the radar signal in azimuth signal acquisition and radar signal acquisition respectively, for example, by subtracting the first azimuth angle a1 and the first pitch angle B1 in the video positioning step S120 from each other through fig. 3 and fig. 4 respectively to obtain an azimuth angle difference a (a=a2-a 1) and a pitch angle difference B (b=b2-B1);
camera calibration step S150:
and carrying out angle adjustment on the erection adjusting device of the camera by utilizing the azimuth angle difference A and the pitch angle difference B, so that the electric axis of the radar and the optical axis of the camera are aligned and calibrated.
Wherein the beacon 3 comprises a signal generating device, an antenna, a tripod and a power source.
The signal generating device comprises a vector network analyzer and a signal source for emitting radar wave signals.
In step S110, the location requirement is that the beacon frame is located within a range of more than 500 meters from the radar to be tested and the camera is visible for monitoring.
The field is open around meeting the field, and no shielding object, signal interference and the like exist.
The camera is provided with infrared fog penetrating and zooming functions, so that the beacon machine can be aligned better.
The signal acquisition device 2 comprises a vector network and a spectrometer.
The erection adjusting device is an azimuth and pitching adjusting device and supports scale adjustment, so that the azimuth and pitching angle of the camera are accurately adjusted.
In summary, the invention has the following advantages:
according to the invention, the rotation of the turntable is controlled to respectively measure the pointing direction of the radar antenna and the pointing direction of the optical camera, so that the deviation values of the two measuring systems are quantized, and the deviation can be quickly and efficiently regulated according to the known deviation values, so that the radar electric axis and the optical axis of the camera are in an aligned state. The working efficiency of the device is improved, the user can conveniently and synchronously detect the target through the radar system and the optical system, and the accuracy of the system to the target detection signal can be improved while the detection efficiency is improved.
It will be apparent to those skilled in the art that the elements or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or they may alternatively be implemented in program code executable by a computer device, such that they may be stored in a storage device for execution by the computing device, or they may be separately fabricated into individual integrated circuit modules, or a plurality of modules or steps in them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
While the invention has been described in detail in connection with specific preferred embodiments thereof, it is not to be construed as limited thereto, but rather as a result of a simple deduction or substitution by a person having ordinary skill in the art without departing from the spirit of the invention, which is to be construed as falling within the scope of the invention defined by the appended claims.
Claims (9)
1. A method for calibrating alignment of an electric axis of a radar and an optical axis of a camera is characterized in that,
the method comprises the following experimental devices, a camera, a signal acquisition device, a beacon machine, a turntable and a control and processing device;
the camera and the signal acquisition device are both positioned on the turntable, the signal acquisition device is connected to the radar end, the turntable can rotate on the azimuth axis and the pitching axis, an erection adjusting device is arranged between the camera and the turntable, and the erection adjusting device can adjust the pitch angle and the azimuth angle of the camera;
the control and processing device is used for controlling the rotation of the turntable, calculating an azimuth-amplitude curve and a pitching-amplitude curve of the radar, and calculating the deviation between the azimuth angle pitch angle of the radar relative to the camera;
the method comprises the following steps:
beacon frame setting step S110:
setting up a beacon machine in an open field, wherein equipment which can not be shielded and has other signal interference exists between the beacon machine and a radar to be detected;
video positioning step S120:
operating the turntable to enable the beacon to be displayed in the center of the video picture monitored by the camera, and recording a first azimuth angle a1 and a first pitch angle b1 of the current turntable;
radar signal acquisition step S130:
the radar is respectively subjected to azimuth signal acquisition and pitching signal acquisition, and the azimuth signal acquisition is as follows: adjusting the pitch angle of the turntable to the angle of a visual pointing target, namely a beacon, controlling the azimuth movement of the turntable, and synchronously collecting signal information collected by radars in different azimuth; the acquisition of the pitching signals is as follows: adjusting the azimuth angle of the turntable to the angle of a visual pointing target, namely a beacon, controlling the pitching motion of the turntable, and synchronously collecting signal information collected by radars with different pitching;
offset difference calculation step S140:
finding out a second azimuth angle a2 and a second pitch angle B2 of the maximum position of the radar signal in azimuth signal acquisition and radar signal acquisition respectively, and subtracting the second azimuth angle a2 and the second pitch angle B2 from the first azimuth angle a1 and the first pitch angle B1 in the video positioning step S120 respectively to obtain an azimuth angle difference A and a pitch angle difference B;
camera calibration step S150:
and carrying out angle adjustment on the erection adjusting device of the camera by utilizing the azimuth angle difference A and the pitch angle difference B, so that the electric axis of the radar and the optical axis of the camera are aligned and calibrated.
2. The method according to claim 1, characterized in that:
in the radar signal acquisition step S130,
the acquisition of the azimuth signal is specifically as follows: when the pitch angle of the turntable is regulated to basically aim at the beacon machine, controlling the turntable to rotate in azimuth, synchronously recording signals acquired by the signal acquisition equipment under different azimuth angles, and generating a curve with the amplitude changing along with the azimuth angle, namely an azimuth-amplitude curve;
the acquisition of the pitching signals is specifically as follows: when the azimuth angle of the turntable is regulated to basically aim at the beacon machine, the turntable is controlled to rotate in a pitching mode, signals collected by the signal collecting devices under different pitching angles are synchronously recorded, and a curve of which the amplitude changes along with the pitching angle, namely a pitching-amplitude curve, is generated.
3. The method according to claim 1, characterized in that:
in step S110, the location requirement is that the beacon frame is located within a range of more than 500 meters from the radar to be tested and the camera is visible for monitoring.
4. A method according to claim 3, characterized in that:
in step S110, the field is open around the field, and no shielding and signal interference exist.
5. The method according to claim 1, characterized in that:
the beacon comprises a signal generating device, an antenna, a tripod and a power supply.
6. The method according to claim 5, wherein:
the signal generating device comprises a vector network analyzer and a signal source for emitting radar wave signals.
7. The method according to claim 1, characterized in that:
the camera is provided with infrared fog penetrating and zooming functions.
8. The method according to claim 1, characterized in that:
the signal acquisition device comprises a vector network and a frequency spectrograph.
9. The method according to claim 1, characterized in that:
the erection adjusting device is an azimuth and pitching adjusting device and supports scale adjustment, so that the azimuth and pitching angle of the camera are accurately adjusted.
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