WO2021115226A1

WO2021115226A1 - Test platform and channel error determination method

Info

Publication number: WO2021115226A1
Application number: PCT/CN2020/134275
Authority: WO
Inventors: 刘剑刚; 郭海; 王文祺; 廖小僮; 李珽
Original assignee: 华为技术有限公司
Priority date: 2019-12-11
Filing date: 2020-12-07
Publication date: 2021-06-17
Also published as: CN112946588A; CN112946588B

Abstract

A test platform and a channel error determination method, belonging to the technical field of sensors. The test platform comprises a radar apparatus (100) and a target simulator (200), wherein the target simulator (200) is used for receiving a radar signal from the radar apparatus (100) and forwarding the radar signal; the center of the target simulator (200) and the center of the radar apparatus (100) are located on a first straight line; and the first straight line is parallel to the ground. The method comprises: calculating a first distance between the center of a radar apparatus (100) and the center of a target simulator (200) (S601); determining a system error according to the first distance (S602); and calculating a channel error according to the system error and a weight (S603), wherein the weight is used for adjusting a beam pointing direction of the radar apparatus (100). On the basis of the test platform, errors on all the channels of the radar apparatus (100) can be determined more accurately, so as to maximally improve the accuracy of angle measurement of a radar.

Description

A testing platform and method for determining channel error

Cross-references to related applications

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 201911267573.X, and the application name is "a test platform and a method for determining channel errors" on December 11, 2019, the entire content of which is by reference Incorporated in this application.

Technical field

This application relates to the field of radar technology, and in particular to a test platform and a method for determining channel errors.

Background technique

With the development of technology, smart cars have gradually entered daily life. Vehicles can rely on advanced driver-assistance systems (ADAS) to provide information to achieve autonomous driving by setting up a variety of sensors. These sensors include vision sensors such as on-board cameras and radar-based sensors such as on-board radars. Millimeter wave radar is a kind of vehicle-mounted radar, which is widely used in automatic driving of vehicles. Autopilot technology puts forward higher resolution requirements for millimeter-wave radar, and the lateral high resolution of radar can be achieved by increasing the antenna aperture. Multiple-input-multiple-output (MIMO) is a technical means to increase the antenna aperture, making MIMO radar, that is, the configuration of the MIMO antenna on the radar device, has become a development direction of the vehicle-mounted millimeter wave radar.

The vehicle can determine the angle of the target object relative to the vehicle through the vehicle-mounted radar. For example, the vehicle-mounted radar can determine the angle of the target object relative to the vehicle-mounted radar according to the phase difference of the echo signals received by different channels. The channel here refers to the signal transmitted by a certain transmitting antenna propagating in space and being received by a certain receiving antenna. The signal transmission channel formed by the transmitting antenna and the receiving antenna can also be called a channel. The echo signal refers to the signal after the signal sent by the vehicle-mounted radar is reflected by the target object. However, due to the physical difference of each channel, an additional amplitude error and/or phase error between the channels will be introduced, resulting in a lower accuracy of the angle information of the determined target object relative to the vehicle.

In order to obtain accurate angle information, before determining the angle information according to the echo signals received by different receiving antennas, the vehicle-mounted radar needs to compensate for the amplitude error and/or phase error between the aforementioned channels. This compensation process can also be called channel calibration. One of the current channel calibration methods, such as the "far-field condition method", is to set a target at a certain distance from the vehicle-mounted radar. The distance can satisfy the delay difference of the echo signals of each channel. The phase difference caused by the delay difference is less than or equal to 22.5. ° (that is, it can meet a better angle measurement effect), at this time, collect the echo signals of each channel, determine the amplitude error and/or phase error of each channel, and determine the compensation coefficient, so as to follow the compensation coefficient for each channel The corresponding actual amplitude or phase is compensated. Since the phase difference caused by the time delay difference of the echo signals of each channel is less than or equal to 22.5°, the distance between the target object and the vehicle-mounted radar must be greater than or equal to the minimum distance, so this method is called the "far-field condition method". The minimum distance is defined as the distance from the corresponding transmitting antenna to the receiving antenna when the distance of the signal propagation in space between the receiving channels is equal to one-sixteenth of the wavelength.

However, in practice, the target object and the vehicle-mounted radar may not meet the above far-field conditions, so the maximum distance between the target and the vehicle-mounted radar is less than the above-mentioned minimum distance, that is, relative to the far field, it can be considered as a near field. At present, there is no better solution for the determination of the channel error in the near field.

Summary of the invention

The present application provides a test platform and a method for determining the channel error. Based on the test platform, the channel error of the radar device can be determined more accurately, so as to improve the accuracy of radar angle measurement as much as possible.

In the first aspect, an embodiment of the present application provides a method for determining channel error, which can be applied to a test platform, the test platform includes a radar device and a target simulator, wherein the target simulator is used to receive data from the radar device And forward the radar signal, the center of the target simulator and the center of the radar device are located in a first straight line, and the first straight line is parallel to a first plane, such as a ground or a horizontal plane, the method It includes: calculating the first distance between the center of the radar device and the center of the target simulator; determining the system error according to the first distance; calculating the channel error of the radar device according to the system error and the weight, wherein , The weight is used to adjust the beam direction of the radar device.

Based on the provided test platform, in the embodiment of the present application, the first distance between the center of the radar device and the center of the target simulator can be obtained by calculation, which is more accurate than the measurement obtained by the current measurement tool. At the same time, if the radar device is a MIMO radar, the system error of the radar device needs to be based on the second distance, that is, the distance between the transmitting antenna of the radar device and the receiving antenna of the target simulator and the receiving antenna of the radar device. It is determined by the sum of the distance between the antenna and the transmitting antenna of the target simulator. With this solution, the second distance can be directly calculated based on the first distance. Compared with the current measurement of the second distance, the distance obtained by this solution is more accurate, and the efficiency of determining the system error is higher.

In some embodiments of the aforementioned first aspect, the first distance is determined according to a first position coordinate and a second distance, the first position coordinate is the antenna position coordinate of the radar device, and the second distance The distance is determined according to the transmission time and the transmission distance of the radar signal. The transmission distance is the length of the transmission path that the radar signal sends through the radar device and is reflected by the target simulator and returns to the radar device. The transmission time is the time for the radar signal to pass through the transmission path.

This solution provides a way to calculate the first distance, that is, the first distance is calculated according to the position coordinates of each antenna of the radar device and the second distance. Using this solution, for example, the position coordinates of the center of the radar device and the position coordinates of the center of the target simulator can be preset. No matter how the positions of the radar device and the target simulator are changed, the position coordinates of each antenna of the radar device and the target simulator can be known. The position coordinates of the transmitting antenna and the position coordinates of the receiving antenna of the target simulator have lower requirements for test conditions.

In some embodiments of the first aspect described above, the systematic error is determined based on the first distance and the first position coordinates.

With this solution, the range of each channel of the radar device can be calculated through the first distance and the first position coordinates, and then the system error can be determined. Compared with the current measurement of the distance between each antenna of the radar device and the antenna of the target simulator It is more accurate and more efficient to determine the systematic error.

In the above-mentioned embodiment of the first aspect, the first position coordinate is determined according to the position coordinate of the center of the radar device and the first angle and/or the second angle, and the first angle is determined by The angle between the projection of the beam of the radar device on the ground and the projection of the first straight line on the ground, and the second angle is the angle between the beam of the radar device and the ground.

No matter how the radar device rotates, based on this solution, the position coordinates of each antenna of the radar device can be calculated according to the first angle and/or the second angle, and then the coordinates of each channel of the radar device can be calculated through the first distance and the first position coordinates. The wave range is more accurate than the current measurement of the distance between each antenna of the radar device and the antenna of the target simulator to determine the wave range of each channel of the radar device.

In some embodiments of the aforementioned first aspect, the method may further include:

Rotating the radar device is used to change the first angle and/or the second angle.

This solution uses the above-mentioned test platform to measure the systematic errors of the radar device at various beam directions, such as the systematic errors of the radar device at different angles in the horizontal direction, and can also be extended to realize the measurement of the radar device’s system errors at different pitch angles. .

In some embodiments of the foregoing first aspect, the weight includes an ideal weight and an actual weight, and the channel error is determined according to the ideal weight, the system error, and the actual weight.

Since the ideal weight and the system error are known, and the actual weight can be obtained by measurement, the channel error is determined based on the relationship between the ideal weight, the system error, the channel error, and the actual weight.

In some embodiments of the foregoing first aspect, the method may further include compensating the actual weight value according to the channel error and the system error. In the embodiment of the present application, the determined channel error and system error are used to compensate the actual weight, so as to reduce the angle measurement error of the radar device.

The above-mentioned test platform can not only be used to determine the channel error of the radar device, but also can verify the angle measurement performance of the radar device, that is, the test platform provided in the embodiment of the present application is compatible with the function of determining the channel error of the radar device and verifying the angle measurement of the radar device Performance features.

Exemplarily, in some embodiments of the above-mentioned first aspect, the method may further include rotating the radar device by the first angle, transmitting a second signal through the radar device, and receiving a relay from the target simulator The second signal; the third angle of rotation of the target simulator relative to the radar device is determined according to the second signal; the angle measurement performance of the radar device is determined according to the first angle and the third angle.

Exemplarily, in some embodiments of the above-mentioned first aspect, the method may further include: rotating the radar device by the first angle, and rotating the radar device by the second angle, through the radar device Transmit a third signal, and receive the third signal forwarded from the target simulator; determine the fourth angle of rotation of the target simulator relative to the radar device according to the received third signal; according to the first An angle, the second angle, and the fourth angle determine the angle measurement performance of the radar device.

The above two examples respectively provide verification of the angle measurement performance of the radar device in the horizontal direction and verification of the angle measurement performance of the radar device in the horizontal direction and the pitch direction.

In a second aspect, an embodiment of the present application provides a test platform, which may include a radar device and a target simulator, the center of the target simulator and the center of the radar device are located in a first straight line, and the first line A straight line parallel to the ground, wherein: the target simulator is used to receive the radar signal from the radar device and forward the radar signal; the radar device is used to calculate the center of the radar device and the The first distance between the centers of the target simulator, and the system error is determined according to the first distance, and the channel error is calculated according to the system error and the weight, and the weight is used to adjust the beam direction of the radar device.

Based on the test platform provided by this solution, the embodiment of the present application can calculate the first distance between the center of the radar device and the center of the target simulator, and then determine the channel error of the radar device according to the first distance. Compared with the first distance measured by the current measurement tool, it is more accurate, and for the MIMO radar device, the efficiency of determining the channel error is higher.

In some embodiments of the above second aspect, the test platform further includes a bearing component for adjusting the beam direction of the radar device, wherein the center of the radar device is located at the center of the bearing component Axis, the central axis is perpendicular to the first straight line.

In this solution, the radar device is fixed on a carrier component, such as a turntable. The radar device rotates with the rotation of the carrier component, and the beam direction of the radar device can be changed. In this way, it is possible to test the radar device in a different test platform without rebuilding another test platform. The channel error when the beam is pointing, so as to evaluate the angle measurement performance of the radar device at each beam pointing.

In some embodiments of the above second aspect, the test platform further includes a fixing component provided on the carrying component, and the fixing component is used to fix the radar device to the carrying component.

In this solution, a fixed component is provided on the carrier component, so that the position of the fixed component on the carrier component can be set in advance, so that no matter what kind of radar device is installed on the fixed component, the center of the radar device can be located on the central axis of the carrier component. the goal of.

In some embodiments of the above-mentioned second aspect, the test platform may further include: a first laser, which is arranged on the target simulator for adjusting the position of the target simulator; and/or The second laser, the second laser is arranged on the carrying assembly, and is used to adjust the position of the radar device.

In this solution, the use of the first laser and the second laser can more accurately align the center of the radar device with the center of the target simulator, that is, adjust the center of the target simulator and the center of the radar device to the first straight line. .

In some embodiments of the above second aspect, the test platform may further include: a transmission belt for carrying the target simulator and adjusting the distance between the target simulator and the radar device.

In this solution, considering the different detection distances of different types of radar devices, some are longer and some are shorter, and in this solution, the setting of the transmission belt can adjust the distance between the target simulator and the radar device, which is applicable Radar devices for various detection distances.

In some embodiments of the above second aspect, the test platform may further include: a processing device connected to the carrying assembly, the radar device, and the conveyor belt, wherein the processing device It is used to control the angle of rotation of the bearing assembly; and/or control the distance of movement of the conveyor belt.

It should be understood that the rotation of the bearing assembly of the test platform and the movement distance of the conveyor belt can be controlled by a control center, such as a processing device, which is more accurate than manual control.

In a third aspect, an embodiment of the present application provides a device that includes: a transceiver unit for transmitting radar signals and for receiving signals reflected by the radar signal by a target simulator, wherein the target simulator uses To receive the radar signal from the radar device and forward the radar signal, the center of the target simulator and the center of the radar device are located in a first straight line, and the first straight line is parallel to the ground; a processing unit for Calculate the first distance between the center of the radar device and the center of the target simulator, determine the system error according to the first distance, and calculate the channel error according to the system error and the weight, and the weight is used for Adjust the beam direction of the radar device.

In a fourth aspect, an embodiment of the present application provides a device that includes a radar and a processing unit, wherein the radar can be used to transmit radar signals and to receive signals reflected by the target simulator, wherein: The target simulator is configured to receive radar signals from the radar and forward the radar signals, the center of the target simulator and the center of the radar are located in a first straight line, and the first straight line is parallel to the ground; The processing unit is used to calculate the first distance between the center of the radar and the center of the target simulator, determine the system error according to the first distance, and calculate the channel error according to the system error and the weight, the The weight is used to adjust the beam pointing of the radar. In some possible embodiments, the radar may be the radar device in the above method design.

In some possible embodiments, the first distance is determined according to the first position coordinates and the second distance, the first position coordinates are the antenna position coordinates of the radar device, and the second distance is determined according to the radar The transmission time and the transmission distance of the signal are determined, the transmission distance is the length of the transmission path for the radar signal to be sent by the radar device and reflected by the target simulator to return to the radar device, and the transmission time is the length of the transmission path. The time for the radar signal to pass through the transmission path.

In some possible embodiments, the first position coordinates are determined according to the position coordinates of the center of the radar device and the first angle and/or the second angle, and the first angle is the radar device The angle between the projection of the emitted beam on the ground and the projection of the first straight line on the ground, and the second angle is the angle between the beam direction of the radar device and the ground.

In some possible embodiments, the system error is determined according to the first distance and the first position coordinates.

In some possible embodiments, the processing unit is further used to rotate the radar device for changing the first angle and/or the second angle.

In some possible embodiments, the weight value includes an ideal weight value and an actual weight value, and the actual weight value is determined according to the ideal weight value, the system error, and the channel error.

In some possible embodiments, the processing unit is further configured to compensate the actual weight value according to the channel error and the system error.

In some possible embodiments, the processing unit is further configured to rotate the radar device by the first angle, transmit a second signal through the radar device, and receive the second signal forwarded by the target simulator Determine the third angle of rotation of the target simulator relative to the radar device according to the second signal; determine the angle measurement performance of the radar device after channel compensation according to the first angle and the third angle.

In some possible embodiments, the processing unit is further configured to rotate the radar device by the first angle, and rotate the radar device by the second angle, transmit a second signal through the radar device, and receive The second signal forwarded from the target simulator; the fourth angle of rotation of the target simulator relative to the radar device is determined according to the received second signal; according to the first angle, the second angle The angle and the fourth angle determine the angle measurement performance of the radar device.

The technical effects that can be achieved by each possible embodiment in the foregoing third aspect and the fourth aspect can be described with reference to the description of the technical effects that can be achieved by each embodiment in the foregoing second aspect, and details are not repeated here.

In a fifth aspect, an embodiment of the present application provides a device that includes at least one processor and a communication interface. The communication interface is used to provide program instructions for the at least one processor. When the at least one processor executes When the program instruction is used, the device or the device installed with the device executes the method described in any one of the second aspect.

In a sixth aspect, an embodiment of the present application provides a device that includes: a memory: used to store instructions; a processor, used to call and run the instructions from the memory, so that the device or the device is installed with the The device of the device executes the method described in any one of the second aspect.

In the seventh aspect, another device is provided. The device can be the radar device in the above-mentioned method design. Exemplarily, the device is a chip provided in a radar device. Exemplarily, the radar device is a radar. The device includes: a memory for storing computer executable program codes; and a processor, which is coupled with the memory. The program code stored in the memory includes instructions, and when the processor executes the instructions, the device or a device installed with the device executes the method in any one of the possible implementation manners of the second aspect.

Wherein, the device may also include a communication interface, which may be a transceiver in the radar device, for example, implemented by the antenna, feeder, and codec in the radar device, or if the device is installed in the radar device In the chip, the communication interface can be the input/output interface of the chip, such as input/output pins.

In an eighth aspect, a computer storage medium is provided. The computer-readable storage medium stores instructions that, when run on a computer, cause the computer to execute the second aspect or any one of the possible designs of the second aspect. The method described.

In a ninth aspect, a computer program product containing instructions is provided. The computer program product stores instructions that, when run on a computer, cause the computer to execute the second aspect or any one of the possible designs of the second aspect. The method described in.

For the beneficial effects of the third aspect to the ninth aspect and the implementation manners described above, reference may be made to the description of the beneficial effects of the method and implementation manners of the first aspect or the method and implementation manners of the second aspect.

Description of the drawings

Figure 1 is a possible application scenario provided by an embodiment of this application;

FIG. 2 is a schematic structural diagram of a test platform provided by an embodiment of the application;

3 is a schematic diagram of the relative position coordinates of the radar device and the target simulator provided by an embodiment of the application;

FIG. 4 is a schematic structural diagram of another test platform provided by an embodiment of the application;

FIG. 5 is a schematic structural diagram of yet another test platform provided by an embodiment of the application;

FIG. 6 is a schematic flowchart of a method for determining a channel error according to an embodiment of the application;

FIG. 7 is a schematic structural diagram of a radar device provided by an embodiment of the application;

FIG. 8 is a schematic diagram of another structure of a radar device provided by an embodiment of the application;

FIG. 9 is a schematic diagram of another structure of a radar device provided by an embodiment of the application;

FIG. 10 is a schematic diagram of still another structure of a radar device provided by an embodiment of this application.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

Please refer to FIG. 1, which is a schematic diagram of a possible application scenario of an embodiment of this application. The above application scenarios can be unmanned driving, autonomous driving, intelligent driving, networked driving, etc. Radar devices can be installed in motor vehicles (such as unmanned vehicles, smart cars, electric vehicles, digital cars, etc.), drones, rail cars, bicycles, signal lights, speed measurement devices, or network equipment (such as base stations and terminals in various systems) Equipment) and so on. The embodiments of the present application are not only applicable to radar devices between cars, but also radar devices between cars and drones and other devices, or radar devices between other devices. In addition, the radar device can be installed on a mobile device, for example, on a vehicle as a vehicle-mounted radar device, or can also be installed on a fixed device, for example, on a roadside unit (RSU) and other equipment. The embodiment of the present application does not limit the installation position and function of the radar device.

It should be understood that the radar is also referred to as a radar device, and may also be referred to as a detector, a radar device, or a radar signal transmitting device. Its working principle is to detect the corresponding target object by sending a signal (or called a detection signal) and receiving the signal reflected by the target object. The signal emitted by the radar can be a radar signal. Correspondingly, the received signal reflected by the target object can also be a radar signal.

For example, radar devices can be applied to ADAS. ADAS uses radar devices to perceive the environment around the vehicle to provide assistance in blind spot monitoring, lane change assistance, collision warning, and adaptive cruise. Millimeter wave radar is a kind of radar device, which is widely used in automatic driving of vehicles. Millimeter wave radars are usually equipped with MIMO antennas, and obtain the angle information of surrounding objects through the direction-of-arrival (DOA) estimation method. The DOA estimation method uses the difference in the spatial propagation time delay of electromagnetic waves between the object and each antenna element to determine the angle information of the object relative to the radar device. If the radar device determines the distance and angle of the surrounding objects from the radar device, the location of the surrounding objects can be known, so as to achieve assistance in blind spot monitoring, lane change assistance, collision warning, and adaptive cruise.

However, in practice, for example, due to, for example, physical differences between the various channels of the radar device, there are amplitude errors and/or phase errors between the various channels, which results in low accuracy of the angle information determined by the radar device. For example, there is an error in the transmission power of different transmitting antennas, and then there is an error in the amplitude of the signals transmitted by the channels corresponding to these different transmitting antennas, resulting in lower accuracy of the determined angle information. In order to obtain accurate angle and other information, before determining the angle information according to the echo signals received by different channels, it is possible to compensate for the amplitude error and/or phase error between the above-mentioned channels. This compensation process can also be referred to as channel calibration.

One of the channel calibration methods, such as the "far-field condition method" described in the background art, requires that the distance between the object and the radar device be greater than the minimum distance, that is, to meet the requirements of each receiving channel, and the signal propagation distance in space is equal to sixteenths. The distance from the transmitting antenna to the receiving antenna corresponding to one wavelength. However, in practice, the target object and the vehicle-mounted radar may not meet the above far-field conditions. Relative to the far-field, it can be considered as the near-field.

For the determination of the channel error in the near field, a current solution is to traverse each antenna through a probe. When the probe is above an antenna, measure the amplitude and phase of the signal received by the probe, and determine the channel based on the amplitude and phase. error. Since the detection traverses each antenna, this scheme can also be called "probe round-robin". However, the "probe patrol method" requires that the distance between the probe and the antenna be within the range of 0.25-0.5 times the wavelength, which requires a high-precision locator to carry the probe, which requires higher platform construction. And if it is a MIMO radar, there are multiple transmitting antennas and multiple receiving antennas. For the transmitting antenna, the probe needs to transmit signals. For the receiving antenna, the probe needs to receive signals, which requires multiple switching detections. Transmitting operation and receiving operation, the test efficiency is low.

In view of this, the embodiments of the present application provide a test platform and a method for determining channel errors. The test platform includes a radar device and a target simulator. In short, it provides a test platform that meets the far-field conditions. The target simulator includes a transmitting antenna and a receiving antenna. The signal can be received through the receiving antenna, and it can also be used to transmit signals to the outside through the transmitting antenna. The radar device sends a radar signal to the target simulator, and the target simulator receives the radar signal and forwards the radar signal to the radar device. Based on the test platform, the embodiment of the present application can calculate the spatial geometric relationship between the radar device and the target simulator, such as the distance between each element (transmitting antenna or receiving antenna) of the radar device and the target simulator, and then according to the space The geometric relationship determines the channel error of the radar device. Compared with manually measuring the spatial geometric relationship between the radar device and the target simulator to determine the channel error of the radar device, the accuracy and efficiency of determining the channel error are improved.

The embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

Please refer to FIG. 2, the test platform includes a radar device 100 and a target simulator 200. The radar device 100 has at least one transmitting antenna and at least one receiving antenna for transmitting signals to surrounding objects and receiving signals reflected by the surrounding objects. Specifically, the radar device 100 may send a radar signal through at least one transmitting antenna. The radar signal encounters a target object, and after being transmitted by the target object, the radar signal is received by the receiving antenna of the radar device 100.

The target simulator 200 can be regarded as a target object having the functions of receiving and transmitting signals. For example, in the embodiment of the present application, the target simulator 200 may include a transmitting antenna 202 and a receiving antenna 203, the radar signal transmitted by the radar device 100 may be received by the receiving antenna 203 of the target simulator 200, and the target simulator 200 may pass through the transmitting antenna 202 forwards the received radar signal to the radar device 100.

The embodiment of the present application aims at how to determine the spatial geometric relationship between the radar device 100 and the target simulator 200, and then calculate the wave range of each receiving antenna of the radar device 100 relative to the transmitting antenna according to the spatial geometric relationship. It should be understood that the spatial geometric relationship between the radar device 100 and the target simulator 200 includes the distance from each element (transmitting antenna or receiving antenna) of the radar device 100 to the target simulator 200.

For this reason, the center of the radar device 100 and the center of the target simulator 200 in the test platform provided by the embodiment of the present application are located on the same straight line (shown by a dotted line in FIG. 2), and the straight line may be parallel to the first plane, which is referred to as The first straight line. It should be understood that the first plane may be the ground or a horizontal plane, or the first plane may be a plane perpendicular to the antenna array of the radar device 100. When the center of the radar device 100 and the center of the target simulator 200 are located in the first straight line, it can be considered that the center of the radar device 100 is aligned with the center of the target simulator 200, and then the center of the radar device 100 and the center of the target simulator 200 The distance between, for example, the first distance is fixed. It should be understood that the connection line between the transmitting antenna 202 and the receiving antenna 203 of the target simulator 200 can be parallel to the ground or perpendicular to the ground (Figure 2 is perpendicular to the ground as an example). The center of the target simulator 200 can be the transmitting antenna. The midpoint of the line between the antenna 202 and the receiving antenna 203. Since the position of a certain transmitting antenna or receiving antenna of the radar device 100 relative to the center of the radar device 100 is fixed, a certain distance can be calculated based on the first distance and the position coordinates of the center of the radar device 100 and the position coordinates of the center of the target simulator 200. The distance between a transmitting antenna or a receiving antenna and the target simulator 200. Compared with the current measurement of the distance between the antenna and the target simulator 200 for each antenna, the efficiency is obviously higher.

In an example, a laser can be used to align the center of the radar device 100 with the center of the target simulator 200 to ensure the accuracy of the alignment between the center of the radar device 100 and the center of the target simulator 200 as much as possible.

Please continue to refer to FIG. 2, the test platform provided by the embodiment of the present application further includes a first laser 201 and a second laser 300. The first laser 201 is set in the target simulator 200. For example, the first laser 201 may be set in the target simulator 200. The center of the line connecting the transmitting antenna 202 and the receiving antenna 203. The radar device 100 is located between the second laser 300 and the target simulator 200. The first laser 201 emits laser light through the center of the radar device 100, and the second laser 300 emits laser light. If the light beam emitted by the first laser 201 and the second laser 300 The emitted light beams are located in the same straight line, then the center of the radar device 100 and the center of the target simulator 200 are aligned.

After the center of the radar device 100 and the center of the target simulator 200 are aligned, the relative positional relationship between the radar device 100 and the target simulator 200 can be established. Please refer to FIG. 3, which is a schematic diagram of the relative positions of the radar device 100 and the target simulator 200. In the embodiment of the present application, a three-dimensional coordinate system (the coordinate system shown in the x, y, and z directions as shown in FIG. 3) can be established with the center of the radar device 100 as the origin. It is assumed that the radar device 100 includes M transmitting antennas and N receiving antennas. _{Antenna, then the coordinates of the m-} th (1≤m≤M) transmitting antenna T m satisfy formula (1), and the coordinates of the n-th (1≤n≤N) receiving antenna R _n satisfy formula (2). It should be understood that the m-th transmitting antenna here refers to any transmitting antenna, and the n-th receiving antenna also refers to any receiving antenna.

It should be understood that the "T" in the brackets in the formula (1) means transmission, and the "T" outside the brackets means transposition; the "R" in the brackets in the formula (2) means receiving, and the "T" outside the brackets means Transpose.

It should be understood that from the far-field perspective of the radar device 100, the position of the mnth element of the equivalent receiving array of the radar device 100 satisfies the formula (3):

If the radar device 100 array (antenna) is a planar array (antenna), then any m and n, there are

Assuming that the distance from the center of the radar device 100 to the center of the target simulator 200 is L, then _{the coordinates of the transmitting antenna AT} of the target simulator 200 satisfy formula (4), and _{the coordinates of the receiving antenna AR} satisfy formula (5):

A _T =(x _T ,y _T ,z _T ) ^T =(x _T ,L,z _T ) ^T (4)

A _R ＝(x _R ,y _R ,z _R ) ^T ＝(x _R ,L,z _R ) ^T (5)

When determining the system error of the radar device 100, considering that the system error of the radar device 100 may be different under different beam directions, in the embodiment of the present application, the position of the radar device 100 can be rotated to simulate the radar device 100 in a certain beam direction. Detect surrounding target objects. It should be understood that the beam direction of the radar device 100 includes the direction of the beam in the horizontal direction, and may also include the direction of the beam in the elevation direction. For ease of understanding, please continue to refer to FIG. 3, the radar device 100 rotates θ in the horizontal direction, then the angle between the projection of the beam of the radar device 100 on the xoy plane and the positive direction of the y axis is θ. It should be understood that the xoy plane is also It can be understood that it is the ground, then the angle θ between the projection of the beam pointing on the xoy plane and the positive direction of the y-axis of the radar device 100 can also be regarded as the projection of the beam pointing to the ground and the projection of the first straight line on the ground. The included angle θ of is hereinafter referred to as the first angle. When the radar device 100 rotates φ in the z-axis direction, the angle between the beam direction of the radar device 100 and the xoy plane is φ, which is referred to as the second angle hereinafter. It should be understood that the dimensions of the first angle and the second angle are different. For example, the first angle can be understood as a corresponding horizontal dimension, and correspondingly, the second angle corresponds to a pitch dimension. When the beam direction of the radar device 100 needs to be changed, the radar device 100 can be rotated by a first angle in the horizontal dimension, and then the radar device 100 can be rotated by a second angle in the elevation dimension; or, the radar device 100 can also be rotated in the elevation first. Rotate the second angle in the dimension, and then rotate the radar device 100 in the horizontal dimension by the first angle.

The radar device 100 transmits a radar signal through the transmitting antenna T _m , for example, the first signal, then _{the coordinates of the transmitting antenna T m} satisfy the formula (6), and _{the coordinates of the receiving antenna R n} satisfy the formula (7):

T _m,θ ＝C(θ)T _m ^T (6)

R _n,θ ＝C(θ)R _n ^T (7)

Among them, C(θ) is the coordinate rotation matrix:

The above formula (6), formula (7) and formula (8) can be considered that the position coordinates of the transmitting antenna and the position coordinates of the receiving antenna of the radar device 100 can be determined according to the position coordinates of the center of the radar device 100 and the first angle.

It should be understood that if the radar device 100 is also rotated by the second angle, the position coordinates of the transmitting antenna and the receiving antenna of the radar device 100 may be determined according to the position coordinates of the center of the radar device 100 and the first angle and the second angle. For example, the C(θ) in formula (8) is adaptively modified to C(θ,φ), that is, C(θ) is expanded from the θ dimension to the θ dimension and the φ dimension.

The receiving antenna of the target simulator 200 receives the first signal, and forwards the first signal through the transmitting antenna, and the first signal is received by the receiving antenna R _{n of the} radar device 100. The second distance can be determined by the transmission time and transmission distance of the radar signal, where the second distance is the distance from the mth antenna of the radar device 100 to the receiving antenna of the target simulator 200 and the nth antenna of the radar device 100 to the target simulation The sum of the distances between the transmitting antennas of the device 200 determines the system error. For example, it can be determined by the propagation speed of electromagnetic waves and the transmission time of the first signal (the time difference between the time when the first signal is sent and the time when the first signal is received) that the radar signal is transmitted by the radar device 100 and reflected by the target simulator 200 Then return to the transmission path length r _{mn of the} radar device 100. Assuming that due to the internal delay of the target simulator 200, the propagation distance of the first signal is r _A during the time between the target simulator 200 receiving the first signal and the target simulator 200 transmitting the first signal, that is, the internal delay of the target simulator 200 corresponds to The propagation distance is r _A , then r _mn , r _A and the second distance s _mn satisfy formula (9):

r _mn -r _A =s _mn (9)

Based on the second distance s _mn and the antenna position coordinates of the radar device 100, for example, the first position coordinates can be calculated to obtain the first distance. It should be understood that the first position coordinates include the position coordinates of the m-th transmitting antenna of the radar device 100 and also include the position coordinates of the n-th receiving antenna of the radar device 100. Assuming that the distance from the center of the radar device 100 to the center of the target simulator 200, that is, the first distance is L, then the second distance satisfies formula (10), and the second distance converted into a vector satisfies formula (11):

s _mn =||T _m,θ -A _R || ₂ +||A _T -R _n,θ || ₂ (10)

Among them, ||·|| ₂ means finding the second norm.

s(θ,φ)=[s ₁₁ ,…,s _mn ,…,s _MN ] ^T (11)

Let θ=0°, φ=0°, by formula (1), formula (2), formula (4), formula (5), formula (6), formula (7), formula (8), formula (9) ) And formula (11) can get formula (12):

L can be calculated by formula (12).

It should be understood that the target simulator 200 is used to receive the first signal from the radar device 100 and send the first signal to the radar device 100. In order to ensure that the target simulator 200 can receive the first signal from the radar device 100 as much as possible, the receiving antenna 203 of the target simulator 200 may be a horn antenna, and the horn opening faces the radar device 100. Similarly, the transmitting antenna 202 of the target simulator 200 may also be a horn antenna, and the horn opening faces the radar device 100.

It is known that the embodiment of the present application can calculate the relative position of each antenna of the radar device 100 and the transmitting antenna or receiving antenna of the target simulator 200 through the position coordinates of the transmitting antenna and the receiving antenna of the radar device 100 and L. For example, the relative position of each antenna of the radar device 100 is fixed when the mine detection device leaves the factory, and the relative positions of the transmitting antenna 202 and the receiving antenna 203 of the target simulator 200 are also fixed when the target simulator 200 leaves the factory, so according to L As well as the position coordinates of a certain antenna of the radar device 100 and the position coordinates of the target simulator 200, for example, the position coordinates of the transmitting antenna, the relative positional relationship between a certain antenna and the transmitting antenna 202 of the target simulator 200 can be calculated, or in some embodiments, The relative positional relationship between a certain antenna and the transmitting antenna 202 of the target simulator 200 can also be understood as the distance between a certain antenna and the transmitting antenna of the target simulator 200.

In the embodiment of the present application, the relative positions of each antenna of the radar device 100 and the transmitting antenna 202 or the receiving antenna 203 of the target simulator 200 can be determined by formula (1), formula (2), formula (4), formula (5), and formula (5). (11) Calculate the second distance, and then determine the channel error of the radar device 100 through the second distance. With this solution, since the second distance is obtained by calculation, compared with the current second distance obtained by measurement, errors caused by manual measurement can be avoided, and the accuracy is obviously higher. For example, the radar device 100 is a vehicle-mounted radar, and the frequency band used by it is in the 76GHz-81GHz frequency band, and the wavelength corresponding to the frequency band is in the range of 3.70mm to 3.95mm. Generally speaking, the measurement error needs to be much smaller than the wavelength, such as 1/10 wavelength, then the manual measurement error needs to be in the sub-millimeter level, which is difficult to guarantee. At the same time, the efficiency of determining the channel error is also high, and the compensation of the near-field channel error can be realized.

The following describes how to determine the channel error of the radar device 100.

Assuming that the angle between the projection of the beam emitted by the radar device 100 on the xoy plane and the positive direction of the y axis is θ, and the angle between the beam direction and the xoy plane is φ, the ideal weight vector w(θ, φ) satisfies the formula (13):

w(θ,φ)=b⊙a(θ,φ) (13)

In formula (13), b is the same amplitude weighted value of each channel, and "⊙" means the corresponding elements are multiplied, where,

Among them, λ is the carrier wavelength.

It should be understood that if the channel error of the radar device 100 does not change with the angle of the antenna rotation, that is, θ=0°, φ=0°, then a(θ,φ) is a(0,0)=[1,..., 1,...1] ^T , w(θ,φ) ie w(θ,φ)=b⊙a(θ,φ).

The actual error vector β(θ,φ) of the system determined by the above-mentioned wave length vector satisfies formula (16):

β(θ,φ)=e ^{j2πs(θ,φ)/λ} ./a(θ,φ) (16)

Among them, "./" means that the corresponding element is divided.

Ideal weight vector w(θ,φ), actual weight vector

And the system error and channel error satisfy formula (17):

Among them, γ is the channel error.

According to formula (17), we can get:

γ=[γ ₁₁ ,…,γ _mn ,…,γ _MN ] ^T (18)

among them,

Considering that the beam directions of the radar device 100 are different, the corresponding systematic errors are also different. Therefore, in an example of the present application, please refer to FIG. 4, the test platform may also include a bearing assembly 400, which is used to carry the radar device 100. The bearing assembly 400 can rotate to drive the radar device 100 to rotate and can be adjusted. The beam direction of the radar device 100. It should be understood that the beam direction here may include the above-mentioned first angle and/or second angle. It should be understood that the phase center of the equivalent antenna array of the radar device 100 is located on the central axis of the carrier assembly 400 along the second direction (shown in dotted lines in FIG. 4). The second direction is perpendicular to the first direction, that is, the central axis of the carrying assembly 400 is perpendicular to the first straight line. Optionally, in order to ensure that the phase center of the equivalent antenna array of the radar device 100 is located on the central axis of the carrier assembly 400 along the second direction, the radar device 100 may be fixed on the carrier assembly 400 by using the fixing assembly 500. At the same time, in order to be compatible with the alignment of the center of the radar device 100 with the center of the target simulator 200, the second laser 300 may also be fixed on the carrier assembly 400. For example, the second laser 300 is fixed on the carrier assembly 400 by a fixing member 600. The light beam emitted by the second laser 300 is always parallel to the upper surface of the carrier assembly 400. The rotating bearing assembly 400 realizes the calibration of the center of the radar device 100 and the center of the target simulator 200.

Exemplarily, the bearing assembly 400 may be a turntable, which can rotate within a range of 360° on a plane parallel to the ground. The carrying assembly 400 may be a cylindrical turntable (Figure 4 takes this as an example), and the height of the cylindrical turntable can be set according to actual needs. The fixing assembly 500 and the carrying assembly 400 may be an integrated design or may be separate. The integrated design can ensure that when the radar device 100 is installed in a fixed assembly, the center of the radar device 100 is always located on the central axis of the carrier assembly 400. If the fixed component 500 and the carrying component 400 are designed separately, the position of the fixed component 500 on the carrying component 400 can be adjusted as needed. When the center of the radar device 100 is not on the central axis of the carrying component 400, the fixed component 500 can be adjusted to The position on the carrier assembly 400 can make the center of the radar device 100 always located on the central axis of the carrier assembly 400.

The fixing member 600 may be an L-shaped structure, or other possible structures. In a possible design, the fixing member 600 is arranged on the side of the carrying assembly 400 away from the target simulator 200, and can slide along the central axis of the carrying assembly 400. For example, a sliding groove is provided in the carrying assembly 400, and the fixing member 600 It can slide along the chute. Even if the height of the radar device 100 and the target simulator 200 relative to the ground changes, only the height of the fixing member 600 needs to be adjusted to achieve the alignment of the second laser 300 and the first laser 201.

When determining the systematic error when the beam of the radar device 100 points to a certain direction, it is only necessary to rotate the bearing assembly 400 so that the beam of the radar device 100 points to a certain direction, and the first signal is sent through the radar device 100 and received from the target simulator For the first signal forwarded by 200, the channel error of the radar device 100 can be calculated according to the aforementioned multiple formulas, for example, when the angle between the projection of the xoy plane and the positive direction of the y-axis is θ. It can be seen that by using the test platform provided by the embodiment of the present application, the system error β of the radar device in each beam direction can be easily tested through the bearing assembly 400 without rebuilding another test platform.

The embodiment of the present application uses the determined channel error γ and the system error β to compensate each channel, that is, to compensate the actual weight, so as to eliminate the influence of the phase difference and/or amplitude difference of each channel on the performance of the radar device. Although the various channels of the radar device 100 are compensated, the detection performance of the compensated radar device 100, such as the angle measurement performance, may still be low. In this regard, the embodiment of the present application can also verify the angle measurement performance of the radar device 100 after compensation. If the angle measurement performance is still low, then the determined channel error is still large, and the channel error of the radar device 100 can be determined again. Each channel of the radar device 100 is compensated again to ensure the angle measurement performance of the radar device 100 as much as possible.

Exemplarily, the embodiment of the present application may rotate the carrier assembly 400, and use the rotated radar device 100 to detect the target simulator 200, that is, determine the angle of the target simulator 200 relative to the radar device 100. For example, before rotating the bearing assembly 400, the relative positional relationship between the radar device 100 and the target simulator 200 is the initial state of the radar device 100 and the target simulator 200. This initial state can also be understood as the relative position of the target simulator 200 relative to the radar device 100. The angle is 0°. Rotating the carrier assembly 400 at a certain angle, such as a first angle, is to rotate the radar device 100 by a first angle. Correspondingly, the angle of the target simulator 200 relative to the radar device 100 is also the first angle. If the angle measurement performance of the radar device 100 is angle, the angle of the target simulator 200 relative to the radar device 100 measured by the radar device 100 is not equal to the first angle. The smaller the difference between the angle of the target simulator 200 relative to the radar device 100 and the first angle measured by the radar device 100 is, the better the angle measurement performance of the radar device 100 is.

The test platform of the embodiment of the present application can measure the angle measurement performance of the radar device 100 at various beam directions. For example, take the measurement of the angle measurement performance of the radar device 100 when the beam direction in the horizontal direction is the first angle as an example. In the embodiment of the present application, the radar device 100 can be rotated by a first angle, the radar device 100 transmits a first signal and receives the first signal forwarded from the target simulator 200, and the radar device 100 performs DOA estimation based on the received first signal, that is, The angle of the target simulator 200 relative to the radar device 100 is referred to as a third angle, for example. The third angle can be considered to be based on the first connection line between the center of the radar device 100 and the center of the target simulator 200. After the radar device 100 is rotated by the first angle, the center of the target simulator 200 is between the center of the radar device 100 and the center of the radar device 100. The second connection line is offset by the angle of the first connection line. Ideally, the third angle is equal to the first angle. If the difference between the third angle and the first angle is smaller, the angle measurement performance of the radar device 100 is better.

The radar device 100 may perform DOA estimation based on the received first signal, that is, calculate the third angle. Specifically, for example, the radar device 100 rotates (θ, 0), that is, the radar device 100 rotates by the first angle θ. According to the actual measurement weight

Compensate for system error and channel error, and obtain the weight after compensation

According to

Perform DOA estimation to obtain the target angle, for example

among them,

Satisfy formula (20):

The error of the target angle can be obtained, and the error satisfies formula (21):

Formula (21) can verify the angle measurement performance of the radar device 100 after channel compensation. If _{the value of θ err} is small, then the angle measurement performance of the radar device 100 is better; and if _{the value of θ err} is large, then the angle measurement performance of the radar device 100 is poor, then the radar device 100 can be considered as The accuracy of the channel compensation is low, and the channel of the radar device 100 can be compensated again. With this test platform, there is no need to build a separate test platform for verifying the angle measurement performance of the radar device 100. Or it can be understood that the embodiment of the present application reuses the test platform for verifying the angle measurement performance of the radar device 100 to realize the function of determining channel errors.

For another example, take the measurement of the angle measurement performance when the beam direction of the radar device 100 in the horizontal direction is the first angle and the pitch angle of the radar device 100 is the second angle as an example. In the embodiment of the present application, the radar device 100 can be rotated by a first angle, and the radar device 100 can be rotated by a second angle. The radar device 100 transmits a second signal and receives the second signal forwarded from the target simulator 200. The radar device 100 receives DOA estimation is performed on the second signal of, that is, the angle of the target simulator 200 relative to the radar device 100, which is called the fourth angle, for example. It should be understood that the fourth angle can be considered to be based on the first line connecting the center of the radar device 100 and the center of the target simulator 200. After the radar device 100 is rotated by the first angle and the second angle, the center of the target simulator 200 The second line from the center of the radar device 100 is offset by an angle from the first line. Ideally, the fourth angle is equal to the first angle. If the difference between the fourth angle and the first angle is smaller, the angle measurement performance of the radar device 100 is better.

Similarly, the radar device 100 can perform DOA estimation based on the received second signal, that is, calculate the fourth angle. Similar to calculating the third angle, for example, the radar device 100 rotates (θ, φ), where θ is the first angle that the radar device 100 rotates, and φ is the second angle that the radar device 100 rotates. According to the actual measurement weight

According to

Perform DOA estimation to obtain the target angle, for example

among them,

Satisfy formula (22):

The error of the target angle can be obtained, and the error satisfies formula (23):

Formula (23) can verify the angle measurement performance of the radar device 100 after channel compensation. If _{the value of θ err and} the value of φ _err are smaller, then the angle measurement performance of the radar device 100 is better; and if the value of _{θ err} _{and φ err} are larger, then the measurement of the radar device 100 If the angle performance is poor, it can be considered that the accuracy of the channel compensation of the radar device 100 is low, and the channel of the radar device 100 can be compensated again.

It should be understood that, if the angle measurement performance of the radar device 100 in each pitch direction is measured, θ in the above formula (22) can be set to 0, which will not be repeated here.

It should be understood that the channel error shown in the above formula (19) has nothing to do with the beam direction of the radar device 100 by default, that is, the channel error of the radar device 100 in each beam direction is the same. Considering that in practice, in addition to the physical differences between the various channels of the radar device 100, which will cause channel errors between the various channels, it may also include other possible factors that cause the channel errors of the radar channel 100. Then the radar device 100 is The channel error may be different. In this case, the test platform provided by the embodiment of the present application can also test the channel error of the radar device 100 in each beam direction. For example, a variation of the above formula (19) is formula (24):

The channel error γ of the radar device in each beam direction can be determined by formula (24).

It should be understood that if the above formula (24) is used in the embodiment of the present application to determine the channel error of the radar device 100 in each beam direction, ideally, the values _{of θ err} and φ _{err in the formula (23) are 0.}

It should be understood that the bearing assembly 400 and the fixing assembly 500 in the test platform shown in FIG. 4 are set to verify the angle measurement performance of the radar device 100. If it is to determine the channel error of the radar device 100, the carrying component 400 and the fixing component 500 may not be provided.

In a possible scenario, there are radar devices 100 of multiple specifications, and the actual measurement distances corresponding to radar devices 100 of different specifications may be different. For example, there is a long-range radar device 100, that is, the measurement distance of the radar device 100 is relatively long, and relatively, there is a short-range radar device 100, that is, the measurement distance of the radar device 100 is relatively short.

In order to be compatible with measuring the channel error and/or angle measurement performance of the radar device 100 of various specifications, in an example, referring to FIG. 5, the test platform provided in the embodiment of the present application may further include a transmission belt 700. The conveyor belt 700 can carry the target simulator 200, and the position of the target simulator 200 on the conveyor belt 700 can be adjusted to adjust the distance between the target simulator 200 and the radar device 100, so as to be compatible with radars of various specifications. The channel error and/or angle measurement performance of the device 100.

In another example, please continue to refer to FIG. 5, the test platform provided by the embodiment of the present application may further include a processing device 800, and the processing device 800 may be connected to the radar device 100, the target simulator 200, and the carrying component 400. It should be understood that the processing device 800 can control the rotation of the carrier assembly 400 and adjust the position of the target simulator 200 on the conveyor belt 700. The processing device 800 can also determine the error of each channel of the radar device 100. For example, in another example, the test platform may include a processing device, a radar device 100 and a target simulator 200, wherein the processing device 800 can determine the channel error of each channel of the radar device 100. Of course, the radar device 100 may include a processor, and the processor may also determine the channel error of each channel of the radar device 100. In practice, whether the processing device or the radar device 100 determines the channel error of each channel of the radar device 100, the implementation of this application The examples are not limited.

It should be noted that, in the foregoing, the absolute coordinate system is used as an example for the relative position relationship between the radar device 100 and the target simulator 200, that is, the position coordinates of the target simulator 200 are fixed, and the position coordinates of the radar device 100 will not change. And change. It should be understood that in another example, a relative coordinate system may also be used to characterize the relative positional relationship between the radar device 100 and the target simulator 200.

For example, the embodiment of the present application may also set a radar coordinate system, that is, with the equivalent phase center of the radar device 100 as the origin, the y-axis shown in FIG. 3 is always perpendicular to the antenna array of the radar device 100 to establish the coordinate system. That is, the position of the radar device 100 is always the same, but the relative angle of the target simulator 200 changes with the rotation of the turntable. Then a variation of the above formula (10) is formula (25):

s _mn =||T _m -A _R,θ || ₂ +||A _T,θ -R _n || ₂ (25)

among them,

It should be understood that the calculation of the channel error and the verification of the angle measurement performance under the formula (25) all take the light beam emitted by the radar device 100 in the θ dimension as an example. In another example, the calculation of the channel error and the verification of the angle measurement performance can be extended to the light beam emitted by the radar device 100 in the θ dimension and in the φ dimension. Correspondingly, the aforementioned C(θ) is adaptively modified to C(θ,φ), that is, C(θ) is expanded from the θ dimension to the θ dimension and the φ dimension.

The test platform provided by the embodiments of the present application can calculate the first distance from the center of the radar device 100 to the center of the target simulator 200, and the antennas of the radar device 100 and the transmitting antenna 202 of the target simulator 200 can be determined according to the first distance. Or the relative position of the receiving antenna 203, so that the second distance can be calculated, and then the channel error of the radar device 100 can be determined. With this solution, the near-field channel error compensation can be realized. At the same time, when determining the channel error of the radar device 100, there is no need to measure the second distance every time, which is more efficient and can avoid errors caused by manual measurement. At the same time, after calculating the second distance, the value of the phase difference that needs to be compensated can be calculated according to the frequency of the signal transmitted by the radar device. Using the value of the phase difference that needs to be compensated can eliminate the influence of the near-field environment on the radar device, so as to meet the test of the far-field condition.

The following describes the flow of the method for determining the channel error provided by the embodiment of the present application in conjunction with the test platform shown in FIG. 2, FIG. 4, or FIG. 5, and in conjunction with the absolute coordinate system of the radar device 100 and the target simulator 200 shown in FIG. .

Please refer to FIG. 6, which is a schematic flow chart of a method for determining channel error provided by an embodiment of this application. The method can be applied to the above-mentioned test platform. For example, the execution subject of the method can be the above-mentioned radar device 100, or it can be independent of the radar. The device 100, for example, the processing device 800 in the aforementioned test platform, the processing device 800 and the radar device 100 jointly implement the aforementioned method. In the following, the radar device 100 is taken as an example in which the execution body of the method is executed, which is not limited in the embodiment of the present application. The process of this method is described as follows:

S601. Calculate the first distance between the center of the radar device 100 and the center of the target simulator 200.

It should be understood that the step S601 may be performed by the radar device 100, for example. In the embodiment of the present application, when determining the channel error of the radar device 100, the first distance between the center of the radar device 100 and the center of the target simulator 200 may be calculated first, so as to determine the receiving antenna and the transmitting antenna that form each channel according to the first distance. The wave length between the antennas, which in turn determines the channel error.

Since the positions of the m-th transmitting antenna and the n-th receiving antenna of the radar device 100 relative to the center of the radar device 100 are fixed, the distance between the mnth channel and the target simulator 200 and the radar device The position coordinates of the center of 100 and the position coordinates of the center of the target simulator 200 can calculate the first distance, and the mnth channel refers to the signal path directly formed by the mth transmitting antenna and the nth receiving antenna.

Specifically, when calculating the first distance between the center of the radar device 100 and the center of the target simulator 200, the radar device 100 may first send a radar signal to the target simulator 200 and receive the radar signal forwarded from the target simulator 200 . For example, the radar signal is transmitted to the target simulator 200 through the m-th transmitting antenna of the radar device 100, and the radar signal forwarded from the target simulator 200 is received through the n-th receiving antenna of the radar device 100. For another example, the radar device 100 sends radar signals to the target simulator 200 and receives the radar signals forwarded from the target simulator 200. In this case, the transmitting antenna used by the radar device 100 to send the radar signals is not limited, but the radar device 100 may Determine a certain channel corresponding to the radar signal, that is, the transmitting antenna that transmits the radar signal, such as the m-th transmitting antenna and the receiving antenna that receives the radar signal, such as the channel formed by the n-th receiving antenna. It should be understood that both m and n are integers greater than or equal to 1.

Exemplarily, in the embodiment of the present application, the position coordinates of the radar device 100 and the target simulator 200 may be established in advance. In some embodiments, the absolute position coordinates of the radar device 100 can be established. For example, the three-dimensional coordinate system shown in FIG. 3 is established with the center of the radar device 100 as the origin of the coordinates. Then the coordinates of the m-th transmitting antenna T _m satisfy the above formula (1), the coordinate of the n-th receiving antenna R _n satisfies the above formula (2). Taking the position coordinates of the radar device 100 as a reference, the position coordinates of the target simulator 200 can be established, then the coordinates of the transmitting antenna _AT of the target simulator 200 satisfy the above formula (4), and the coordinates _{of the receiving antenna AR of the target simulator 200} The above formula (5) is satisfied. It should be understood that, in other embodiments, the absolute position coordinates of the target simulator 200 can be established, and then the position coordinates of the radar device 100 can be established using the position coordinates of the target simulator 200 as a reference, and the position coordinates are relative position coordinates. In the following, the establishment of the absolute position coordinates of the radar device 100 is taken as an example.

If the radar device 100 rotates by the first angle, since the position coordinates of the m-th transmitting antenna, the n-th transmitting antenna and the radar device 100 are known, the m-th transmitting antenna and the position coordinates of the radar device 100 can be determined. The position coordinates of n receiving antennas. Specifically, the position coordinates of the m-th transmitting antenna and the n-th transmitting antenna can be determined by the above formula (6), formula (7), and formula (8).

The radar device 100 can calculate the wave length between the mnth channel and the target simulator 200 according to the time when the radar signal is sent, the time when the radar signal is received, and the propagation speed of the electromagnetic wave. This wave length can also be referred to as the second distance, that is, The above s _mn . The second distance s _mn can be considered as the sum of the distance between the mth antenna of the radar device 100 and the receiving antenna of the target simulator 200 and the distance between the nth antenna of the radar device 100 and the transmitting antenna of the target simulator 200 . The target simulator 200 receives the radar signal, and the target simulator 200 delays forwarding the radar signal to the radar device 100 due to the internal delay of the target simulator 200. Therefore, the second distance is actually the propagation distance of the radar signal. For example, the difference between the above-mentioned r _mn _{and the propagation distance r A} corresponding to the internal delay of the target simulator 200, so the second distance s _mn _{can be calculated according to r mn} and r _A .

Another way to express the second distance s _mn is to pass the first distance, the position coordinates of the m-th transmitting antenna, the position coordinates of the n-th receiving antenna, and the position coordinates of the transmitting antenna of the target simulator 200 and the target The position coordinates of the receiving antenna of the simulator 200 can be calculated to obtain the second distance s _mn , such as the above formula (10). Assuming the distance from the center of the radar device 100 to the center of the target simulator 200, that is, the first distance is L, then the first distance The two distance s _mn satisfies the above formula (12). Since the position coordinates of the m-th transmitting antenna, the position coordinates of the n-th transmitting antenna, the position coordinates of the transmitting antenna 202 of the target simulator 200, and the position coordinates of the receiving antenna 203 are known, and the second distance s _{mn is} known, Therefore, the first distance L can be calculated according to the above formula (12).

In the embodiment of the present application, based on the above-mentioned test platform, the simulated radar device 100 sends a radar signal to the target simulator 200 to calculate the first distance between the center of the radar device 100 and the center of the target simulator 200, so that the subsequent The distance between a certain transmitting antenna or receiving antenna of the radar device 100 and the target simulator 200 can be calculated according to the first distance, the antenna position coordinates of the radar device 100 and the antenna position coordinates of the target simulator 200, and the radar is determined according to the distance. The system error and channel error of the device 100. Compared with the current manual measurement of the distance between the antenna and the target simulator 200 for each antenna, it is obviously more efficient and more accurate.

S602. Determine the systematic error of the radar device 100 according to the first distance.

For example, when it is necessary to determine that the beam of the radar device 100 points to a certain direction, and the system error of the radar device 100, the carrier assembly 400 can be rotated to make the beam of the radar device 100 point in a certain direction, for example, the carrier assembly 400 is rotated to make the radar device 100 rotate. For example, the first angle mentioned above.

Substituting the first angle into the aforementioned formula (1) and formula (8) can obtain, for example, the position coordinates of the m-th transmitting antenna of the radar device, and substituting the first angle into the aforementioned formula (2) and formula (8) can obtain the radar device’s position coordinates. The position coordinates of the n-th receiving antenna are combined with formula (4), formula (5), formula (11), formula (12) and the first distance to determine the second distance. By analogy, the second distance corresponding to each channel of the radar device can be determined, which is also called the wave range, and the wave range of each channel can be converted into a wave range vector, for example, the aforementioned formula (10). Therefore, the systematic error corresponding to the first angle is determined according to the wave length vector. For details, please refer to the introduction of formula (13)-formula (16) above, which will not be repeated here.

It should be understood that it is necessary to determine the systematic error of the radar device 100 in each pitch direction, and the bearing assembly 400 can be rotated so that the radar device 100 rotates, for example, the second angle mentioned above. In this case, the process of determining the systematic error of the radar device 100 is similar The process of determining the systematic error of the radar device 100 under the first angle will not be repeated here. Or, it is necessary to determine the systematic error of the radar device 100 in the horizontal dimension and the pitch dimension, and the bearing assembly 400 can be rotated so that the radar device 100 rotates, for example, the first angle and the second angle mentioned above. In this case, determine the radar device 100 The process of the system error is similar to the process of determining the system error of the radar device 100 at the first angle, and will not be repeated here.

S603: Calculate the channel error of the radar device 100 according to the system error, the theoretical weight and the actual weight.

The system error is determined, which can be converted into the actual system error vector, and the channel error of the radar device 100 is determined by combining the theoretical weight value and the actual weight value. The details can be calculated according to the above formula (14), formula (15) and formula (16). Furthermore, the channel error of the radar device 100 is determined according to formula (17) and formula (19). For details, reference may be made to the introduction of the above-mentioned embodiments of these formulas, which will not be repeated here.

The test platform provided by the embodiments of the present application can calculate the first distance from the center of the radar device 100 to the center of the target simulator 200, and the second distance can be determined according to the first distance, so that the radar device 100 can be determined by the second distance. Channel error. With this solution, the calibration of the near-field channel error can be achieved. At the same time, when determining the channel error of the radar device 100, there is no need to manually measure the second distance each time, which is more efficient and can avoid errors caused by manual measurement.

Further, the embodiment of the present application can use the above-mentioned test platform to verify the angle measurement performance of the radar device 100 after channel calibration.

Exemplarily, the carrier assembly 400 is used to rotate the radar device 100, the radar device 100 transmits a signal and receives a signal from the target simulator 200, and the radar device 100 performs DOA estimation based on the received signal. For example, DOA estimation is performed according to the actual measurement weight value after compensation, and the target angle obtained by two DOA estimation is compared, so as to determine the angle measurement performance of the radar device 100 after the channel calibration is good or bad according to the comparison result. For details, please refer to the introduction of the above-mentioned embodiments of formula (20)-formula (23), which will not be repeated here.

With this test platform, there is no need to build a separate test platform to verify the angle measurement performance of the radar device. Or it can be understood that the embodiment of the present application reuses the test platform for verifying the angle measurement performance of the radar device to realize the function of determining the channel error.

The various embodiments of the present application can be combined arbitrarily to achieve different technical effects.

In the above-mentioned embodiments provided in the present application, the method provided in the embodiments of the present application is introduced from the perspective of the radar device as the execution subject. It can be understood that, in order to realize the above-mentioned functions, each device, such as a radar device, includes a hardware structure and/or software module corresponding to each function. Those skilled in the art should easily realize that in combination with the units and algorithm steps of the examples described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software-driven hardware depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the embodiments of the present application.

The embodiment of the present application may divide the functional modules of the radar device. For example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division, and there may be other division methods in actual implementation.

For example, in the case of dividing the functional modules of the radar device in an integrated manner, FIG. 7 shows a possible schematic structural diagram of the radar device 100 involved in the foregoing embodiment of the present application. The radar device 100 may include a transceiver unit 701 and a processing unit 702, and optionally the radar device may further include a storage unit 703. The transceiving unit 701 may also be called an interface unit, and may include a sending unit and/or a receiving unit. The storage unit 703 can be used to store instructions (codes or programs) and/or data. The transceiving unit 701 and the processing unit 702 may be coupled with the storage unit 703. For example, the processing unit 702 may read instructions (codes or programs) and/or data in the storage unit to implement corresponding methods. The above-mentioned units can be set independently, or partly or fully integrated.

In some possible implementation manners, the processing unit 702 may be used to execute or control all operations performed by the radar device 100 in the embodiment shown in FIG. 6 except for the transceiving operations, such as S601, S602, and S603, and/ Or other processes used to support the technology described in this article. The transceiving unit 701 may be used to perform all the transceiving operations performed by the radar device 100 in the embodiment shown in FIG. 6 and/or to support other processes of the technology described herein.

In some embodiments, the transceiver unit 701 is used to transmit radar signals and to receive the radar signals reflected by the target simulator 200, where the target simulator 200 is used to receive radar signals from the radar device 100 and forward the radar signals. Signal, the center of the target simulator 200 and the center of the radar device 100 are located in a first straight line, and the first straight line is parallel to the ground; the processing unit 702 is used to calculate the distance between the center of the radar device 100 and the center of the target simulator 200 The first distance, the system error is determined according to the first distance, and the channel error of the radar device 100 is calculated according to the system error and the weight value, wherein the weight value is used to adjust the beam direction of the radar device 100.

As an optional implementation manner, the first distance is determined based on the first location coordinates and the second distance, the first location coordinates are the antenna location coordinates of the radar device 100, and the second distance is based on the transmission time and transmission time of the radar signal. When the distance is determined, the transmission distance is the length of the transmission path for the radar signal to be sent by the radar device 100 and reflected by the target simulator 200 to return to the radar device 100, and the transmission time is the time for the radar signal to pass through the transmission path.

As an optional implementation manner, the first position coordinates are determined according to the position coordinates of the center of the radar device 100, the first angle and/or the second angle, and the first angle is the projection of the beam of the radar device 100 on the ground. The included angle with the projection of the first straight line on the ground, and the second angle is the included angle between the beam direction of the radar device 100 and the ground.

As an optional implementation manner, the system error is determined according to the first distance and the first position coordinates.

As an optional implementation manner, the processing unit 702 is also used to rotate the radar device 100 for changing the first angle and/or the second angle.

As an optional implementation manner, the weight value includes an ideal weight value and an actual weight value, and the channel error is determined according to the ideal weight value, the system error and the actual weight value.

As an optional implementation manner, the processing unit 702 is further configured to compensate the actual weight value according to the channel error and the system error.

As an optional implementation manner, the processing unit 702 is further configured to rotate the radar device 100 by a first angle, transmit a second signal through the radar device 100, and receive the second signal forwarded from the target simulator 200; according to the second signal The third angle at which the target simulator 200 rotates relative to the radar device 100 is determined; the angle measurement performance of the radar device 100 after channel compensation is determined according to the first angle and the third angle.

As an optional implementation manner, the processing unit 702 is further configured to rotate the radar device 100 by a first angle, and rotate the radar device 100 by a second angle, transmit a third signal through the radar device 100, and receive signals from the target simulator 200. The forwarded third signal; the fourth angle of rotation of the target simulator 200 relative to the radar device 100 is determined according to the received third signal; the angle measurement performance of the radar device 100 is determined according to the first angle, the second angle, and the fourth angle.

It should be understood that the processing unit 702 in the embodiments of the present application may be implemented by a processor or processor-related circuit components, and the transceiver unit 701 may be implemented by a transceiver or transceiver-related circuit components or a communication interface.

FIG. 8 is a schematic diagram of another possible structure of the radar device 100 provided by an embodiment of the application. The radar device 100 may include a processor 801 and a communication interface, and the communication interface may include a transmitter 802 and a receiver 803. The functions thereof can respectively correspond to the specific functions of the processing unit 702 and the transceiver unit 701 shown in FIG. 7, and will not be repeated here. The transceiver unit 701 may be implemented by a transmitter 802 and a receiver 803. Optionally, the radar device 800 may further include a memory 804 for storing program instructions and/or data for the processor 801 to read.

FIG. 9 provides a schematic diagram of another possible structure of the radar device 100. The radar device 100 includes a transmitting antenna 901, a receiving antenna 902, and a processor 903. Further, the radar device further includes a mixer 904 and/or an oscillator 905. Further, the radar device 100 may also include a low-pass filter and/or a coupler, etc. Among them, the transmitting antenna 901 and the receiving antenna 902 are used to support the radar device 100 for radio communication, the transmitting antenna 901 supports the transmission of radar signals, and the receiving antenna 902 supports the reception of radar signals and/or the reception of reflected signals, so as to finally realize detection. Features. The processor 903 performs some possible determination and/or processing functions. Further, the processor 903 also controls the operation of the transmitting antenna 901 and/or the receiving antenna 902. Specifically, the signal to be transmitted is transmitted by the processor 903 controlling the transmitting antenna 901, and the signal received through the receiving antenna 902 can be transmitted to the processor 903 for corresponding processing. The various components included in the radar device 100 can be used to cooperate to execute the method provided in the embodiment shown in FIG. 5. Optionally, the radar device 100 may further include a memory for storing program instructions and/or data. Among them, the transmitting antenna 901 and the receiving antenna 902 may be set independently, or may be integratedly set as a transceiver antenna to perform corresponding transceiver functions.

In some possible implementation manners, the processor 903 may be used to execute or control all operations performed by the radar device in the embodiment shown in FIG. 6 except for the transceiving operations, such as S601, S602, and S603, and/or Other processes used to support the technology described in this article. The transmitting antenna 901 and the receiving antenna 902 may be used to perform all the transceiving operations performed by the radar device in the embodiment shown in FIG. 6 and/or to support other processes of the technology described herein.

In some embodiments, the transmitting antenna 901 is used to transmit radar signals, and the receiving antenna 902 is used to receive the radar signal reflected by the target simulator 200, where the target simulator 200 is used to receive the radar signal from the radar device 100 and forward it. For radar signals, the center of the target simulator 200 and the center of the radar device 100 are located on a first straight line, and the first straight line is parallel to the ground; the processor 903 is used to calculate the distance between the center of the radar device 100 and the center of the target simulator 200 The system error is determined according to the first distance, and the channel error of the radar device 100 is calculated according to the system error and the weight. The weight is used to adjust the beam direction of the radar device 100.

As an optional implementation manner, the processor 903 is further used to rotate the radar device 100 for changing the first angle and/or the second angle.

As an optional implementation manner, the processor 903 is further configured to compensate the actual weight value according to the channel error and the system error.

As an optional implementation manner, the processor 903 is further configured to rotate the radar device 100 by a first angle, transmit a second signal through the radar device 100, and receive the second signal forwarded from the target simulator 200; according to the second signal The third angle at which the target simulator 200 rotates relative to the radar device 100 is determined; the angle measurement performance of the radar device 100 after channel compensation is determined according to the first angle and the third angle.

As an optional implementation manner, the processor 903 is further configured to rotate the radar device 100 by a first angle, and rotate the radar device 100 by a second angle, transmit a third signal through the radar device 100, and receive signals from the target simulator 200. The forwarded third signal; the fourth angle of rotation of the target simulator 200 relative to the radar device 100 is determined according to the received third signal; the angle measurement performance of the radar device 100 is determined according to the first angle, the second angle, and the fourth angle.

The radar device provided in Figures 7-9 may be part or all of the radar device in the actual communication scenario, or may be a functional module integrated in the radar device or located outside the radar device, for example, a chip system, specifically to achieve the corresponding The function of the radar device shall prevail, and the structure and composition of the radar device shall not be specifically limited.

FIG. 10 is a schematic structural diagram of an apparatus 1000 provided by an embodiment of this application. The device 1000 shown in FIG. 10 may be the radar device 100 itself, or may be a chip or circuit capable of completing the functions of the radar device 100, for example, the chip or circuit may be provided in the radar device 100. The apparatus 1000 shown in FIG. 10 may include a processor 1001 (for example, the processing unit 702 may be implemented by the processor 801 or the processor 903, and the processor 801 and the processor 903 may be the same component, for example) and an interface circuit 1002 (for example, the transceiver unit 701). It can be implemented by the interface circuit 1002, and the transmitter 802 and the receiver 803 and the interface circuit 1002 are, for example, the same component). The processor 1001 can enable the device 1000 to implement the steps executed by the radar device 100 in the method provided in the embodiment shown in FIG. 6. Optionally, the device 1000 may further include a memory 1003, and the memory 1003 may be used to store instructions. The processor 1001 executes the instructions stored in the memory 1003 to enable the device 1000 to implement the steps executed by the radar device in the method provided in the embodiment shown in FIG. 6.

Further, the processor 1001, the interface circuit 1002, and the memory 1003 can communicate with each other through an internal connection path to transfer control and/or data signals. The memory 1003 is used to store a computer program. The processor 1001 can call and run the computer program from the memory 1003 to control the interface circuit 1002 to receive signals or send signals to complete the radar device execution in the method provided by the embodiment shown in FIG. 6 step. The memory 1003 may be integrated in the processor 1001, or may be provided separately from the processor 1001.

Optionally, if the apparatus 1000 is a device, the interface circuit 1002 may include a receiver and a transmitter. Wherein, the receiver and the transmitter may be the same component or different components. When the receiver and transmitter are the same component, the component can be called a transceiver.

Optionally, if the device 1000 is a chip or a circuit, the interface circuit 1002 may include an input interface and an output interface, and the input interface and the output interface may be the same interface, or may be different interfaces respectively.

Optionally, if the device 1000 is a chip or a circuit, the device 1000 may not include the memory 1003, and the processor 1001 can read instructions (programs or codes) in the memory external to the chip or circuit to implement the implementation shown in FIG. 6 The steps performed by the radar device in the method provided in the example.

Optionally, if the device 1000 is a chip or a circuit, the device 1000 may include a resistor, a capacitor, or other corresponding functional components, and the processor 1001 or the interface circuit 1002 may be implemented by corresponding functional components.

As an implementation manner, the function of the interface circuit 1002 may be implemented by a transceiver circuit or a dedicated chip for transceiver. The processor 1001 may be implemented by a dedicated processing chip, a processing circuit, a processor, or a general-purpose chip.

As another implementation manner, a general-purpose computer may be considered to implement the radar device provided in the embodiment of the present application. That is, the program codes for realizing the functions of the processor 1001 and the interface circuit 1002 are stored in the memory 1003, and the processor 1001 implements the functions of the processor 1001 and the interface circuit 1002 by executing the program codes stored in the memory 1003.

Among them, the functions and actions of the modules or units in the device 1000 listed above are only exemplary descriptions, and the functional units in the device 1000 can be used to execute the actions or processing procedures performed by the radar device in the embodiment shown in FIG. 6. In order to avoid repetition, detailed descriptions are omitted here.

It is understandable that FIGS. 7-10 only show the simplified design of the radar device. In practical applications, a radar device can include any number of transmitters, receivers, processors, controllers, memories, and other possible components. It can be understood that the device shown in FIGS. 7 to 10 may also be the aforementioned processing device 800.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium includes a computer program, and when the computer program runs on a radar device, the radar device is caused to execute the radar device as shown in FIG. 6 above. All or part of the steps described in the method embodiment.

The embodiment of the present application also provides a program product, including instructions, when the instructions run on a computer, the computer executes all or part of the steps recorded in the method embodiment shown in FIG. 6.

In yet another alternative, when the radar device is implemented by software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, all or part of the processes or functions described in the embodiments of the present application are realized. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center. Transmission to another website, computer, server, or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrated with one or more available media. The usable medium may be a magnetic medium, (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).

It should be noted that the processor included in the detection device used to execute the detection method or signal transmission method provided by the embodiment of the present application may be a central processing unit (CPU), a general-purpose processor, or digital signal processing. Digital signal processor (DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or other random combination. It can implement or execute various exemplary logical blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination for realizing computing functions, for example, including a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on.

The steps of the method or algorithm described in the embodiments of the present application may be implemented in a hardware manner, or may be implemented in a manner in which a processor executes software instructions. Software instructions can be composed of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), erasable programmable read-only Memory (erasable programmable read-only memory, EPROM), electrically erasable programmable read-only memory (EEPROM), register, hard disk, mobile hard disk, compact disc (read-only memory) , CD-ROM) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in the ASIC. In addition, the ASIC may be located in the detection device. Of course, the processor and the storage medium may also exist as discrete components in the detection device.

Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated as required It is completed by different functional modules, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, for example, multiple units or components may be divided. It can be combined or integrated into another device, or some features can be omitted or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate parts may or may not be physically separate. The parts displayed as units may be one physical unit or multiple physical units, that is, they may be located in one place, or they may be distributed to multiple different places. . Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application are essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product, and the software product is stored in a storage medium. It includes several instructions to make a device (which may be a single-chip microcomputer, a chip, etc.) or a processor (processor) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

Obviously, those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. In this way, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, then this application is also intended to include these modifications and variations.

Claims

A method for determining channel errors is characterized by being applied to a test platform, the test platform comprising a radar device and a target simulator, wherein the target simulator is used to receive radar signals from the radar device and forward the radar Signal, the center of the target simulator and the center of the radar device are located on a first straight line, and the first straight line is parallel to the ground, and the method includes:

Calculating the first distance between the center of the radar device and the center of the target simulator;

Determine the systematic error according to the first distance;

The channel error is calculated according to the system error and the weight, where the weight is used to adjust the beam direction of the radar device.
The method according to claim 1, wherein the first distance is determined according to a first position coordinate and a second distance, the first position coordinate is the antenna position coordinate of the radar device, and the first distance The second distance is determined according to the transmission time and the transmission distance of the radar signal. The transmission distance is the length of the transmission path for the radar signal to be sent by the radar device and reflected by the target simulator to return to the radar device. The transmission time is the time for the radar signal to pass through the transmission path.
The method according to claim 2, wherein the first position coordinates are determined according to the position coordinates of the center of the radar device and the first angle and/or the second angle, and the first angle Is the angle between the projection of the beam of the radar device on the ground and the projection of the first straight line on the ground, and the second angle is the angle between the beam of the radar device and the ground.
The method of claim 3, wherein the systematic error is determined based on the first distance and the first position coordinate.
The method of claim 4, wherein the method further comprises:

Rotating the radar device is used to change the first angle and/or the second angle.
The method according to any one of claims 1-5, wherein the weight includes an ideal weight and an actual weight, and the channel error is based on the actual weight, the ideal weight, and the The system error is determined.
The method of claim 6, wherein the method further comprises:

The actual weight is compensated according to the channel error and the system error.
8. The method of claim 7, wherein the method further comprises:

Rotating the radar device by the first angle, transmitting a second signal through the radar device, and receiving the second signal forwarded from the target simulator;

Determining a third angle of rotation of the target simulator relative to the radar device according to the second signal;

The angle measurement performance of the radar device is determined according to the first angle and the third angle.
The method according to claim 7, wherein the method further comprises:

Rotating the radar device by the first angle, rotating the radar device by the second angle, transmitting a third signal through the radar device, and receiving the third signal forwarded from the target simulator;

Determining a fourth angle of rotation of the target simulator relative to the radar device according to the received third signal;

The angle measurement performance of the radar device is determined according to the first angle, the second angle, and the fourth angle.
A test platform, characterized by comprising a radar device and a target simulator, the center of the target simulator and the center of the radar device are located in a first straight line, and the first straight line is parallel to the ground, wherein:

The target simulator is configured to receive radar signals from the radar device and forward the radar signals;

The radar device is used to calculate the first distance between the center of the radar device and the center of the target simulator, determine the system error according to the first distance, and calculate the channel error according to the system error and the weight , The weight is used to adjust the beam direction of the radar device.
The test platform according to claim 10, wherein the test platform further comprises a bearing component for adjusting the beam direction of the radar device, wherein the center of the radar device is located on the bearing component. The central axis of the component, the central axis being perpendicular to the first straight line.
The test platform according to claim 11, wherein the test platform further comprises a fixing component arranged on the carrying component, and the fixing component is used to fix the radar device to the carrying component.
The test platform of claim 12, wherein the test platform further comprises:

A first laser, where the first laser is set on the target simulator and used to adjust the position of the target simulator; and/or

The second laser, the second laser is arranged on the carrying assembly, and is used to adjust the position of the radar device.
The test platform according to any one of claims 10-13, wherein the test platform further comprises:

The transmission belt is used to carry the target simulator and adjust the distance between the target simulator and the radar device.
The test platform of claim 14, wherein the test platform further comprises:

Processing device, the processing device is connected with the carrying assembly, the radar device and the transmission belt, wherein the processing device is used for:

Controlling the angle of rotation of the bearing assembly; and/or

Control the distance of the conveyor belt movement.
A device, characterized in that it comprises:

The transceiver unit is used to transmit radar signals and to receive signals reflected by the target simulator, wherein the target simulator is used to receive radar signals from a radar device and forward the radar signals, and the target The center of the simulator and the center of the radar device are located on a first straight line, and the first straight line is parallel to the ground;

The processing unit is used to calculate the first distance between the center of the radar device and the center of the target simulator, determine the system error according to the first distance, and calculate the channel error according to the system error and the weight, so The weight is used to adjust the beam direction of the radar device.
The device according to claim 16, wherein the first distance is determined according to a first position coordinate and a second distance, the first position coordinate is the antenna position coordinate of the radar device, and the first distance The second distance is determined according to the transmission time and the transmission distance of the radar signal. The transmission distance is the length of the transmission path for the radar signal to be sent by the radar device and reflected by the target simulator to return to the radar device. The transmission time is the time for the radar signal to pass through the transmission path.
The device according to claim 17, wherein the first position coordinate is determined according to the position coordinate of the center of the radar device and the first angle and/or the second angle, and the first angle Is the angle between the projection of the beam of the radar device on the ground and the projection of the first straight line on the ground, and the second angle is the angle between the beam of the radar device and the ground.
The device of claim 18, wherein the systematic error is determined based on the first distance and the first position coordinate.
The device according to claim 19, wherein the processing unit is further configured to:

Rotating the radar device for changing the first angle and/or the second angle.
The device according to any one of claims 16-20, wherein the weight includes an ideal weight and an actual weight, and the channel error is based on the ideal weight, the system error, and the actual weight. The weight is determined.
The device according to claim 21, wherein the processing unit is further configured to:

The actual weight is compensated according to the channel error and the system error.
The device according to claim 22, wherein the processing unit is further configured to:

Rotating the radar device by the first angle, transmitting a second signal through the radar device, and receiving the second signal forwarded from the target simulator;

Determining a third angle of rotation of the target simulator relative to the radar device according to the second signal;

The angle measurement performance of the radar device after channel compensation is determined according to the first angle and the third angle.
The device according to claim 22, wherein the processing unit is further configured to:

Rotating the radar device by the first angle, rotating the radar device by the second angle, transmitting a third signal through the radar device, and receiving the third signal forwarded from the target simulator;

Determining a fourth angle of rotation of the target simulator relative to the radar device according to the received third signal;

The angle measurement performance of the radar device is determined according to the first angle, the second angle, and the fourth angle.
A device, characterized in that it comprises:

At least one processor and a communication interface, where the communication interface is used to provide program instructions for the at least one processor, and when the at least one processor executes the program instructions, the device or the device installed The device executes the method according to any one of claims 1-9.
A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program runs on a computer, the computer executes any one of claims 1-9 The method described.