WO2021115226A1 - Test platform and channel error determination method - Google Patents
Test platform and channel error determination method Download PDFInfo
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- WO2021115226A1 WO2021115226A1 PCT/CN2020/134275 CN2020134275W WO2021115226A1 WO 2021115226 A1 WO2021115226 A1 WO 2021115226A1 CN 2020134275 W CN2020134275 W CN 2020134275W WO 2021115226 A1 WO2021115226 A1 WO 2021115226A1
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- radar device
- angle
- radar
- target simulator
- distance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
Definitions
- This application relates to the field of radar technology, and in particular to a test platform and a method for determining channel errors.
- MIMO Multiple-input-multiple-output
- the vehicle can determine the angle of the target object relative to the vehicle through the vehicle-mounted radar.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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
- 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.
- 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.
- the systematic error is determined based on the first distance and the first position coordinates.
- 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.
- the system error can be determined.
- 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
- 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
- the second angle is the angle between the beam of the radar device and the ground.
- 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.
- 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. .
- the weight includes an ideal weight and an actual weight
- the channel error is determined according to the ideal weight, the system error, and the actual weight.
- the channel error is determined based on the relationship between the ideal weight, the system error, the channel error, and the actual weight.
- the method may further include compensating the actual weight value according to the channel error and the system error.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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 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.
- 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.
- 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.
- 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. .
- 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.
- 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.
- 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.
- 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.
- 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.
- the radar may be the radar device in the above method design.
- 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
- 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
- the transmission time is the length of the transmission path. The time for the radar signal to pass through the transmission path.
- 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.
- the system error is determined according to the first distance and the first position coordinates.
- the processing unit is further used to rotate the radar device for changing the first angle and/or the second angle.
- the weight value includes an ideal weight value and an actual weight value
- the actual weight value is determined according to the ideal weight value, the system error, and the channel error.
- the processing unit is further configured to compensate the actual weight value according to the channel error and the system error.
- 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.
- 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.
- 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.
- the at least one processor executes
- the device or the device installed with the device executes the method described in any one of the second 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.
- the device can be the radar device in the above-mentioned method design.
- the device is a chip provided in a radar device.
- 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.
- 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.
- 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.
- a computer 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.
- a computer program product containing instructions.
- 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.
- 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.
- FIG. 1 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.
- 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.
- RSU roadside unit
- the embodiment of the present application does not limit the installation position and function of the radar device.
- 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.
- the received signal reflected by the target object can also be a radar signal.
- 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.
- 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.
- 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.
- 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.
- a current solution is to traverse each antenna through a probe.
- the 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".
- 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.
- the probe if it is a MIMO radar, there are multiple transmitting antennas and multiple receiving antennas.
- the probe For the transmitting antenna, the probe needs to transmit signals.
- the receiving antenna the probe needs to receive signals, which requires multiple switching detections. Transmitting operation and receiving operation, the test efficiency is low.
- 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.
- 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 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.
- 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.
- 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.
- 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.
- the first straight line 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- the first laser 201 may be set in the target simulator 200.
- 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.
- FIG. 3 is a schematic diagram of the relative positions of the radar device 100 and the target simulator 200.
- 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.
- the coordinates of the m- th (1 ⁇ m ⁇ M) transmitting antenna T m satisfy formula (1)
- the coordinates of the n-th (1 ⁇ n ⁇ N) receiving antenna R n satisfy formula (2).
- the m-th transmitting antenna here refers to any transmitting antenna
- the n-th receiving antenna also refers to any receiving antenna.
- the radar device 100 array is a planar array (antenna)
- any m and n there are
- 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.
- 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.
- the radar device 100 rotates ⁇ 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 ⁇ .
- the xoy plane is also It can be understood that it is the ground, then the angle ⁇ 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 ⁇ of is hereinafter referred to as the first angle.
- the radar device 100 rotates ⁇ in the z-axis direction
- the angle between the beam direction of the radar device 100 and the xoy plane is ⁇ , 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.
- the first angle can be understood as a corresponding horizontal dimension, and correspondingly, the second angle corresponds to a pitch dimension.
- 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):
- C( ⁇ ) 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.
- 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.
- the C( ⁇ ) in formula (8) is adaptively modified to C( ⁇ , ⁇ ), that is, C( ⁇ ) is expanded from the ⁇ dimension to the ⁇ dimension and the ⁇ 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.
- 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.
- 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):
- the first position coordinates can be calculated to obtain the first distance.
- 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.
- the second distance satisfies formula (10)
- 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.
- the receiving antenna 203 of the target simulator 200 may be a horn antenna, and the horn opening faces the radar device 100.
- the transmitting antenna 202 of the target simulator 200 may also be a horn antenna, and the horn opening faces the radar device 100.
- 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.
- 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
- 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.
- 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.
- 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.
- 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.
- 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.
- b is the same amplitude weighted value of each channel, and " ⁇ " means the corresponding elements are multiplied, where,
- ⁇ is the carrier wavelength.
- w( ⁇ , ⁇ ) ie w( ⁇ , ⁇ ) b ⁇ a( ⁇ , ⁇ ).
- ⁇ is the channel error
- 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 may include the above-mentioned first angle and/or second angle.
- 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.
- the radar device 100 may be fixed on the carrier assembly 400 by using the fixing assembly 500.
- the second laser 300 may also be fixed on the carrier assembly 400.
- 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.
- 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.
- 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.
- 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.
- 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 ⁇ . It can be seen that by using the test platform provided by the embodiment of the present application, the system error ⁇ 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 ⁇ and the system error ⁇ 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.
- the detection performance of the compensated radar device 100 such as the angle measurement performance
- 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.
- 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.
- 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.
- the angle of the target simulator 200 relative to the radar device 100 is also the first angle.
- 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 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.
- 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.
- 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.
- 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 ( ⁇ , 0), that is, the radar device 100 rotates by the first angle ⁇ . 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):
- Formula (21) can verify the angle measurement performance of the radar device 100 after channel compensation. If the value of ⁇ err is small, then the angle measurement performance of the radar device 100 is better; and if the value of ⁇ 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.
- 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.
- 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.
- 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 ( ⁇ , ⁇ ), where ⁇ is the first angle that the radar device 100 rotates, and ⁇ is the second angle that the radar device 100 rotates. 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 (22):
- Formula (23) can verify the angle measurement performance of the radar device 100 after channel compensation. If the value of ⁇ err and the value of ⁇ err are smaller, then the angle measurement performance of the radar device 100 is better; and if the value of ⁇ err and ⁇ 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.
- ⁇ in the above formula (22) can be set to 0, which will not be repeated here.
- 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 ⁇ of the radar device in each beam direction can be determined by formula (24).
- 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.
- radar devices 100 of multiple specifications there are radar devices 100 of multiple specifications, and the actual measurement distances corresponding to radar devices 100 of different specifications may be different.
- there is a long-range radar device 100 that is, the measurement distance of the radar device 100 is relatively long
- there is a short-range radar device 100 that is, the measurement distance of the radar device 100 is relatively short.
- 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 may 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 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.
- 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.
- 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.
- 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.
- 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.
- a variation of the above formula (10) is formula (25):
- 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 ⁇ dimension as an 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 ⁇ dimension and in the ⁇ dimension.
- the aforementioned C( ⁇ ) is adaptively modified to C( ⁇ , ⁇ ), that is, C( ⁇ ) is expanded from the ⁇ dimension to the ⁇ dimension and the ⁇ 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.
- 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. .
- FIG. 6 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.
- 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.
- 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:
- the step S601 may be performed by the radar device 100, for example.
- 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.
- the distance between the mnth channel and the target simulator 200 and the radar device 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.
- 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 .
- 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.
- the radar device 100 sends radar signals to the target simulator 200 and receives the radar signals forwarded from the target simulator 200.
- 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.
- the position coordinates of the radar device 100 and the target simulator 200 may be established in advance.
- the absolute position coordinates of the radar device 100 can be established.
- 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).
- 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.
- 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 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.
- the second distance is actually the propagation distance of the radar signal.
- 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).
- the first distance L can be calculated according to the above formula (12).
- 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.
- 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.
- the first angle mentioned above 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.
- 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.
- formula (13)-formula (16) which will not be repeated here.
- the bearing assembly 400 can be rotated so that the radar device 100 rotates, for example, the second angle mentioned above.
- 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.
- 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).
- 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 the calibration of the near-field channel error can be achieved.
- there is no need to manually measure the second distance each time which is more efficient and can avoid errors caused by manual measurement.
- 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.
- 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.
- 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.
- formula (20)-formula (23) which will not be repeated here.
- 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.
- each device such as a radar device, includes a hardware structure and/or software module corresponding to each function.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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
- the second distance is based on the transmission time and transmission time 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 100 and reflected by the target simulator 200 to return to the radar device 100
- the transmission time is the time for the radar signal to pass through the transmission path.
- 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.
- the system error is determined according to the first distance and the first position coordinates.
- the processing unit 702 is also used to rotate the radar device 100 for changing the first angle and/or the second angle.
- the weight value includes an ideal weight value and an actual weight value
- the channel error is determined according to the ideal weight value, the system error and the actual weight value.
- the processing unit 702 is further configured to compensate the actual weight value according to the channel error and the system error.
- 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.
- 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.
- processing unit 702 in the embodiments of the present application may be implemented by a processor or processor-related circuit components
- 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.
- 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.
- the processor 903 performs some possible determination and/or processing functions.
- 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.
- the radar device 100 may further include a memory for storing program instructions and/or data.
- 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.
- 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.
- the transmitting antenna 901 is used to transmit radar signals
- 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.
- 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
- 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.
- 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
- the second distance is based on the transmission time and transmission time 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 100 and reflected by the target simulator 200 to return to the radar device 100
- the transmission time is the time for the radar signal to pass through the transmission path.
- 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.
- the system error is determined according to the first distance and the first position coordinates.
- the processor 903 is further used to rotate the radar device 100 for changing the first angle and/or the second angle.
- the weight value includes an ideal weight value and an actual weight value
- the channel error is determined according to the ideal weight value, the system error and the actual weight value.
- the processor 903 is further configured to compensate the actual weight value according to the channel error and the system error.
- 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.
- 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.
- 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.
- 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.
- the interface circuit 1002 may include a receiver and a transmitter.
- the receiver and the transmitter may be the same component or different components.
- the component can be called a transceiver.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- FIGS. 7-10 only show the simplified design of the radar device.
- 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.
- the radar device when 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.
- 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.
- the computer instructions may be transmitted from a website, computer, server, or data center.
- 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)).
- the processor included in the detection device used to execute the detection method or signal transmission method may be a central processing unit (CPU), a general-purpose processor, or digital signal processing.
- Digital signal processor (DSP) digital signal processor
- ASIC application-specific integrated circuit
- FPGA field programmable gate array
- 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.
- the storage medium may also be an integral part of the processor.
- the processor and the storage medium may be located in the ASIC.
- the ASIC may be located in the detection device.
- the processor and the storage medium may also exist as discrete components in the detection device.
- the disclosed device and method may be implemented in other ways.
- the device embodiments described above are merely illustrative.
- 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.
- 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.
- 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.
- 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.
- 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.
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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
相关申请的交叉引用Cross-references to related applications
本申请要求在2019年12月11日提交中国专利局、申请号为201911267573.X、申请名称为“一种测试平台以及通道误差的确定方法”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。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.
本申请涉及雷达技术领域,尤其涉及一种测试平台以及通道误差的确定方法。This application relates to the field of radar technology, and in particular to a test platform and a method for determining channel errors.
随着科技的发展,智能汽车逐步进入了日常生活。车辆可以通过设置各式各样的传感器,依赖高级驾驶员辅助系统(advanced driver-assistance systems,ADAS)提供信息实现自动驾驶。这些传感器包括车载摄像头等视觉系传感器和车载雷达等雷达系传感器。毫米波雷达为车载雷达的一种,被广泛应用于车辆的自动驾驶。自动驾驶技术对毫米波雷达提出了更高分辨率的要求,而雷达的横向高分辨可以通过增加天线孔径来实现。多输入多输出(multiple-input-multiple-output,MIMO)是增加天线孔径的一项技术手段,使得MIMO雷达,即雷达装置上配置MIMO天线成为车载毫米波雷达发展的一个方向。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.
车辆通过车载雷达可以确定目标物体相对车辆的角度等信息,例如车载雷达根据不同通道接收的回波信号的相位差,可以确定目标物体相对车载雷达的角度。这里的通道指的是某个发射天线发射的信号在空间传播被某个接收天线接收,该发射天线和该接收天线形成的信号传输的通道,也可以称为通道。回波信号指的是车载雷达发送的信号被目标物体反射后的信号。但是由于各个通道在物理上的差异会额外引入通道之间的幅度误差和/或相位误差,导致确定的目标物体相对车辆的角度信息的准确度较低。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.
为了得到准确的角度信息,车载雷达在根据不同接收天线接收的回波信号确定角度信息之前,需补偿上述各个通道之间存在幅度误差和/或相位误差,这个补偿过程也可以称为通道校准。目前通道校准方法之一,例如“远场条件法”,即在距离车载雷达某一距离处设置一个目标,该距离能满足各通道的回波信号的时延差异造成的相位差小于或等于22.5°(也就是能够满足较好的测角效果),此时采集各个通道的回波信号,确定各个通道的幅度误差和/或相位误差,从而确定补偿系数,以后续根据该补偿系数对各个通道对应的实际幅度或者相位进行补偿。由于各通道的回波信号的时延差异造成的相位差小于或等于22.5°要求目标物体距离车载雷达的距离需大于或等于最小距离,所以该方法称为“远场条件法”。该最小距离定义为使得各接收通道之间,信号在空间传播的路程差等于十六分之一波长时对应的发射天线到接收天线的距离。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.
但是实际中,目标物体与车载雷达可能不满足上述远场条件,那么目标距离车载雷达的最大距离小于上述最小距离,即相对远场来说,可以认为是近场。目前针对近场的通道误差的确定,尚无较好的解决方案。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.
发明内容Summary of the invention
本申请提供一种测试平台以及通道误差的确定方法,基于该测试平台可以更为准确地确定雷达装置的通道误差,以尽量提高雷达测角的准确度。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.
第一方面,本申请实施例提供一种通道误差的确定方法,该方法可以应用于测试平台,该测试平台包括雷达装置和目标模拟器,其中,所述目标模拟器用于接收来自所述雷达装置的雷达信号并转发所述雷达信号,所述目标模拟器的中心与所述雷达装置的中心位于第一直线,所述第一直线平行于第一平面,例如地面或者水平面,所述方法包括:计算所述雷达装置的中心与所述目标模拟器的中心之间的第一距离;根据第一距离确定系统误差;根据所述系统误差和权值计算所述雷达装置的通道误差,其中,所述权值用于调整所述雷达装置的波束指向。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.
基于提供的测试平台,在本申请实施例中,雷达装置的中心与目标模拟器的中心之间的第一距离可以通过计算得到,相较于目前通过测量工具测量获得更为准确。同时,如果雷达装置为MIMO雷达,对于雷达装置的系统误差来说,该系统误差需要根据第二距离,也就是雷达装置的发射天线与目标模拟器的接收天线之间的距离与雷达装置的接收天线和目标模拟器的发射天线之间的距离之和来确定。采用该方案,可以根据第一距离直接计算第二距离,相较于目前测量第二距离来说,本方案获得的距离更为准确,且,确定系统误差的效率更高。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.
在上述的第一方面的一些实施例中,所述第一距离是根据第一位置坐标和第二距离确定的,所述第一位置坐标为所述雷达装置的天线位置坐标,所述第二距离是根据雷达信号的传输时间和传输路程确定的,所述传输路程为所述雷达信号通过所述雷达装置发送、并经过目标模拟器反射后回到所述雷达装置的传输路径长度,所述传输时间为所述雷达信号经过所述传输路径的时间。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.
该方案提供了一种计算第一距离的方式,即根据雷达装置的各个天线的位置坐标和第二距离计算第一距离。采用该方案,例如可以预设雷达装置中心的位置坐标和目标模拟器中心的位置坐标,不管雷达装置和目标模拟器的位置如何发生改变,均可知雷达装置的各个天线的位置坐标以及目标模拟器的发射天线的位置坐标和目标模拟器的接收天线的位置坐标,对测试条件的要求较低。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.
在上述的第一方面的一些实施例中,所述系统误差是根据第一距离以及第一位置坐标确定的。In some embodiments of the first aspect described above, the systematic error is determined based on the first distance and the first position coordinates.
采用该方案,可以通过第一距离和第一位置坐标计算雷达装置的各个通道波程,进而确定系统误差,相较于目前通过测量雷达装置的各个天线到目标模拟器的天线之间的距离来确定系统误差,更为准确,且效率更高。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.
在上述的第一方面的实施例中,所述第一位置坐标是根据所述雷达装置的中心的位置坐标以及第一角度和/或所述第二角度确定的,所述第一角度为所述雷达装置的波束指向在地面的投影与所述第一直线在地面的投影的夹角,所述第二角度为所述雷达装置的波束指向与地面的夹角。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.
无论雷达装置如何旋转,基于该方案,均可以根据第一角度和/或第二角度计算得到雷达装置的各个天线的位置坐标,进而通过第一距离和第一位置坐标计算雷达装置的各个通道的波程,相较于目前通过测量雷达装置的各个天线到目标模拟器的天线之间的距离来确定雷达装置的各个通道的波程,更为准确。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.
在上述的第一方面的一些实施例中,所述方法还可以包括:In some embodiments of the aforementioned first aspect, the method may further include:
旋转所述雷达装置,用于改变所述第一角度和/或所述第二角度。Rotating the radar device is used to change the first angle and/or the second angle.
该方案利用上述的测试平台,可以实现测量雷达装置在各个波束指向的系统误差,例如雷达装置在水平方向上的不同角度的系统误差,还可以扩展到实现测量雷达装置在不同俯仰角度的系统误差。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. .
在上述第一方面的一些实施例中,所述权值包括理想权值和实际权值,所述通道误差是根据所述理想权值、所述系统误差和所述实际权值确定的。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.
由于理想权值和系统误差已知,实际权值可以测量获得,所以基于理想权值、系统误差、通道误差和实际权值之间的关系,确定通道误差。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.
在上述第一方面的一些实施例中,所述方法还可以包括根据所述通道误差和所述系统误差对所述实际权值进行补偿。本申请实施例利用确定的通道误差和系统误差对实际权值进行补偿,降低雷达装置测角的误差。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.
上述的测试平台除了可以用于确定雷达装置的通道误差,还可以验证雷达装置的测角性能,即本申请实施例提供的测试平台兼容确定雷达装置的通道误差的功能和验证雷达装置的测角性能的功能。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.
示例性的,在上述第一方面的一些实施例中,所述方法还可以包括将所述雷达装置旋转所述第一角度,通过雷达装置发射第二信号,并接收来自所述目标模拟器转发的所述第二信号;根据所述第二信号确定所述目标模拟器相对所述雷达装置转动的第三角度;根据所述第一角度和所述第三角度确定雷达装置的测角性能。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.
示例性的,在上述第一方面的一些实施例中,所述方法还可以包括:将所述雷达装置旋转所述第一角度,以及将所述雷达装置旋转所述第二角度,通过雷达装置发射第三信号,并接收来自所述目标模拟器转发的所述第三信号;根据接收的所述第三信号确定所述目标模拟器相对所述雷达装置转动的第四角度;根据所述第一角度、所述第二角度和所述第四角度确定雷达装置的测角性能。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.
上述两个示例分别提供了验证雷达装置在水平方向上的测角性能和验证雷达装置在水平方向以及俯仰方向上的测角性能。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.
第二方面,本申请实施例提供了一种测试平台,该测试平台可以包括雷达装置和目标模拟器,所述目标模拟器的中心与所述雷达装置的中心位于第一直线,所述第一直线平行于地面,其中:所述目标模拟器,用于接收来自所述雷达装置的雷达信号并转发所述雷达信号;所述雷达装置,用于计算所述雷达装置的中心与所述目标模拟器的中心之间的第一距离,并根据第一距离确定系统误差,以及根据所述系统误差和权值计算通道误差,所述权值用于调整雷达装置的波束指向。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.
基于该方案提供的测试平台,本申请实施例可以计算得到雷达装置的中心与目标模拟器的中心之间的第一距离,进而根据该第一距离确定雷达装置的通道误差。相较于目前通过测量工具测量获得第一距离更为准确,且对于MIMO雷达装置来说,确定通道误差的效率更高。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.
在上述第二方面的一些实施例中,所述测试平台还包括承载组件,所述承载组件用于调整所述雷达装置的波束指向,其中,所述雷达装置的中心位于所述承载组件的中心轴,所述中心轴与所述第一直线垂直。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.
该方案中,雷达装置固定在承载组件,例如转台,雷达装置随着承载组件的转动而转 动,可以改变雷达装置的波束指向,这样不需要重新搭建另外的测试平台,就可以测试雷达装置在不同波束指向时的通道误差,从而评估雷达装置在各个波束指向的测角性能。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.
在上述第二方面的一些实施例中,所述测试平台还包括设置在承载组件上的固定组件,所述固定组件用于将所述雷达装置固定在所述承载组件。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.
该方案中,承载组件上设置有固定组件,从而可以事先设置固定组件在承载组件上的位置,使得无论何种雷达装置安装到该固定组件,均可以达到雷达装置的中心位于承载组件的中心轴的目的。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.
在上述第二方面的一些实施例中,所述测试平台还可以包括:第一激光器,所述第一激光器设置于所述目标模拟器,用于调整所述目标模拟器的位置;和/或第二激光器,所述第二激光器设置于所述承载组件,用于调整所述雷达装置的位置。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.
该方案中,采用第一激光器和第二激光器可以更为准确地将雷达装置的中心和目标模拟器的中心对准,也就是将目标模拟器的中心与雷达装置的中心调整到第一直线。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. .
在上述第二方面的一些实施例中,所述测试平台还可以包括:传输带,用于承载所述目标模拟器,以及调整所述目标模拟器与所述雷达装置之间的距离。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.
该方案中,考虑到不同类型的雷达装置的探测距离不同,有的较长,有的较短,而该方案中,传输带的设置可以调整目标模拟器与雷达装置之间的距离,从而适用于各种探测距离的雷达装置。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.
在上述第二方面的一些实施例中,所述测试平台还可以包括:处理装置,所述处理装置与所述承载组件、所述雷达装置以及所述传输带相连接,其中,所述处理装置用于控制所述承载组件转动的角度;和/或控制传输带运动的距离。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.
应理解,上述测试平台的承载组件的转动和传输带运动的距离均可以通过控制中心,例如处理装置的控制实现,相较于人为控制更加准确。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.
第三方面,本申请实施例提供了一种装置,该装置包括:收发单元,用于发射雷达信号,以及用于接收所述雷达信号被目标模拟器反射的信号,其中,所述目标模拟器用于接收来自雷达装置的雷达信号并转发所述雷达信号,所述目标模拟器的中心与所述雷达装置的中心位于第一直线,所述第一直线平行于地面;处理单元,用于计算所述雷达装置的中心与所述目标模拟器的中心之间的第一距离,并根据第一距离确定系统误差,以及根据所述系统误差和权值计算通道误差,所述权值用于调整雷达装置的波束指向。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.
第四方面,本申请实施例提供了一种装置,该装置包括雷达和处理单元,其中,雷达可以用于发射雷达信号,以及用于接收所述雷达信号被目标模拟器反射的信号,其中,所述目标模拟器用于接收来自所述雷达的雷达信号并转发所述雷达信号,所述目标模拟器的中心与所述雷达的中心位于第一直线,所述第一直线平行于地面;处理单元,用于计算所述雷达的中心与所述目标模拟器的中心之间的第一距离,并根据第一距离确定系统误差,以及根据所述系统误差和权值计算通道误差,所述权值用于调整雷达的波束指向。在一些可能的实施例中,该雷达可以是上述方法设计中的雷达装置。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.
在一些可能的实施例中,所述第一距离是根据第一位置坐标和第二距离确定的,所述第一位置坐标为所述雷达装置的天线位置坐标,所述第二距离是根据雷达信号的传输时间和传输路程确定的,所述传输路程为所述雷达信号通过所述雷达装置发送、并经过目标模拟器反射后回到所述雷达装置的传输路径长度,所述传输时间为所述雷达信号经过所述传输路径的时间。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.
在一些可能的实施例中,所述第一位置坐标是根据所述雷达装置的中心的位置坐标以及第一角度和/或所述第二角度确定的,所述第一角度为所述雷达装置发射的波束在地面的投影与所述第一直线在地面的投影的夹角,所述第二角度为所述雷达装置的波束指向与地面的夹角。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.
在一些可能的实施例中,所述系统误差是根据第一距离以及第一位置坐标确定的。In some possible embodiments, the system error is determined according to the first distance and the first position coordinates.
在一些可能的实施例中,所述处理单元还用于旋转所述雷达装置,以用于改变所述第一角度和/或所述第二角度。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.
在一些可能的实施例中,所述权值包括理想权值和实际权值,所述实际权值是根据所述理想权值、所述系统误差和所述通道误差确定的。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.
在一些可能的实施例中,所述处理单元还用于根据所述通道误差和所述系统误差对所述实际权值进行补偿。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.
在一些可能的实施例中,所述处理单元还用于将所述雷达装置旋转所述第一角度,通过雷达装置发射第二信号,并接收来自所述目标模拟器转发的所述第二信号;根据所述第二信号确定所述目标模拟器相对雷达装置转动的第三角度;根据所述第一角度和所述第三角度确定通道补偿后的雷达装置的测角性能。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.
在一些可能的实施例中,所述处理单元还用于将所述雷达装置旋转所述第一角度,以及将所述雷达装置旋转所述第二角度,通过雷达装置发射第二信号,并接收来自所述目标模拟器转发的所述第二信号;根据接收的所述第二信号确定所述目标模拟器相对所述雷达装置转动的第四角度;根据所述第一角度、所述第二角度和所述第四角度确定雷达装置的测角性能。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.
上述第三方面和第四方面中各个可能的实施例能够达到的技术效果可以参照上述第二方面中各个实施例可以达到的技术效果描述,这里不再重复赘述。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.
第五方面,本申请实施例提供了一种装置,该装置包括至少一个处理器以及通信接口,所述通信接口用于为所述至少一个处理器提供程序指令,当所述至少一个处理器执行所述程序指令时,使得所述装置或者安装有所述装置的设备执行如第二方面中任意一项所述的方法。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.
第六方面,本申请实施例提供一种装置,该装置包括:存储器:用于存储指令;处理器,用于从所述存储器中调用并运行所述指令,使得所述装置或者安装有所述装置的设备执行如第二方面中任意一项所述的方法。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.
第七方面,提供再一种装置。该装置可以为上述方法设计中的雷达装置。示例性地,所述装置为设置在雷达装置中的芯片。示例性地,所述雷达装置为雷达。该装置包括:存储器,用于存储计算机可执行程序代码;以及处理器,处理器与存储器耦合。其中存储器所存储的程序代码包括指令,当处理器执行所述指令时,使该装置或者安装有该装置的设备执行上述第二方面的任意一种可能的实施方式中的方法。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.
其中,该装置还可以包括通信接口,该通信接口可以是雷达装置中的收发器,例如通过所述雷达装置中的天线、馈线和编解码器等实现,或者,如果该装置为设置在雷达装置中的芯片,则通信接口可以是该芯片的输入/输出接口,例如输入/输出管脚等。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.
第八方面,提供一种计算机存储介质,所述计算机可读存储介质中存储有指令,当其在计算机上运行时,使得计算机执行上述第二方面或第二方面的任意一种可能的设计中所述的方法。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.
第九方面,提供一种包含指令的计算机程序产品,所述计算机程序产品中存储有指令,当其在计算机上运行时,使得计算机执行上述第二方面或第二方面的任意一种可能的设计中所述的方法。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.
上述第三方面至第九方面及其实现方式的有益效果可以参考对第一方面的方法及其实现方式或第二方面的方法及其实现方式的有益效果的描述。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.
图1为本申请实施例提供的一种可能的应用场景;Figure 1 is a possible application scenario provided by an embodiment of this application;
图2为本申请实施例提供的一种测试平台的结构示意图;FIG. 2 is a schematic structural diagram of a test platform provided by an embodiment of the application;
图3为本申请实施例提供的雷达装置和目标模拟器的相对位置坐标示意图;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;
图4为本申请实施例提供的另一种测试平台的结构示意图;FIG. 4 is a schematic structural diagram of another test platform provided by an embodiment of the application;
图5为本申请实施例提供的又一种测试平台的结构示意图;FIG. 5 is a schematic structural diagram of yet another test platform provided by an embodiment of the application;
图6为本申请实施例提供的通道误差的确定方法的流程示意图;FIG. 6 is a schematic flowchart of a method for determining a channel error according to an embodiment of the application;
图7为本申请实施例提供的雷达装置的一种结构示意图;FIG. 7 is a schematic structural diagram of a radar device provided by an embodiment of the application;
图8为本申请实施例提供的雷达装置的另一种结构示意图;FIG. 8 is a schematic diagram of another structure of a radar device provided by an embodiment of the application;
图9为本申请实施例提供的雷达装置的又一种结构示意图;FIG. 9 is a schematic diagram of another structure of a radar device provided by an embodiment of the application;
图10为本申请实施例提供的雷达装置的再一种结构示意图。FIG. 10 is a schematic diagram of still another structure of a radar device provided by an embodiment of this application.
为了使本申请实施例的目的、技术方案和优点更加清楚,下面将结合附图对本申请实施例作进一步地详细描述。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.
请参考图1,为本申请实施例的一种可能的应用场景示意图。上述应用场景可以为无人驾驶、自动驾驶、智能驾驶、网联驾驶等。雷达装置可以安装在机动车辆(例如无人车、智能车、电动车、数字汽车等)、无人机、轨道车、自行车、信号灯、测速装置或网络设备(如各种系统中的基站、终端设备)等等。本申请实施例既适用于车与车之间的雷达装置,也适用于车与无人机等其他装置的雷达装置,或其他装置之间的雷达装置。另外,雷达装置可以安装在移动设备上,例如安装在车辆上作为车载雷达装置,或者也可以安装在固定的设备上,例如安装在路侧单元(road side unit,RSU)等设备上。本申请实施例对雷达装置安装的位置和功能等不做限定。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.
应理解,雷达或称为雷达装置,也可以称为探测器、雷达装置或者雷达信号发送装置等。其工作原理是通过发送信号(或者称为探测信号),并接收该发送信号经过目标物体反射的信号,来探测相应的目标物体。雷达所发射的信号可以是雷达信号,相应的,所接收的经过目标物体反射的信号也可以是雷达信号。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.
例如雷达装置可以应用于ADAS,ADAS利用雷达装置感知车辆周围的环境,以提供盲点监测、变道辅助、碰撞预警、自适应巡航等方面的辅助。毫米波雷达为雷达装置的一种,被广泛应用于车辆的自动驾驶。毫米波雷达通常配置MIMO天线,通过到达角(direction-of-arrival,DOA)估计方法来获取周围物体的角度信息。DOA估计方法利用电磁波在物体和各天线阵元之间的空间传播时延差异来确定物体相对雷达装置的角度信息。如果雷达装置确定了周围物体距离雷达装置的距离以及角度,就可以知道周围物体的位置, 从而实现盲点监测、变道辅助、碰撞预警、自适应巡航等方面的辅助。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.
但是在实际中,例如由于雷达装置的各个通道在例如物理上的差异导致各个通道之间存在幅度误差和/或相位误差,这就导致雷达装置确定的角度信息的准确度较低。例如不同发射天线的发射功率存在误差,那么这些不同发射天线对应的通道发射的信号的幅度存在误差,导致确定的角度信息的准确度较低。为了得到准确的角度等信息,可以在根据不同通道接收的回波信号确定角度信息之前,补偿上述各个通道之间存在幅度误差和/或相位误差,这个补偿过程也可以称为通道校准。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.
通道校准的方法之一,例如背景技术中记载的“远场条件法”,要求物体距离雷达装置的距离需大于最小距离,即满足各接收通道,信号在空间传播的路程差等于十六分之一波长时对应的发射天线到接收天线的距离。但是实际中,目标物体与车载雷达可能不满足上述远场条件,相对远场来说,可以认为是近场。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.
针对近场的通道误差的确定,目前的一种方案是通过探针遍历各个天线,当探针位于某个天线上方时,测量该探测接收的信号的幅度和相位,根据该幅度和相位确定通道误差。由于探测遍历各个天线,所以该方案也可以称为“探针轮巡法”。但是“探针轮巡法”要求探针与天线之间的距离在0.25-0.5倍波长范围内,这就需要较高精度的定位仪搭载探针,对平台搭建要求较高。且如果是MIMO雷达,即存在多个发射天线和多个接收天线,对应发射天线来说,探针需要发射信号,对于接收天线来说,探针需要接收信号,这就需要多次切换探测的发射操作和接收操作,测试效率较低。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.
鉴于此,本申请实施例提供了一种测试平台以及通道误差的确定方法,该测试平台包括雷达装置和目标模拟器,简单来说就是提供符合远场条件的测试平台。目标模拟器包括发射天线和接收天线,可以通过接收天线接收信号,也可以通过发射天线向外发射信号。雷达装置向目标模拟器发送雷达信号,目标模拟器接收该雷达信号,并向雷达装置转发该雷达信号。基于该测试平台,本申请实施例可以计算雷达装置和目标模拟器之间的空间几何关系,例如雷达装置的每个阵元(发射天线或接收天线)到目标模拟器的距离,进而根据该空间几何关系确定雷达装置的通道误差。相较于手动测量雷达装置和目标模拟器之间的空间几何关系来确定雷达装置的通道误差来说,提高了确定通道误差的准确度和效率。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.
下面结合附图对本申请实施例进行详细的描述。The embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.
请参见图2,测试平台包括雷达装置100和目标模拟器200。雷达装置100具有至少一个发射天线和至少一个接收天线,用于向周围的物体发射信号,并接收周围的物体反射的信号。具体的,雷达装置100可以通过至少一个发射天线发送雷达信号,该雷达信号遇到目标物体,被目标物体发射后,被雷达装置100的接收天线接收。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.
目标模拟器200可以认为是具有接收信号和发送信号功能的目标物体。例如,在本申请实施例中,目标模拟器200可以包括发射天线202和接收天线203,雷达装置100发射的雷达信号可以被目标模拟器200的接收天线203接收,目标模拟器200可以通过发射天线202向雷达装置100转发接收的该雷达信号。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.
本申请实施例旨在如何确定雷达装置100与目标模拟器200之间的空间几何关系,进而根据该空间几何关系计算雷达装置100每个接收天线相对发射天线的波程。应理解,雷达装置100与目标模拟器200之间的空间几何关系包括雷达装置100的每个阵元(发射天线或接收天线)到目标模拟器200的距离。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.
为此,本申请实施例提供的测试平台中的雷达装置100的中心和目标模拟器200的中 心位于同一直线(图2以虚线进行示意),该直线可以平行于第一平面,在下文中称为第一直线。应理解,第一平面可以是地面,也可以是水平面,或者第一平面是与雷达装置100的天线阵面垂直的平面。当雷达装置100的中心和目标模拟器200的中心位于第一直线,可以认为雷达装置100的中心和目标模拟器200的中心对准,那么雷达装置100的中心和目标模拟器200的中心之间的距离,例如为第一距离是固定的。应理解,目标模拟器200的发射天线202和接收天线203之间的连线可以与地面平行,也可以与地面垂直(图2以与地面垂直为例),目标模拟器200的中心可以是发射天线202和接收天线203之间的连线的中点。由于雷达装置100的某个发射天线或接收天线相对于雷达装置100的中心的位置是固定的,所以可以根据第一距离以及雷达装置100中心的位置坐标和目标模拟器200中心的位置坐标计算某个发射天线或接收天线与目标模拟器200之间的距离。相较于目前针对每个天线,单独测量该天线到目标模拟器200的距离来说,显然效率更高。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.
在一个示例中,可以利用激光器将雷达装置100的中心和目标模拟器200的中心对准,以尽量保证雷达装置100的中心和目标模拟器200的中心对准的精确度。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.
请继续参见图2,本申请实施例提供的测试平台还包括第一激光器201和第二激光器300,第一激光器201设置于目标模拟器200,例如第一激光器201可以设置于目标模拟器200中的发射天线202和接收天线203的连线的中心。雷达装置100位于第二激光器300和目标模拟器200之间,第一激光器201发射激光穿过雷达装置100的中心,第二激光器300发射激光,如果第一激光器201发射的光束和第二激光器300发射的光束位于同一直线,那么雷达装置100的中心和目标模拟器200的中心实现对准。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.
雷达装置100的中心和目标模拟器200的中心对准后,可以建立雷达装置100和目标模拟器200的相对位置关系。请参见图3,为雷达装置100和目标模拟器200相对位置示意图。本申请实施例可以以雷达装置100的中心为原点建立三维坐标系(如图3所示的x、y、z方向所示的坐标系),假设雷达装置100包括M个发射天线和N个接收天线,那么第m(1≤m≤M)个发射天线T
m的坐标满足公式(1),第n(1≤n≤N)个接收天线R
n的坐标满足公式(2)。应理解,这里的第m个发射天线是指任意一个发射天线,第n个接收天线也是指任意一个接收天线。
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.
应理解,在公式(1)中括号内的“T”表示发射,括号外的“T”表示转置;在公式(2)中括号内的“R”表示接收,括号外的“T”表示转置。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.
应理解,从雷达装置100的远场视角来看,那么雷达装置100的等效接收阵列的第mn个阵元位置满足公式(3):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):
如果雷达装置100阵列(天线)为平面阵列(天线),那么任意m和n,有
If the radar device 100 array (antenna) is a planar array (antenna), then any m and n, there are
假设雷达装置100的中心到目标模拟器200的中心的距离为L,那么目标模拟器200的发射天线A
T的坐标满足公式(4),接收天线A
R的坐标满足公式(5):
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 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)
A R =(x R ,y R ,z R ) T =(x R ,L,z R ) T (5)
在确定雷达装置100的系统误差时,考虑到雷达装置100在不同波束指向下的系统误差可能不同,在本申请实施例中,可以旋转雷达装置100的位置,模拟雷达装置100在某个波束指向探测周围的目标物体。应理解,雷达装置100的波束指向包括波束在水平方向上的指向,也可以包括波束在俯仰方向上的指向。为了便于理解,请继续参见图3,雷达装置100在水平方向上旋转θ,那么雷达装置100的波束指向在xoy平面的投影与y轴正方向的夹角为θ,应理解,这里xoy平面也可以理解是地面,那么雷达装置100的波束指向在xoy平面的投影与y轴正方向的夹角θ,也可以认为是雷达装置100的波束指向在地面的投影与第一直线在地面的投影的夹角θ,在下文中称为第一角度。雷达装置100在z轴方向上旋转φ,那么雷达装置100的波束指向与xoy平面的夹角为φ,在下文中称为第二角度。应理解,第一角度和第二角度的维度不同,例如第一角度可以理解为对应水平维度,对应的,第二角度对应俯仰维度。需要改变雷达装置100的波束指向时,可以先将雷达装置100在水平维度上旋转第一角度,再将雷达装置100在俯仰维度上旋转第二角度;或者,也可以先将雷达装置100在俯仰维度上旋转第二角度,再将雷达装置100在水平维度上旋转第一角度。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.
雷达装置100通过发射天线T
m发射雷达信号,例如为第一信号,那么发射天线T
m的坐标满足公式(6),接收天线R
n的坐标满足公式(7):
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)
T m,θ =C(θ)T m T (6)
R
n,θ=C(θ)R
n
T (7)
R n,θ =C(θ)R n T (7)
上述公式(6)、公式(7)和公式(8)可以认为雷达装置100的发射天线的位置坐标和接收天线的位置坐标均可以根据雷达装置100的中心的位置坐标以及第一角度确定。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.
应理解,如果雷达装置100还转动第二角度,那么雷达装置100的发射天线的位置坐标和接收天线的位置坐标可以根据雷达装置100的中心的位置坐标以及第一角度和第二角度确定。例如将公式(8)中的C(θ)适应性修改为C(θ,φ),即将C(θ)从θ维度扩展到θ维度以及φ维度。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.
目标模拟器200的接收天线接收该第一信号,并通过发射天线转发该第一信号,该第一信号被雷达装置100的接收天线R
n接收。通过雷达信号的传输时间和传输路程可以确定第二距离,其中第二距离为雷达装置100的第m个天线到目标模拟器200的接收天线的距离与雷达装置100的第n个天线到目标模拟器200的发射天线之间的距离之和,进而确定系统误差。例如通过电磁波的传播速度以及第一信号的传输时间(第一信号的发送时刻与接收第一信号的接收时刻之间的时间差)可以确定雷达信号通过雷达装置100发送、并经过目标模拟器200反射后回到雷达装置100的传输路径长度r
mn。假设由于目标模拟器200的内部延迟,目标模拟器200接收第一信号到目标模拟器200发射第一信号的时间内,第一信号的传播距离为r
A,即目标模拟器200内部延迟对应的传播距离为r
A,那么r
mn、r
A以及第二距离s
mn满足公式(9):
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)
r mn -r A =s mn (9)
基于该第二距离s
mn和雷达装置100的天线位置坐标,例如为第一位置坐标可以计算获得第一距离。应理解,第一位置坐标包括雷达装置100的第m个发射天线的位置坐标,也 包括雷达装置100的第n个接收天线的位置坐标。假设雷达装置100的中心到目标模拟器200的中心的距离,即第一距离为L,那么第二距离满足公式(10),第二距离转成矢量满足公式(11):
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)
s mn =||T m,θ -A R || 2 +||A T -R n,θ || 2 (10)
其中,||·||
2表示求二范数。
Among them, ||·|| 2 means finding the second norm.
s(θ,φ)=[s
11,…,s
mn,…,s
MN]
T (11)
s(θ,φ)=[s 11 ,…,s mn ,…,s MN ] T (11)
令θ=0°,φ=0°,由公式(1)、公式(2)、公式(4)、公式(5)、公式(6)、公式(7)、公式(8)、公式(9)和公式(11)可以得出公式(12):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):
通过公式(12)可以计算得出L。L can be calculated by formula (12).
应理解,目标模拟器200用于接收来自雷达装置100的第一信号,并向雷达装置100发送该第一信号。为了尽量保证目标模拟器200可以接收到来自雷达装置100的第一信号,目标模拟器200的接收天线203可以是喇叭天线,且喇叭开口朝向雷达装置100。同理,目标模拟器200的发射天线202也可以是喇叭天线,且喇叭开口朝向雷达装置100。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.
L已知,本申请实施例可以通过雷达装置100的发射天线和接收天线的位置坐标以及L计算雷达装置100的各个天线和目标模拟器200的发射天线或接收天线的相对位置。例如雷达装置100的各个天线的相对位置关系是雷探测装置出厂时固定设置的,目标模拟器200的发射天线202和接收天线203的相对位置也是目标模拟器200出厂时固定设置的,所以根据L以及雷达装置100的某个天线的位置坐标,以及目标模拟器200的例如发射天线的位置坐标可以计算某个天线与目标模拟器200的发射天线202的相对位置关系,或者在一些实施例中,某个天线与目标模拟器200的发射天线202的相对位置关系也可以理解为某个天线与目标模拟器200的发射天线的距离。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.
本申请实施例通过雷达装置100的各个天线和目标模拟器200的发射天线202或接收天线203的相对位置可以通过公式(1)、公式(2)、公式(4)、公式(5)、公式(11)计算第二距离,进而通过第二距离确定雷达装置100的通道误差。采用该方案,由于第二距离是计算得到的,相较于目前通过测量获得第二距离来说,可以避免人工测量带来的误差,显然准确度较高。例如雷达装置100为车载雷达,其所采用的频段位于76GHz-81GHz频段范围,该频段范围对应的波长位于3.70mm~3.95mm范围内。一般来说测量误差需远小于波长,比如1/10波长,那么要求手动测量误差需要在亚毫米级,较难保证。同时确定通道误差的效率也较高,且可以实现近场通道误差的补偿。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.
下面介绍如何确定雷达装置100的通道误差。The following describes how to determine the channel error of the radar device 100.
假设雷达装置100发射的波束在xoy平面的投影与y轴正方向的夹角为θ,波束指向与xoy平面的夹角φ,理想权值矢量w(θ,φ)满足公式(13):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)w(θ,φ)=b⊙a(θ,φ) (13)
在公式(13)中,b为各通道相同的幅度加权值,“⊙”表示对应元素相乘,其中,In formula (13), b is the same amplitude weighted value of each channel, and "⊙" means the corresponding elements are multiplied, where,
其中,λ为载波波长。Among them, λ is the carrier wavelength.
应理解,如果雷达装置100的通道误差不随着天线转动的角度发生变化,即θ=0°,φ=0°,那么a(θ,φ)即a(0,0)=[1,…,1,…1]
T,w(θ,φ)即w(θ,φ)=b⊙a(θ,φ)。
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).
通过上述的波程矢量确定的系统实际误差向量β(θ,φ)满足公式(16):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)
β(θ,φ)=e j2πs(θ,φ)/λ ./a(θ,φ) (16)
其中,“./”表示对应元素相除。Among them, "./" means that the corresponding element is divided.
理想权值矢量w(θ,φ)、实际权值矢量
以及系统误差和通道误差满足公式(17):
Ideal weight vector w(θ,φ), actual weight vector And the system error and channel error satisfy formula (17):
其中,γ为通道误差。Among them, γ is the channel error.
根据公式(17)可以得出:According to formula (17), we can get:
γ=[γ
11,…,γ
mn,…,γ
MN]
T (18)
γ=[γ 11 ,…,γ mn ,…,γ MN ] T (18)
考虑到雷达装置100的波束指向不同时,对应的系统误差也所有不同。所以在本申请的一个示例中,请参见图4,测试平台还可以包括承载组件400,该承载组件400用于承载雷达装置100,该承载组件400可以转动,以带动雷达装置100转动,可以调整雷达装置100的波束指向。应理解,这里的波束指向可以包括上述的第一角度和/或第二角度。应理解,雷达装置100的等效天线阵列的相位中心位于承载组件400沿第二方向的中心轴(图4以虚线示意)上。其中第二方向和第一方向垂直,也就是承载组件400的中心轴与第一直线垂直。可选的,为了保证雷达装置100的等效天线阵列的相位中心位于承载组件400沿第二方向的中心轴上,可以采用固定组件500将雷达装置100固定在承载组件400上。同时为了兼容雷达装置100的中心与目标模拟器200的中心对准,第二激光器300也可以固定在承载组件400上。例如第二激光器300通过固定件600固定在承载组件400上。第二激光器300发射的光束始终平行于承载组件400的上表面。转动承载组件400实现雷达装置100的中心和目标模拟器200的中心的校准。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.
示例性的,承载组件400可以是转台,在与地面平行的平面上可以360°范围内旋转。承载组件400可以是圆柱体转台(图4以此为例),该圆柱体转台的高度可以根据实际需要设定。固定组件500与承载组件400可以是一体化设计,也可以是分离的。一体化设计可以使得当雷达装置100安装在固定组件时,雷达装置100的中心始终位于承载组件400的中心轴上。如果是分离设计的固定组件500与承载组件400,那么可以根据需要,调整固定组件500在承载组件400的位置,当雷达装置100的中心不在承载组件400的中心轴上,通过调整固定组件500在承载组件400上的位置,可以使得雷达装置100的中心始终位于承载组件400的中心轴上。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.
固定件600可以是L型结构,或者其他可能的结构。在一种可能的设计中,固定件600设置在承载组件400远离目标模拟器200的一侧,且可以沿承载组件400的中心轴方向滑动,例如在承载组件400开设有滑槽,固定件600可以沿该滑槽滑动,即使雷达装置100和目标模拟器200相对地面的高度发生变化,只需要调整固定件600的高度即可实现第二激光器300与第一激光器201对准。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.
在确定雷达装置100的波束指向某个方向时的系统误差时,只需要转动承载组件400,使得雷达装置100的波束指向某个方向,通过雷达装置100发送第一信号,并接收来自目标模拟器200转发的第一信号,根据前述的多个公式可以计算雷达装置100发射的波束例如在xoy平面的投影与y轴正方向的夹角为θ时,雷达装置100的通道误差。可见,采用本申请实施例提供的测试平台,通过承载组件400不需要重新搭建另外的测试平台,就可 以较为方便地测试雷达装置在各个波束指向的系统误差β。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.
本申请实施例采用确定的通道误差γ和系统误差β对各个通道进行补偿,也就是对实际权值进行补偿,以消除各个通道的相位差和/或幅度差对雷达装置的性能的影响。尽管对雷达装置100的各个通道进行补偿,但是补偿后的雷达装置100的探测性能,例如测角性能可能还是较低。对此,本申请实施例还可以验证补偿后的雷达装置100的测角性能,如果测角性能还是较低,那么可能确定的通道误差还是较大,可以再次确定雷达装置100的通道误差,以对雷达装置100的各个通道再次补偿,尽量保证雷达装置100的测角性能。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.
示例性的,本申请实施例可以旋转承载组件400,并采用旋转后的雷达装置100来探测目标模拟器200,也就是确定目标模拟器200相对雷达装置100的角度。例如,以旋转承载组件400之前,雷达装置100和目标模拟器200的相对位置关系为雷达装置100和目标模拟器200的初始状态,该初始状态也可以理解为目标模拟器200相对雷达装置100的角度为0°。旋转承载组件400某一角度,例如第一角度,也就是将雷达装置100旋转第一角度,对应地,目标模拟器200相对雷达装置100的角度也是该第一角度。如果雷达装置100的测角性能角度,那么通过雷达装置100测量的目标模拟器200相对雷达装置100的角度不等于第一角度。雷达装置100测量的目标模拟器200相对雷达装置100的角度与第一角度相差越小,相对的,雷达装置100的测角性能越好。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.
本申请实施例的测试平台,可以实现测量雷达装置100在各个波束指向的测角性能。例如,以测量雷达装置100在水平方向的波束指向是第一角度时的测角性能为例。本申请实施例可以将雷达装置100旋转第一角度,通过雷达装置100发射第一信号并接收来自目标模拟器200转发的第一信号,雷达装置100根据接收的第一信号进行DOA估计,也就是目标模拟器200相对雷达装置100的角度,例如称为第三角度。该第三角度可以认为是以雷达装置100的中心与目标模拟器200的中心的第一连线为基准,雷达装置100旋转第一角度后,目标模拟器200的中心与雷达装置100的中心的第二连线偏移第一连线的角度。理想情况下,第三角度等于第一角度,如果第三角度和第一角度之间的差值越小,那么雷达装置100的测角性能越好。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.
雷达装置100可以根据接收的第一信号进行DOA估计,也就是计算第三角度,具体的,例如雷达装置100旋转(θ,0),也就是雷达装置100旋转第一角度θ。按照实际测量权值
补偿系统误差和通道误差,获得补偿后的权值
再根据
进行DOA估计,获得目标角度,例如
其中,
满足公式(20):
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):
可以获得目标角度的误差,该误差满足公式(21):The error of the target angle can be obtained, and the error satisfies formula (21):
由公式(21)可以验证通道补偿后的雷达装置100的测角性能的好坏。如果θ
err的取值较小,那么该雷达装置100的测角性能较好;而如果θ
err的取值较大,那么该雷达装置100的测角性能较差,那么可以认为雷达装置100的通道补偿的准确度较低,可以对雷达装置100的通道重新进行补偿。采用该测试平台,不需要单独搭建用于验证雷达装置100测角性能的测试平台。或者可以理解为,本申请实施例复用验证雷达装置100测角性能的测试平台,实现确定通道误差的功能。
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.
又例如,以测量雷达装置100在水平方向的波束指向是第一角度,且雷达装置100的俯仰角度是第二角度时的测角性能为例。本申请实施例可以将雷达装置100旋转第一角度,并将雷达装置100旋转第二角度,通过雷达装置100发射第二信号并接收来自目标模拟器200转发的第二信号,雷达装置100根据接收的第二信号进行DOA估计,也就是目标模拟器200相对雷达装置100的角度,例如称为第四角度。应理解,该第四角度可以认为是以雷达装置100的中心与目标模拟器200的中心的第一连线为基准,雷达装置100旋转第一 角度和第二角度后,目标模拟器200的中心与雷达装置100的中心的第二连线偏移第一连线的角度。理想情况下,第四角度等于第一角度,如果第四角度和第一角度之间的差值越小,那么雷达装置100的测角性能越好。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.
类似的,雷达装置100可以根据接收的第二信号进行DOA估计,也就是计算第四角度。与计算第三角度类似,例如雷达装置100旋转(θ,φ),其中,θ为雷达装置100旋转的第一角度,φ为雷达装置100旋转的第二角度。那么有按照实际测量权值
补偿系统误差和通道误差,获得补偿后的权值
再根据
进行DOA估计,获得目标角度,例如
其中,
满足公式(22):
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 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 (22):
可以获得目标角度的误差,该误差满足公式(23):The error of the target angle can be obtained, and the error satisfies formula (23):
由公式(23)可以验证通道补偿后的雷达装置100的测角性能的好坏。如果θ
err的取值和φ
err的取值较小,那么该雷达装置100的测角性能较好;而如果θ
err的取值和φ
err的取值较大,那么该雷达装置100的测角性能较差,那么可以认为雷达装置100的通道补偿的准确度较低,可以对雷达装置100的通道重新进行补偿。
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.
应理解,如果测量雷达装置100在各个俯仰方向上的测角性能,令上述公式(22)中的θ为0即可,这里不再赘述。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.
应理解,上述公式(19)所示的通道误差默认与雷达装置100的波束指向无关,即雷达装置100在各个波束指向上,通道误差是相同的。考虑到实际中,除了雷达装置100各个通道在物理上的差异会造成各个通道之间的通道误差,可能还包括其他可能因素造成雷达通道100的通道误差,那么雷达装置100在各个波束指向上的通道误差可能是不同的。这种情况下,本申请实施例提供的测试平台同样可以测试雷达装置100在各个波束指向上的通道误差。例如上述公式(19)的一种变形为公式(24):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):
通过公式(24)可以确定雷达装置在各个波束指向的通道误差γ。The channel error γ of the radar device in each beam direction can be determined by formula (24).
应理解,如果本申请实施例采用上述公式(24)确定雷达装置100在各个波束指向上的通道误差,理想情况下,公式(23)中的θ
err和φ
err的取值为0。
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.
应理解,图4所示的测试平台中的承载组件400以及固定组件500是为了验证雷达装置100的测角性能所设置的。如果是为了确定雷达装置100的通道误差,可以不设置承载组件400和固定组件500。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.
在一种可能的场景中,存在多种规格的雷达装置100,不同规格的雷达装置100对应的实际测量距离可能不同。例如存在长距离雷达装置100,即该雷达装置100的测量距离较长,相对的,存在短距离雷达装置100,即该雷达装置100的测量距离较短。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.
为了兼容测量多种规格的雷达装置100的通道误差和/或测角性能,在一个示例中,请参见图5,本申请实施例提供的测试平台还可以包括传输带700。该传输带700可以承载目标模拟器200,可以调整目标模拟器200在该传输带700上的位置,以调整目标模拟器200与雷达装置100之间的距离,从而可以兼容测量多种规格的雷达装置100的通道误差和/或测角性能。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.
在另一个示例中,请继续参见图5,本申请实施例提供的测试平台还可以包括处理装置800,该处理装置800可以与雷达装置100、目标模拟器200、承载组件400相连接。应 理解该处理装置800可以控制承载组件400的转动、调整目标模拟器200在传输带700上的位置。该处理装置800也可以确定雷达装置100的各个通道的误差。例如在另一个示例中,测试平台可以包括处理装置、雷达装置100和目标模拟器200,其中,处理装置800可以确定雷达装置100的各个通道的通道误差。当然,雷达装置100可以包括处理器,该处理器也可以确定雷达装置100的各个通道的通道误差,在实际中由处理装置还是雷达装置100确定雷达装置100的各个通道的通道误差,本申请实施例不作限制。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.
需要说明的是,上述以雷达装置100和目标模拟器200的相对位置关系采用绝对坐标系为例,也就是目标模拟器200的位置坐标是固定的,不会因为雷达装置100的位置坐标发生变化而改变。应理解,在另一个示例中,也可以采用相对坐标系来表征雷达装置100和目标模拟器200的相对位置关系。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.
例如,本申请实施例也可以设置雷达坐标系,即以雷达装置100的等效相位中心为原点,图3所示的y轴始终垂直于雷达装置100的天线阵面建立坐标系。也就是雷达装置100的位置始终不变,但目标模拟器200相对所处角度随转台的旋转发生变化。那么上述公式(10)的一种变形为公式(25):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)
s mn =||T m -A R,θ || 2 +||A T,θ -R n || 2 (25)
应理解,公式(25)下的通道误差的计算以及测角性能的验证,均以雷达装置100的发射的光束在θ维度上为例。在另一个示例中,通道误差的计算以及测角性能的验证可以扩展到雷达装置100的发射的光束在θ维度和在φ维度上。对应的,将上述的C(θ)适应性修改为C(θ,φ),即将C(θ)从θ维度扩展到θ维度以及φ维度。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.
通过本申请实施例提供的测试平台可以计算雷达装置100的中心到目标模拟器200的中心的第一距离,根据该第一距离可以确定雷达装置100的各个天线和目标模拟器200的发射天线202或接收天线203的相对位置,从而可以计算第二距离,进而确定雷达装置100的通道误差。采用该方案,可以实现近场通道误差的补偿。同时在确定雷达装置100的通道误差时,不需要每次测量第二距离,效率较高,可以避免人工测量带来的误差。同时,计算第二距离之后可以根据雷达装置发射信号的频率计算需要补偿的相位差的值。利用需要补偿的相位差的值可以消除近场环境对雷达装置的影响,从而符合远场条件的测试。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.
下面结合上述图2、图4或图5所示的测试平台,以及结合图3所示的雷达装置100和目标模拟器200的绝对坐标系,介绍本申请实施例提供的通道误差确定方法的流程。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. .
请参见图6,为本申请实施例提供的通道误差确定方法的流程示意图,该方法可以适用于上述的测试平台,例如该方法的执行主体可以是上述的雷达装置100,也可以是独立于雷达装置100的例如上述测试平台中的处理装置800,处理装置800和雷达装置100共同实现上述的方法。在下文中,以该方法的执行主体是雷达装置100为例,本申请实施例对此不作限制。该方法的流程描述如下: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、计算雷达装置100的中心与目标模拟器200的中心之间的第一距离。S601. Calculate the first distance between the center of the radar device 100 and the center of the target simulator 200.
应理解,所述步骤S601例如可以由雷达装置100来执行。本申请实施例在确定雷达装置100的通道误差时,可以先计算雷达装置100的中心与目标模拟器200的中心之间的第一距离,从而根据第一距离确定形成各个通道的接收天线和发射天线之间的波程,进而确定通道误差。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.
由于雷达装置100的例如第m个发射天线和第n个接收天线相对于雷达装置100的中心的位置是固定的,所以可以根据第mn个通道与目标模拟器200之间的波程以及雷达装置100中心的位置坐标和目标模拟器200中心的位置坐标可以计算第一距离,所述第mn个通道是指第m个发射天线和第n个接收天线直接所形成的信号通路。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.
具体的,计算雷达装置100的中心与目标模拟器200的中心之间的第一距离时,首先可以通过雷达装置100向目标模拟器200发送雷达信号,并接收来自目标模拟器200转发的雷达信号。例如通过雷达装置100的第m个发射天线向目标模拟器200发送雷达信号,并通过雷达装置100的第n个接收天线接收来自目标模拟器200转发的雷达信号。又例如通过雷达装置100向目标模拟器200发送雷达信号,并接收来自目标模拟器200转发的雷达信号,这种情况下,不限制雷达装置100发送雷达信号采用的发射天线,但是雷达装置100可以确定该雷达信号对应的某个通道,也就是发送该雷达信号的发射天线,例如第m个发射天线和接收该雷达信号的接收天线,例如第n个接收天线形成的通道。应理解,m,n均为大于或等于1的整数。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.
示例性的,本申请实施例事先可以建立雷达装置100和目标模拟器200的位置坐标。在一些实施例中,可以建立雷达装置100的绝对位置坐标,例如以雷达装置100的中心为坐标原点建立如图3所示的三维坐标系,那么第m个发射天线T
m的坐标满足上述公式(1),第n个接收天线R
n的坐标满足上述公式(2)。以雷达装置100的位置坐标为参考,可以建立目标模拟器200的位置坐标,那么目标模拟器200的发射天线A
T的坐标满足上述公式(4),目标模拟器200的接收天线A
R的坐标满足上述公式(5)。应理解,在另一些实施例中,可以建立目标模拟器200的绝对位置坐标,那么以目标模拟器200的位置坐标为参考,可以建立雷达装置100的位置坐标,该位置坐标为相对位置坐标。在下文中,以建立雷达装置100的绝对位置坐标为例。
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.
如果雷达装置100旋转第一角度,由于第m个发射天线、第n个发射天线与雷达装置100的位置坐标的关系已知,所以可以根据雷达装置100的位置坐标确定第m个发射天线和第n个接收天线的位置坐标。具体可通过上述公式(6)、公式(7)和公式(8)确定第m个发射天线和第n个发射天线的位置坐标。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).
雷达装置100可以根据雷达信号的发送时刻、雷达信号接收时刻以及电磁波的传播速度,计算第mn个通道与目标模拟器200之间的波程,该波程也可以称为第二距离,也就是上述的s
mn。该第二距离s
mn可以认为是雷达装置100的第m个天线到目标模拟器200的接收天线的距离与雷达装置100的第n个天线到目标模拟器200的发射天线之间的距离之和。目标模拟器200接收到雷达信号,由于目标模拟器200的内部延迟导致目标模拟器200延迟将雷达信号转发给雷达装置100。所以第二距离实际上是雷达信号的传播路程,例如上述的r
mn和目标模拟器200内部延迟对应的传播距离r
A的差值,所以根据r
mn和r
A可以计算获得第二距离s
mn。
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 .
而第二距离s
mn的另一种表示方式,即通过第一距离、第m个发射天线的位置坐标、第n个接收天线的位置坐标,以及目标模拟器200的发射天线的位置坐标和目标模拟器200的接收天线的位置坐标可以计算获得第二距离s
mn,例如上述公式(10),假设雷达装置100的中心到目标模拟器200的中心的距离,即第一距离为L,那么第二距离s
mn满足上述公式(12)。由于第m个发射天线的位置坐标、第n个发射天线的位置坐标、目标模拟器200的发射天线202的位置坐标和接收天线203的位置坐标均已知,且第二距离s
mn已知,所以 根据上述公式(12)可以计算获得第一距离L。
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).
在本申请实施例中,基于上述的测试平台,模拟雷达装置100向目标模拟器200发送一次雷达信号就可以计算雷达装置100的中心和目标模拟器200的中心之间的第一距离,从而后续可以根据第一距离以及雷达装置100的天线位置坐标和目标模拟器200的天线位置坐标计算雷达装置100的某个发射天线或接收天线与目标模拟器200之间的距离,进而根据该距离确定雷达装置100的系统误差以及通道误差。相较于目前针对每个天线,单独手动测量该天线到目标模拟器200的距离来说,显然效率更高,且更为准确。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、根据第一距离确定雷达装置100的系统误差。S602. Determine the systematic error of the radar device 100 according to the first distance.
例如需要确定雷达装置100的波束指向某个方向时,雷达装置100的系统误差时,可以转动承载组件400,使得雷达装置100的波束指向某个方向,例如转动承载组件400,使得雷达装置100旋转例如上述的第一角度。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.
将第一角度代入前述公式(1)和公式(8)可以得到例如雷达装置的第m个发射天线的位置坐标,将第一角度代入前述公式(2)和公式(8)可以得到雷达装置的第n个接收天线的位置坐标,结合公式(4)、公式(5)、公式(11)和公式(12)以及第一距离可以确定第二距离。以此类推,可以确定雷达装置的各个通道对应的第二距离,也称为波程,可以将各个通道的波程转化为波程矢量,例如是前述公式(10)。从而根据该波程矢量确定与第一角度对应的系统误差。具体可参考上述例如公式(13)-公式(16)的介绍,这里不再赘述。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.
应理解,需要确定雷达装置100在各个俯仰方向上的系统误差,可以转动承载组件400,使得雷达装置100旋转例如上述的第二角度,这种情况下,确定雷达装置100的系统误差的过程类似在第一角度下确定雷达装置100的系统误差的过程,这里不再赘述。或者,需要确定雷达装置100在水平维度和俯仰维度上的系统误差,可以转动承载组件400,使得雷达装置100旋转例如上述的第一角度和第二角度,这种情况下,确定雷达装置100的系统误差的过程类似在第一角度下确定雷达装置100的系统误差的过程,这里不再赘述。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、根据系统误差、理论权值和实际权值计算雷达装置100的通道误差。S603: Calculate the channel error of the radar device 100 according to the system error, the theoretical weight and the actual weight.
确定了系统误差,可以转化为系统实际误差向量,结合理论权值和实际权值确定雷达装置100的通道误差。具体的可以根据如上述的公式(14)、公式(15)和公式(16)计算获得。进而根据公式(17)和公式(19)确定雷达装置100的通道误差,具体可以参考上述针对这几个公式的实施例的介绍,这里不再赘述。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.
通过本申请实施例提供的测试平台可以计算雷达装置100的中心到目标模拟器200的中心的第一距离,根据该第一距离可以确定第二距离,从而通过该第二距离确定雷达装置100的通道误差。采用该方案,可以实现近场通道误差的校准。同时在确定雷达装置100的通道误差时,不需要每次人工测量第二距离,效率较高,可以避免人工测量带来的误差。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.
进一步地,本申请实施例可以利用上述的测试平台验证通道校准后的雷达装置100的测角性能的好坏。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.
示例性的,利用承载组件400旋转雷达装置100,雷达装置100发射信号并接收来自目标模拟器200的信号,雷达装置100根据接收的信号进行DOA估计。例如根据补偿后的实际测量权值进行DOA估计,比较两次DOA估计得到的目标角度,从而根据比较结果确定通道校准后的雷达装置100的测角性能的好坏。具体可参考上述关于公式(20)-公式(23)的实施例的介绍,这里不再赘述。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.
采用该测试平台,不需要单独搭建用于验证雷达装置测角性能的测试平台。或者可以理解为,本申请实施例复用验证雷达装置测角性能的测试平台,实现确定通道误差的功能。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.
本申请的各个实施方式可以任意进行组合,以实现不同的技术效果。The various embodiments of the present application can be combined arbitrarily to achieve different technical effects.
上述本申请提供的实施例中,从雷达装置作为执行主体的角度对本申请实施例提供的方法进行了介绍。可以理解的是,各个装置,例如雷达装置为了实现上述功能,其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,本申请实施例能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本申请实施例的范围。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.
本申请实施例可以对雷达装置进行功能模块的划分,例如,可对应各个功能划分各个功能模块,也可将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现,也可以采用软件功能模块的形式实现。需要说明的是,本申请实施例中对模块的划分是示意性的,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式。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.
例如,以采用集成的方式划分雷达装置各个功能模块的情况下,图7示出了本申请上述实施例中所涉及的雷达装置100的一种可能的结构示意图。该雷达装置100可以包括收发单元701和处理单元702,可选的该雷达装置还可以包括存储单元703。其中,收发单元701也可以称为接口单元,可以包括发送单元和/或接收单元。该存储单元703可以用于存储指令(代码或者程序)和/或数据。收发单元701和处理单元702可以与该存储单元703耦合,例如,处理单元702可以读取存储单元中的指令(代码或者程序)和/或数据,以实现相应的方法。上述各个单元可以独立设置,也可以部分或者全部集成。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.
在一些可能的实施方式中,处理单元702可以用于执行或控制图6所示的实施例中由雷达装置100所执行的除了收发操作之外的全部操作,例如S601、S602和S603,和/或用于支持本文所描述的技术的其它过程。收发单元701可以用于执行图6所示的实施例中由雷达装置100所执行的全部收发操作,和/或用于支持本文所描述的技术的其它过程。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.
在一些实施例中,收发单元701,用于发射雷达信号,以及用于接收雷达信号被目标模拟器200反射的信号,其中,目标模拟器200用于接收来自雷达装置100的雷达信号并转发雷达信号,目标模拟器200的中心与雷达装置100的中心位于第一直线,第一直线平行于地面;处理单元702,用于计算雷达装置100的中心与目标模拟器200的中心之间的第一距离,并根据第一距离确定系统误差,以及根据系统误差和权值计算雷达装置100的通道误差,其中,权值用于调整雷达装置100的波束指向。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.
作为一种可选的实施方式,第一距离是根据第一位置坐标和第二距离确定的,第一位置坐标为雷达装置100的天线位置坐标,第二距离是根据雷达信号的传输时间和传输路程确定的,传输路程为雷达信号通过雷达装置100发送、并经过目标模拟器200反射后回到雷达装置100的传输路径长度,传输时间为雷达信号经过传输路径的时间。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.
作为一种可选的实施方式,第一位置坐标是根据雷达装置100的中心的位置坐标以及第一角度和/或第二角度确定的,第一角度为雷达装置100的波束指向在地面的投影与第一直线在地面的投影的夹角,第二角度为雷达装置100的波束指向与地面的夹角。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.
作为一种可选的实施方式,系统误差是根据第一距离以及第一位置坐标确定的。As an optional implementation manner, the system error is determined according to the first distance and the first position coordinates.
作为一种可选的实施方式,处理单元702还用于旋转雷达装置100,以用于改变第一角度和/或第二角度。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.
作为一种可选的实施方式,权值包括理想权值和实际权值,通道误差是根据理想权值、系统误差和实际权值确定的。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.
作为一种可选的实施方式,处理单元702还用于根据通道误差和系统误差对实际权值进行补偿。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.
作为一种可选的实施方式,处理单元702还用于将雷达装置100旋转第一角度,通过雷达装置100发射第二信号,并接收来自目标模拟器200转发的第二信号;根据第二信号确定目标模拟器200相对雷达装置100转动的第三角度;根据第一角度和第三角度确定通道补偿后的雷达装置100的测角性能。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.
作为一种可选的实施方式,处理单元702还用于将雷达装置100旋转第一角度,以及将雷达装置100旋转第二角度,通过雷达装置100发射第三信号,并接收来自目标模拟器200转发的第三信号;根据接收的第三信号确定目标模拟器200相对雷达装置100转动的第四角度;根据第一角度、第二角度和第四角度确定雷达装置100的测角性能。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.
应理解,本申请实施例中的处理单元702可以由处理器或处理器相关电路组件实现,收发单元701可以由收发器或收发器相关电路组件或者通信接口实现。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.
图8为本申请实施例提供的雷达装置100的另一种可能的结构示意图。该雷达装置100可以包处理器801和通信接口,该通信接口可以包括发射器802以及接收器803。其功能可分别与图7所展示的处理单元702和收发单元701的具体功能相对应,此处不再赘述。收发单元701可以通过发射器802以及接收器803实现。可选的,雷达装置800还可以包含存储器804,用于存储程序指令和/或数据,以供处理器801读取。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.
图9提供了雷达装置100的再一种可能的结构示意图。雷达装置100包括发射天线901、接收天线902以及处理器903。进一步,所述雷达装置还包括混频器904和/或振荡器905。进一步,雷达装置100还可以包括低通滤波器和/或耦合器等。其中,发射天线901和接收天线902用于支持所述雷达装置100进行无线电通信,发射天线901支持雷达信号的发射,接收天线902支持雷达信号的接收和/或反射信号的接收,以最终实现探测功能。处理器903执行一些可能的确定和/或处理功能。进一步,处理器903还控制发射天线901和/或接收天线902的操作。具体的,需要发射的信号通过处理器903控制发射天线901进行发射,通过接收天线902接收到的信号可以传输给处理器903进行相应的处理。雷达装置100所包含的各个部件可用于配合执行图5所示的实施例所提供的方法。可选的,雷达装置100还可以包含存储器,用于存储程序指令和/或数据。其中,发射天线901和接收天线902可以是独立设置的,也可以集成设置为收发天线,执行相应的收发功能。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.
在一些可能的实施方式中,处理器903可以用于执行或控制图6所示的实施例中由雷达装置所执行的除了收发操作之外的全部操作,例如S601、S602和S603,和/或用于支持本文所描述的技术的其它过程。发射天线901和接收天线902可以用于执行图6所示的实施例中由雷达装置所执行的全部收发操作,和/或用于支持本文所描述的技术的其它过程。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.
在一些实施例中,发射天线901用于发射雷达信号,接收天线902用于接收雷达信号被目标模拟器200反射的信号,其中,目标模拟器200用于接收来自雷达装置100的雷达信号并转发雷达信号,目标模拟器200的中心与雷达装置100的中心位于第一直线,第一直线平行于地面;处理器903,用于计算雷达装置100的中心与目标模拟器200的中心之 间的第一距离,并根据第一距离确定系统误差,以及根据系统误差和权值计算雷达装置100的通道误差,其中,权值用于调整雷达装置100的波束指向。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.
作为一种可选的实施方式,第一距离是根据第一位置坐标和第二距离确定的,第一位置坐标为雷达装置100的天线位置坐标,第二距离是根据雷达信号的传输时间和传输路程确定的,传输路程为雷达信号通过雷达装置100发送、并经过目标模拟器200反射后回到雷达装置100的传输路径长度,传输时间为雷达信号经过传输路径的时间。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.
作为一种可选的实施方式,第一位置坐标是根据雷达装置100的中心的位置坐标以及第一角度和/或第二角度确定的,第一角度为雷达装置100的波束指向在地面的投影与第一直线在地面的投影的夹角,第二角度为雷达装置100的波束指向与地面的夹角。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.
作为一种可选的实施方式,系统误差是根据第一距离以及第一位置坐标确定的。As an optional implementation manner, the system error is determined according to the first distance and the first position coordinates.
作为一种可选的实施方式,处理器903还用于旋转雷达装置100,以用于改变第一角度和/或第二角度。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.
作为一种可选的实施方式,权值包括理想权值和实际权值,通道误差是根据理想权值、系统误差和实际权值确定的。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.
作为一种可选的实施方式,处理器903还用于根据通道误差和系统误差对实际权值进行补偿。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.
作为一种可选的实施方式,处理器903还用于将雷达装置100旋转第一角度,通过雷达装置100发射第二信号,并接收来自目标模拟器200转发的第二信号;根据第二信号确定目标模拟器200相对雷达装置100转动的第三角度;根据第一角度和第三角度确定通道补偿后的雷达装置100的测角性能。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.
作为一种可选的实施方式,处理器903还用于将雷达装置100旋转第一角度,以及将雷达装置100旋转第二角度,通过雷达装置100发射第三信号,并接收来自目标模拟器200转发的第三信号;根据接收的第三信号确定目标模拟器200相对雷达装置100转动的第四角度;根据第一角度、第二角度和第四角度确定雷达装置100的测角性能。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.
图7~图9所提供的雷达装置可以为实际通信场景中雷达装置的部分或者全部,或者可以是集成在雷达装置中或者位于雷达装置外部的功能模块,例如可以是芯片系统,具体以实现相应的功能为准,不对雷达装置结构和组成进行具体限定。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.
图10为本申请实施例提供的一种装置1000的结构示意图。图10所示的装置1000可以是雷达装置100本身,或者可以是能够完成雷达装置100的功能的芯片或电路,例如该芯片或电路可以设置在雷达装置100中。图10所示的装置1000可以包括处理器1001(例如处理单元702可以通过处理器801或处理器903实现,处理器801和处理器903例如可以是同一部件)和接口电路1002(例如收发单元701可以通过接口电路1002实现,发射器802和接收器803与接口电路1002例如为同一部件)。该处理器1001可以使得装置1000实现图6所示的实施例所提供的方法中雷达装置100所执行的步骤。可选的,装置1000还可以包括存储器1003,存储器1003可用于存储指令。处理器1001通过执行存储器1003所存储的指令,使得装置1000实现图6所示的实施例所提供的方法中雷达装置所执行的步骤。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.
进一步的,处理器1001、接口电路1002和存储器1003之间可以通过内部连接通路互相通信,传递控制和/或数据信号。存储器1003用于存储计算机程序,处理器1001可以从存储器1003中调用并运行计算机程序,以控制接口电路1002接收信号或发送信号,完成 图6所示的实施例所提供的方法中雷达装置执行的步骤。存储器1003可以集成在处理器1001中,也可以与处理器1001分开设置。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.
可选地,若装置1000为设备,接口电路1002可以包括接收器和发送器。其中,接收器和发送器可以为相同的部件,或者为不同的部件。接收器和发送器为相同的部件时,可以将该部件称为收发器。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.
可选地,若装置1000为芯片或电路,则接口电路1002可以包括输入接口和输出接口,输入接口和输出接口可以是相同的接口,或者可以分别是不同的接口。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.
可选地,若装置1000为芯片或电路,装置1000也可以不包括存储器1003,处理器1001可以读取该芯片或电路外部的存储器中的指令(程序或代码)以实现图6所示的实施例所提供的方法中雷达装置执行的步骤。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.
可选地,若装置1000为芯片或电路,则装置1000可以包括电阻、电容或其他相应的功能部件,处理器1001或接口电路1002可以通过相应的功能部件实现。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.
作为一种实现方式,接口电路1002的功能可以考虑通过收发电路或收发的专用芯片实现。处理器1001可以考虑通过专用处理芯片、处理电路、处理器或通用芯片实现。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.
作为另一种实现方式,可以考虑使用通用计算机的方式来实现本申请实施例提供的雷达装置。即,将实现处理器1001、接口电路1002的功能的程序代码存储在存储器1003中,处理器1001通过执行存储器1003存储的程序代码来实现处理器1001、接口电路1002的功能。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.
其中,以上列举的装置1000中各模块或单元的功能和动作仅为示例性说明,装置1000中各功能单元可用于执行图6所示的实施例中雷达装置所执行的各动作或处理过程。这里为了避免赘述,省略其详细说明。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.
可以理解的是,图7~图10仅仅示出了雷达装置的简化设计。在实际应用中,雷达装置可以包含任意数量的发射器,接收器,处理器,控制器,存储器以及其他可能存在的元件。可以理解的,图7~图10所示的装置也可以是前述的处理装置800。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.
本申请实施例还提供一种计算机可读存储介质,所述计算机可读存储介质包括计算机程序,当计算机程序在雷达装置上运行时,使得所述雷达装置执行包括如前的图6所示的方法实施例中记载的全部或部分步骤。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.
本申请实施例还提供一种程序产品,包括指令,当所述指令在计算机上运行时,使得所述计算机执行包括如前的图6所示的方法实施例中记载的全部或部分步骤。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.
再一种可选的方式,当使用软件实现雷达装置时,可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时,全部或部分地实现本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中,或者从一个计算机可读存储介质向另一个计算机可读存储介质传输,例如,所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line,DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质,(例如软盘、硬盘、磁带)、光介质(例如DVD)、或者半导体介质(例如固态硬盘(solid state disk, SSD))等。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)).
需要说明的是,用于执行本申请实施例提供的检测方法或信号发送方法的上述探测装置中所包含的处理器可以是中央处理器(central processing unit,CPU),通用处理器、数字信号处理器(digital signal processor,DSP)、专用集成电路(application-specific integrated circuit,ASIC),现场可编程门阵列(field programmable gate array,FPGA)或者其他可编程逻辑器件、晶体管逻辑器件,硬件部件或者其任意组合。其可以实现或执行结合本申请公开内容所描述的各种示例性的逻辑方框,模块和电路。所述处理器也可以是实现计算功能的组合,例如包含一个或多个微处理器组合,DSP和微处理器的组合等等。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.
结合本申请实施例所描述的方法或者算法的步骤可以硬件的方式来实现,也可以是由处理器执行软件指令的方式来实现。软件指令可以由相应的软件模块组成,软件模块可以被存放于随机存取存储器(random access memory,RAM)、闪存、只读存储器(read-only memory,ROM)存储器、可擦除可编程只读存储器(erasable programmable read-only memory,EPROM)、电可擦除可编程只读存储器(electrically erasable programmable read-only memory,EEPROM)、寄存器、硬盘、移动硬盘、只读光盘(compact disc read-only memory,CD-ROM)或者本领域熟知的任何其它形式的存储介质中。一种示例性的存储介质耦合至处理器,从而使处理器能够从该存储介质读取信息,且可向该存储介质写入信息。当然,存储介质也可以是处理器的组成部分。处理器和存储介质可以位于ASIC中。另外,该ASIC可以位于探测装置中。当然,处理器和存储介质也可以作为分立组件存在于探测装置中。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.
通过以上的实施方式的描述,所属领域的技术人员可以清楚地了解到,为描述的方便和简洁,仅以上述各功能模块的划分进行举例说明,实际应用中,可以根据需要而将上述功能分配由不同的功能模块完成,即将装置的内部结构划分成不同的功能模块,以完成以上描述的全部或者部分功能。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.
在本申请所提供的几个实施例中,应该理解到,所揭露的装置和方法,可以通过其它的方式实现。例如,以上所描述的装置实施例仅仅是示意性的,例如,所述模块或单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个装置,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。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.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是一个物理单元或多个物理单元,即可以位于一个地方,或者也可以分布到多个不同地方。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。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.
另外,在本申请各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。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.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个可读取存储介质中。基于这样的理解,本申请实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该软件产品存储在一个存储介质中,包括若干指令用以使得一个设备(可以是单片机,芯片等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储 程序代码的介质。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.
显然,本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样,倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内,则本申请也意图包含这些改动和变型在内。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 (26)
- 一种通道误差的确定方法,其特征在于,应用于测试平台,该测试平台包括雷达装置和目标模拟器,其中,所述目标模拟器用于接收来自所述雷达装置的雷达信号并转发所述雷达信号,所述目标模拟器的中心与所述雷达装置的中心位于第一直线,所述第一直线平行于地面,所述方法包括: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:计算所述雷达装置的中心与所述目标模拟器的中心之间的第一距离;Calculating the first distance between the center of the radar device and the center of the target simulator;根据第一距离确定系统误差;Determine the systematic error according to the first distance;根据所述系统误差和权值计算通道误差,其中,所述权值用于调整雷达装置的波束指向。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.
- 如权利要求1所述的方法,其特征在于,所述第一距离是根据第一位置坐标和第二距离确定的,所述第一位置坐标为所述雷达装置的天线位置坐标,所述第二距离是根据雷达信号的传输时间和传输路程确定的,所述传输路程为所述雷达信号通过所述雷达装置发送、并经过目标模拟器反射后回到所述雷达装置的传输路径长度,所述传输时间为所述雷达信号经过所述传输路径的时间。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.
- 如权利要求2所述的方法,其特征在于,所述第一位置坐标是根据所述雷达装置的中心的位置坐标以及第一角度和/或所述第二角度确定的,所述第一角度为所述雷达装置的波束指向在地面的投影与所述第一直线在地面的投影的夹角,所述第二角度为所述雷达装置的波束指向与地面的夹角。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.
- 如权利要求3所述的方法,其特征在于,所述系统误差是根据第一距离以及第一位置坐标确定的。The method of claim 3, wherein the systematic error is determined based on the first distance and the first position coordinate.
- 如权利要求4所述的方法,其特征在于,所述方法还包括:The method of claim 4, wherein the method further comprises:旋转所述雷达装置,用于改变所述第一角度和/或所述第二角度。Rotating the radar device is used to change the first angle and/or the second angle.
- 如权利要求1-5任一所述的方法,其特征在于,所述权值包括理想权值和实际权值,所述通道误差是根据所述实际权值、所述理想权值和所述系统误差确定的。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.
- 如权利要求6所述的方法,其特征在于,所述方法还包括:The method of claim 6, wherein the method further comprises:根据所述通道误差和所述系统误差对所述实际权值进行补偿。The actual weight is compensated according to the channel error and the system error.
- 如权利要求7所述的方法,其特征在于,所述方法还包括:8. The method of claim 7, wherein the method further comprises:将所述雷达装置旋转所述第一角度,通过雷达装置发射第二信号,并接收来自所述目标模拟器转发的所述第二信号;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;根据所述第二信号确定所述目标模拟器相对所述雷达装置转动的第三角度;Determining a third angle of rotation of the target simulator relative to the radar device according to the second signal;根据所述第一角度和所述第三角度确定雷达装置的测角性能。The angle measurement performance of the radar device is determined according to the first angle and the third angle.
- 如权利要求7所述的方法,其特征在于,所述方法还包括:The method according to claim 7, wherein the method further comprises:将所述雷达装置旋转所述第一角度,以及将所述雷达装置旋转所述第二角度,通过雷达装置发射第三信号,并接收来自所述目标模拟器转发的所述第三信号;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;根据接收的所述第三信号确定所述目标模拟器相对所述雷达装置转动的第四角度;Determining a fourth angle of rotation of the target simulator relative to the radar device according to the received third signal;根据所述第一角度、所述第二角度和所述第四角度确定雷达装置的测角性能。The angle measurement performance of the radar device is determined according to the first angle, the second angle, and the fourth angle.
- 一种测试平台,其特征在于,包括雷达装置和目标模拟器,所述目标模拟器的中心与所述雷达装置的中心位于第一直线,所述第一直线平行于地面,其中,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:所述目标模拟器,用于接收来自所述雷达装置的雷达信号并转发所述雷达信号;The target simulator is configured to receive radar signals from the radar device and forward the radar signals;所述雷达装置,用于计算所述雷达装置的中心与所述目标模拟器的中心之间的第一距离,并根据第一距离确定系统误差,以及根据所述系统误差和权值计算通道误差,所述权值用于调整雷达装置的波束指向。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.
- 如权利要求10所述的测试平台,其特征在于,所述测试平台还包括承载组件,所述承载组件用于调整所述雷达装置的波束指向,其中,所述雷达装置的中心位于所述承载组件的中心轴,所述中心轴与所述第一直线垂直。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.
- 如权利要求11所述的测试平台,其特征在于,所述测试平台还包括设置在所述承载组件上的固定组件,所述固定组件用于将所述雷达装置固定在所述承载组件。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.
- 如权利要求12所述的测试平台,其特征在于,所述测试平台还包括:The test platform of claim 12, wherein the test platform further comprises:第一激光器,所述第一激光器设置于所述目标模拟器,用于调整所述目标模拟器的位置;和/或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第二激光器,所述第二激光器设置于所述承载组件,用于调整所述雷达装置的位置。The second laser, the second laser is arranged on the carrying assembly, and is used to adjust the position of the radar device.
- 如权利要求10-13任一所述的测试平台,其特征在于,所述测试平台还包括:The test platform according to any one of claims 10-13, wherein the test platform further comprises:传输带,用于承载所述目标模拟器,以及调整所述目标模拟器与所述雷达装置之间的距离。The transmission belt is used to carry the target simulator and adjust the distance between the target simulator and the radar device.
- 如权利要求14所述的测试平台,其特征在于,所述测试平台还包括:The test platform of claim 14, wherein the test platform further comprises:处理装置,所述处理装置与所述承载组件、所述雷达装置以及所述传输带相连接,其中,所述处理装置用于: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:控制所述承载组件转动的角度;和/或Controlling the angle of rotation of the bearing assembly; and/or控制传输带运动的距离。Control the distance of the conveyor belt movement.
- 一种装置,其特征在于,包括:A device, characterized in that it comprises:收发单元,用于发射雷达信号,以及用于接收所述雷达信号被目标模拟器反射的信号,其中,所述目标模拟器用于接收来自雷达装置的雷达信号并转发所述雷达信号,所述目标模拟器的中心与所述雷达装置的中心位于第一直线,所述第一直线平行于地面;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;处理单元,用于计算所述雷达装置的中心与所述目标模拟器的中心之间的第一距离,并根据第一距离确定系统误差,以及根据所述系统误差和权值计算通道误差,所述权值用于调整雷达装置的波束指向。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.
- 如权利要求16所述的装置,其特征在于,所述第一距离是根据第一位置坐标和第二距离确定的,所述第一位置坐标为所述雷达装置的天线位置坐标,所述第二距离是根据雷达信号的传输时间和传输路程确定的,所述传输路程为所述雷达信号通过所述雷达装置发送、并经过目标模拟器反射后回到所述雷达装置的传输路径长度,所述传输时间为所述雷达信号经过所述传输路径的时间。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.
- 如权利要求17所述的装置,其特征在于,所述第一位置坐标是根据所述雷达装置的中心的位置坐标以及第一角度和/或所述第二角度确定的,所述第一角度为所述雷达装置的波束指向在地面的投影与所述第一直线在地面的投影的夹角,所述第二角度为所述雷达装置的波束指向与地面的夹角。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.
- 如权利要求18所述的装置,其特征在于,所述系统误差是根据第一距离以及第一位置坐标确定的。The device of claim 18, wherein the systematic error is determined based on the first distance and the first position coordinate.
- 如权利要求19所述的装置,其特征在于,所述处理单元还用于:The device according to claim 19, wherein the processing unit is further configured to:旋转所述雷达装置,以用于改变所述第一角度和/或所述第二角度。Rotating the radar device for changing the first angle and/or the second angle.
- 如权利要求16-20任一所述的装置,其特征在于,所述权值包括理想权值和实际权值,所述通道误差是根据所述理想权值、所述系统误差和所述实际权值确定的。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.
- 如权利要求21所述的装置,其特征在于,所述处理单元还用于:The device according to claim 21, wherein the processing unit is further configured to:根据所述通道误差和所述系统误差对所述实际权值进行补偿。The actual weight is compensated according to the channel error and the system error.
- 如权利要求22所述的装置,其特征在于,所述处理单元还用于:The device according to claim 22, wherein the processing unit is further configured to:将所述雷达装置旋转所述第一角度,通过雷达装置发射第二信号,并接收来自所述目标模拟器转发的所述第二信号;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;根据所述第二信号确定所述目标模拟器相对雷达装置转动的第三角度;Determining a third angle of rotation of the target simulator relative to the radar device according to the second signal;根据所述第一角度和所述第三角度确定通道补偿后的雷达装置的测角性能。The angle measurement performance of the radar device after channel compensation is determined according to the first angle and the third angle.
- 如权利要求22所述的装置,其特征在于,所述处理单元还用于:The device according to claim 22, wherein the processing unit is further configured to:将所述雷达装置旋转所述第一角度,以及将所述雷达装置旋转所述第二角度,通过雷达装置发射第三信号,并接收来自所述目标模拟器转发的所述第三信号;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;根据接收的所述第三信号确定所述目标模拟器相对所述雷达装置转动的第四角度;Determining a fourth angle of rotation of the target simulator relative to the radar device according to the received third signal;根据所述第一角度、所述第二角度和所述第四角度确定雷达装置的测角性能。The angle measurement performance of the radar device is determined according to the first angle, the second angle, and the fourth angle.
- 一种装置,其特征在于,包括:A device, characterized in that it comprises:至少一个处理器以及通信接口,所述通信接口用于为所述至少一个处理器提供程序指令,当所述至少一个处理器执行所述程序指令时,使得所述装置或者安装有所述装置的设备执行如权利要求1~9中任意一项所述的方法。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.
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质存储有计算机程序,当所述计算机程序在计算机上运行时,使得所述计算机执行如权利要求1~9中任意一项所述的方法。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.
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