CN109507651B - MIMO imaging system calibration method and device - Google Patents

MIMO imaging system calibration method and device Download PDF

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CN109507651B
CN109507651B CN201811303358.6A CN201811303358A CN109507651B CN 109507651 B CN109507651 B CN 109507651B CN 201811303358 A CN201811303358 A CN 201811303358A CN 109507651 B CN109507651 B CN 109507651B
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calibration
channel
transmitting
mimo
phase compensation
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CN109507651A (en
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任百玲
许戎戎
孙兆阳
朱明�
刘强
张焱
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Beijing Research Institute of Telemetry
Aerospace Long March Launch Vehicle Technology Co Ltd
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Beijing Research Institute of Telemetry
Aerospace Long March Launch Vehicle Technology Co Ltd
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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
    • G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • 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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  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
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  • Electromagnetism (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)

Abstract

The embodiment of the invention discloses a calibration method and a device of an MIMO imaging system, wherein the method comprises the following steps: calibrating a transmitting antenna and a receiving antenna of a first surface of the MIMO antenna array, and determining an inconsistency parameter of a transmitting channel of the first surface, an inconsistency parameter of a receiving channel of the first surface and a first optimal delay phase compensation item; calibrating the transmitting antenna and the receiving antenna of the second surface of the MIMO antenna array, and determining an inconsistency parameter of a transmitting channel of the second surface, an inconsistency parameter of a receiving channel of the second surface and a second optimal delay phase compensation item; and calibrating echo data acquired by the MIMO imaging system according to the inconsistency parameters, the first optimal delay phase compensation item and the second optimal delay phase compensation item. According to the method, a high-precision calibration piece does not need to be prepared to calibrate the MIMO imaging system, the complexity and difficulty of system calibration can be reduced, and the calibration is more convenient and faster.

Description

MIMO imaging system calibration method and device
Technical Field
The embodiment of the invention relates to the technical field of millimeter wave security inspection imaging, in particular to a calibration method and device for an MIMO imaging system.
Background
In recent years, terrorist attacks at home and abroad frequently occur, the types of dangerous goods are more and more, and the traditional security inspection means can not meet the requirements of the current security inspection market. The traditional metal detector can only detect metal contraband and has no effect on plastic bombs and ceramic cutters; although the X-ray security inspection equipment can detect all prohibited articles, it poses certain threat to human health and is not an optimal security inspection means. The existing millimeter wave three-dimensional imaging technology is an effective method for replacing the traditional security inspection means.
A cylindrical scanning three-dimensional imaging system of L3, a QPS three-dimensional imaging system of RS, and a reflector array imaging system of Smith are the main millimeter wave three-dimensional imaging systems on the market. Millimeter wave security installations on the market are all matched security installations at present, and are not suitable for the requirements of high-throughput public places on rapid, through type and open type security installations. In order to increase imaging speed without increasing cost too much, a sparse area array such as a MIMO (Multiple-Input Multiple-Output) imaging system is usually used to complete signal acquisition. However, the current MIMO imaging system works in the microwave and millimeter wave band, and has the characteristics of large bandwidth and multiple channels, which causes the problems of linearity of signals with large bandwidth, secondary phase consistency in the channels, and secondary phase consistency between the channels to be difficult to ensure, and defocusing and distortion of the formed images. At present, high-precision calibration pieces are mainly adopted to finish signal amplitude and phase inconsistency calibration, but the complexity and difficulty of the calibration by the high-precision calibration pieces are very high.
Disclosure of Invention
The embodiment of the invention provides a calibration method and a calibration device for an MIMO imaging system, which aim to solve the problems of high complexity and difficulty when a high-precision calibration piece is adopted to calibrate the MIMO imaging system in the prior art.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a calibration method for a MIMO imaging system, where the method includes:
calibrating a transmitting antenna and a receiving antenna of a first surface of the MIMO antenna array, and determining an inconsistency parameter of a transmitting channel of the first surface, an inconsistency parameter of a receiving channel of the first surface and a first optimal delay phase compensation item;
calibrating a transmitting antenna and a receiving antenna of a second surface of the MIMO antenna array, and determining an inconsistency parameter of a transmitting channel of the second surface, an inconsistency parameter of a receiving channel of the second surface and a second optimal delay phase compensation item; wherein the inconsistency parameter comprises: error distance calibration coefficients and amplitude calibration coefficients;
and calibrating echo data acquired by the MIMO imaging system according to the inconsistency parameters, the first optimal delay phase compensation item and the second optimal delay phase compensation item.
Preferably, the step of calibrating the transmitting antennas and the receiving antennas of the first face of the MIMO antenna array, and determining the inconsistency parameter of the transmitting channels of the first face, the inconsistency parameter of the receiving channels of the first face, and the first optimal delay phase compensation term includes: switching the calibration mode of the MIMO antenna array to a transmitting unit of a first surface of the MIMO antenna array to transmit a radio frequency signal to a receiving antenna unit of a second surface; determining an inconsistency parameter of a transmit channel of the first face; switching the calibration mode of the MIMO antenna array to transmit radio frequency signals from the transmit elements of the second side of the MIMO antenna array to the receive antenna elements of the first side; determining an inconsistency parameter of a receive channel of the first face; and determining a first optimal delay phase compensation item of the MIMO imaging system according to the inconsistency parameters of the transmitting channel of the first surface and the receiving channel of the first surface.
Preferably, the step of determining the inconsistency parameter of the transmission channel of the first face includes: acquiring a first echo signal and a calibration signal of a first linear frequency modulation signal through a signal processing unit, wherein the first echo signal is generated through a radio frequency signal transmitted by a transmitting antenna on a first surface; extracting a first chirp calibration coefficient matrix from a calibration signal of the first chirp; multiplying the first echo signal after digital down-conversion by the first linear frequency modulation signal calibration coefficient matrix to obtain a first one-dimensional range profile signal after pulse pressure; and determining an error distance calibration coefficient and an amplitude calibration coefficient of a transmitting channel of the first surface according to the pulse-pressed first one-dimensional distance image signal.
Preferably, the step of determining the inconsistency parameter of the receiving channel of the first side includes: acquiring a second echo signal and a calibration signal of a first linear frequency modulation signal through a signal processing unit, wherein the second echo signal is generated through a radio frequency signal transmitted by a transmitting antenna of a second surface; extracting a second chirp calibration coefficient matrix from the calibration signal of the second chirp; multiplying the second echo signal after digital down-conversion by the second linear frequency modulation signal calibration coefficient matrix to obtain a second one-dimensional range profile signal after pulse pressure; and determining an error distance calibration coefficient and an amplitude calibration coefficient of a receiving channel of the first surface according to the pulse-pressed second one-dimensional distance image signal.
Preferably, the step of calibrating the echo data acquired by the MIMO imaging system according to each of the inconsistency parameters, the first optimal delay phase compensation term, and the second optimal delay phase compensation term includes: in the imaging process of the MIMO imaging system, multiplying the acquired first echo signal of the first surface by an error distance calibration coefficient of a transmitting channel of the first surface, an error distance calibration coefficient of a receiving channel of the first surface and the first optimal delay phase compensation term, dividing the error distance calibration coefficient by an amplitude calibration coefficient of the transmitting channel of the first surface and an amplitude calibration coefficient of the receiving channel of the first surface, and then obtaining a target image by adopting a preset imaging algorithm; and multiplying the acquired second echo signal of the second surface by an error distance calibration coefficient of a transmitting channel of the second surface, an error distance calibration coefficient of a receiving channel of the second surface and the second optimal delay phase compensation term, dividing by an amplitude calibration coefficient of the transmitting channel of the second surface and an amplitude calibration coefficient of the receiving channel of the second surface, and then obtaining a target image by adopting a preset imaging algorithm.
In a second aspect, an embodiment of the present invention provides an apparatus for calibrating a MIMO imaging system, where the apparatus includes:
the MIMO antenna array comprises a first calibration module, a second calibration module and a third calibration module, wherein the first calibration module is used for calibrating a transmitting antenna and a receiving antenna of a first surface of the MIMO antenna array and determining an inconsistency parameter of a transmitting channel of the first surface, an inconsistency parameter of a receiving channel of the first surface and a first optimal delay phase compensation item;
the second calibration module is used for calibrating the transmitting antenna and the receiving antenna of the second surface of the MIMO antenna array and determining an inconsistency parameter of a transmitting channel of the second surface, an inconsistency parameter of a receiving channel of the second surface and a second optimal delay phase compensation item; wherein the inconsistency parameter comprises: error distance calibration coefficients and amplitude calibration coefficients;
and the third calibration module is used for calibrating the echo data acquired by the MIMO imaging system according to each inconsistency parameter, the first optimal delay phase compensation item and the second optimal delay phase compensation item.
Preferably, the first calibration module comprises: the first switching submodule is used for switching the calibration mode of the MIMO antenna array to a transmitting unit of a first surface of the MIMO antenna array to transmit a radio frequency signal to a receiving antenna unit of a second surface; the first determining submodule is used for determining an inconsistency parameter of a transmitting channel of the first surface; a second switching sub-module, configured to switch the calibration mode of the MIMO antenna array to transmit radio frequency signals to the transmitting units on the second side of the MIMO antenna array to the receiving antenna units on the first side; the second determining submodule is used for determining an inconsistency parameter of a receiving channel of the first surface; and the compensation item determining submodule is used for determining a first optimal delay phase compensation item of the MIMO imaging system according to the inconsistency parameters of the transmitting channel of the first surface and the receiving channel of the first surface.
Preferably, the first determination submodule includes: the first acquisition unit is used for acquiring a first echo signal and a calibration signal of a first linear frequency modulation signal through the signal processing unit, wherein the first echo signal is generated through a radio frequency signal transmitted by a transmitting antenna on a first surface; a first extraction unit, configured to extract a first chirp calibration coefficient matrix from a calibration signal of the first chirp; the first pulse pressure unit is used for multiplying the first echo signal after digital down-conversion by the first linear frequency modulation signal calibration coefficient matrix to obtain a first one-dimensional distance image signal after pulse pressure; and the first coefficient determining unit is used for determining an error distance calibration coefficient and an amplitude calibration coefficient of a transmitting channel of the first surface according to the pulse-pressed first one-dimensional distance image signal.
Preferably, the second determination submodule includes: the second acquisition unit is used for acquiring a second echo signal and a calibration signal of the first linear frequency modulation signal through the signal processing unit, wherein the second echo signal is generated through a radio frequency signal transmitted by a transmitting antenna on a second surface; a second extraction unit, configured to extract a second chirp calibration coefficient matrix from a calibration signal of the second chirp; the second pulse pressure unit is used for multiplying the second echo signal after digital down-conversion by the second linear frequency modulation signal calibration coefficient matrix to obtain a second one-dimensional range profile signal after pulse pressure; and the second coefficient determining unit is used for determining an error distance calibration coefficient and an amplitude calibration coefficient of a receiving channel of the first surface according to the pulse-pressed second one-dimensional range profile signal.
Preferably, the third calibration module comprises: the first sub-module is used for multiplying the acquired first echo signal of the first surface by an error distance calibration coefficient of a transmitting channel of the first surface, an error distance calibration coefficient of a receiving channel of the first surface and the first optimal delay phase compensation term in the imaging process of the MIMO imaging system, dividing the error distance calibration coefficient by an amplitude calibration coefficient of the transmitting channel of the first surface and an amplitude calibration coefficient of the receiving channel of the first surface, and then obtaining a target image by adopting a preset imaging algorithm; and the second submodule is used for multiplying the acquired second echo signal of the second surface by the error distance calibration coefficient of the transmitting channel of the second surface, the error distance calibration coefficient of the receiving channel of the second surface and the second optimal delay phase compensation term, dividing the error distance calibration coefficient by the amplitude calibration coefficient of the transmitting channel of the second surface and the amplitude calibration coefficient of the receiving channel of the second surface, and then obtaining a target image by adopting a preset imaging algorithm.
Compared with the prior art, the invention has the following beneficial effects:
the calibration method of the MIMO imaging system according to the embodiment of the present invention calibrates the transmitting antennas and the receiving antennas of the first and second surfaces of the MIMO antenna array, determines the inconsistency parameter of the transmitting channel of the first surface, the inconsistency parameter of the receiving channel of the first surface, the first optimal delay phase compensation term, the inconsistency parameter of the transmitting channel of the second surface, the inconsistency parameter of the receiving channel of the second surface, and the second optimal delay phase compensation term, calibrates the echo data acquired by the MIMO imaging system according to the inconsistency parameters, the first optimal delay phase compensation term, and the second optimal delay phase compensation term, and has the core that a calibration method of the opposite antenna array receiving and transmitting unit is adopted, a high-precision calibration component is not required, and the complexity and difficulty of system calibration can be reduced, the system is more convenient and fast to calibrate.
Drawings
Fig. 1 is a flowchart of a calibration method of a MIMO imaging system according to a first embodiment of the present invention;
FIG. 2 is a three-dimensional schematic diagram of a MIMO imaging system;
FIG. 3 is a flowchart of a calibration method for a MIMO imaging system according to a second embodiment of the present invention;
fig. 4 is a block diagram of a calibration apparatus of a MIMO imaging system according to a third embodiment of the present invention;
fig. 5 is a block diagram of a calibration apparatus of a MIMO imaging system according to a fourth embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, a flowchart of a calibration method of a MIMO imaging system according to an embodiment of the present invention is shown.
The calibration method of the MIMO imaging system comprises the following steps:
step 101: calibrating the transmitting antenna and the receiving antenna of the first surface of the MIMO antenna array, and determining the inconsistency parameter of the transmitting channel of the first surface, the inconsistency parameter of the receiving channel of the first surface and the first optimal delay phase compensation item.
Fig. 2 is a three-dimensional schematic diagram of a MIMO imaging system. A typical MIMO imaging system includes: the antenna comprises two or more MIMO antenna arrays, a highly integrated MMIC chip, a signal processor, a display terminal and the like. Each antenna area array is provided with M transmitting antenna units and N receiving antenna units, wherein the M transmitting antenna units correspond to M transmitting channels, and the N receiving antenna units correspond to N receiving channels. The M transmitting antenna units can be controlled by the switch to sequentially transmit, and the N receiving antenna units simultaneously receive. In the invention, M is more than or equal to 100 and less than or equal to 5000, and N is more than or equal to 100 and less than or equal to 5000. The minimum separation between the two antennas is one wavelength lambda. The transmitting unit and the receiving unit can be in the form of a horn antenna, a dielectric rod antenna, a microstrip antenna, a waveguide slot antenna and the like, the aperture of the antenna is one wavelength lambda, and the beam width of the antenna is 30-150 degrees, preferably 80 degrees.
The inconsistency parameters include: error distance calibration coefficients and amplitude calibration coefficients. In this step, first, antenna calibration is performed once to determine an error distance calibration coefficient and an amplitude calibration coefficient of a transmitting channel of the first surface, then, antenna calibration is performed once to determine an error distance calibration coefficient and an amplitude calibration coefficient of a receiving channel of the first surface, and finally, a first optimal delay phase compensation term is determined.
Step 102: calibrating the transmitting antenna and the receiving antenna of the second surface of the MIMO antenna array, and determining an inconsistency parameter of a transmitting channel of the second surface, an inconsistency parameter of a receiving channel of the second surface and a second optimal delay phase compensation item.
In this step, first, an antenna calibration is performed once to determine an error distance calibration coefficient and an amplitude calibration coefficient of a transmitting channel on the second surface of the MIMO antenna array, then, an antenna calibration is performed once to determine an error distance calibration coefficient and an amplitude calibration coefficient of a receiving channel on the second surface of the MIMO antenna array, and finally, a second optimal delay phase compensation term is determined. The specific determination manner can be set by those skilled in the art according to actual needs, and is not particularly limited in the embodiment of the present invention.
Step 103: and calibrating echo data acquired by the MIMO imaging system according to the inconsistency parameters, the first optimal delay phase compensation item and the second optimal delay phase compensation item.
In the imaging process of the MIMO imaging system, multiplying the acquired first echo signal of the first surface by an error distance calibration coefficient of a transmitting channel of the first surface, an error distance calibration coefficient of a receiving channel of the first surface and a first optimal delay phase compensation term, dividing the error distance calibration coefficient by an amplitude calibration coefficient of the transmitting channel of the first surface and an amplitude calibration coefficient of the receiving channel of the first surface, and then obtaining a target image by adopting a preset imaging algorithm; and multiplying the acquired second echo signal of the second surface by the error distance calibration coefficient of the transmitting channel of the second surface, the error distance calibration coefficient of the receiving channel of the second surface and the second optimal delay phase compensation term, dividing by the amplitude calibration coefficient of the transmitting channel of the second surface and the amplitude calibration coefficient of the receiving channel of the second surface, and then obtaining a target image by adopting a preset imaging algorithm.
The calibration method of the MIMO imaging system provided by the embodiment of the present invention calibrates the transmitting antennas and the receiving antennas of the first and second surfaces of the MIMO antenna array, respectively, determines the inconsistency parameter of the transmitting channel of the first surface, the inconsistency parameter of the receiving channel of the first surface, the first optimal delay phase compensation term, the inconsistency parameter of the transmitting channel of the second surface, the inconsistency parameter of the receiving channel of the second surface, and the second optimal delay phase compensation term, calibrates the echo data acquired by the MIMO imaging system according to the inconsistency parameters, the first optimal delay phase compensation term, and the second optimal delay phase compensation term, and has the core that a calibration method of the receiving and transmitting unit of the opposite antenna array is adopted, a calibration piece with high precision does not need to be prepared, and the complexity and difficulty of system calibration can be reduced, the system is more convenient and fast to calibrate.
Example two
Referring to fig. 3, a flowchart of a calibration method of a MIMO imaging system according to an embodiment of the present invention is shown.
The calibration method of the MIMO imaging system comprises the following steps:
step 201: and switching the calibration mode of the MIMO antenna array to the transmitting unit of the first surface of the MIMO antenna array to transmit the radio frequency signal to the receiving antenna unit of the second surface.
The MIMO antenna array includes two faces, namely a first face and a second face, where the first face and the second face include a plurality of receiving antennas and a plurality of transmitting antennas, and the antennas may also be referred to as antenna units.
In this step, the MIMO antenna array is switched to a first surface transmitting antenna calibration mode of the calibration mode, the transmitting antenna unit of the first surface sequentially transmits a radio frequency signal to a certain receiving antenna unit of the second surface, the radio frequency signal is received by the receiving antenna unit of the second surface, and the received signal is transmitted to a receiving chip of the second surface, after a receiving process including a dechirp process is performed in the receiving chip, the signal is transmitted to a signal processing unit, and the signal is a first echo signal.
Step 202: determining an inconsistency parameter for a transmit channel of the first face.
A way of preferably determining the inconsistency parameter of the transmit channels of the first face comprises:
firstly, acquiring a first echo signal and a calibration signal of a first linear frequency modulation signal through a signal processing unit, wherein the first echo signal is generated through a radio frequency signal transmitted by a transmitting antenna on a first surface;
the signal processing unit collects a first echo signal and a calibration signal of a chirp signal, the calibration signal Sref _ correction (T) is obtained by collecting a VCO (voltage controlled oscillator) signal which generates the chirp signal and is subjected to frequency division by 20 times, and the collected calibration signal Sref _ correction (T) is transmitted to the signal processing unit, wherein time variables T are from [0, T ], and T is a pulse width.
Secondly, extracting a first linear frequency modulation signal calibration coefficient matrix from the calibration signal of the first linear frequency modulation signal;
firstly, filtering out high-order phase terms of the calibration signal Sref _ correction (t) by a filtering method, wherein the filtering method comprises a Fourier transform filtering method, a filtering method based on polynomial interpolation, an FIR filtering method and other conventional filtering methods. The calibration signal filtered out of the higher order phase term is Sref' _ correction (t). Then discretizing the distance direction variable R (N) into NzDistance units with unit spacing of delta z, where delta z is less than or equal to distance resolution, N belongs to [0, N ∈Z]The delay phase of each range bin is exp (j4 π fR (n)/c). Wherein
Figure BDA0001852948180000091
fsIs the sample rate of the received signal. Fourier transform is carried out on the calibration signal Sref ' _ correction (t) with the high-order phase term filtered out, the calibration signal Sref ' _ correction (t) is converted into a frequency domain, and then the frequency domain is multiplied by a delay phase term exp (j4 pi fR (n)/c) to obtain a frequency domain correction signal Sref 'fftA correction (f, n) and then inverse fourier transformed to the time domain to obtain a time and distance transform matrix a first chirp calibration coefficient matrix Sref'TA correlation (m, n) where m is within [0, Nf ∈]。
Thirdly, multiplying the first echo signal after digital down-conversion by a first linear frequency modulation signal calibration coefficient matrix to obtain a first one-dimensional distance image signal after pulse pressure;
and finally, determining an error distance calibration coefficient and an amplitude calibration coefficient of a transmitting channel of the first surface according to the pulse-pressed first one-dimensional distance image signal.
Obtaining a signal S 'after digital down-conversion (DDC) of a received signal S (m)'T(m) and (m) areTrade matrix S'TMultiplying by a correlation (m, n), completing the linearity correction of the linear frequency modulation signal, and completing the pulse pressure in the distance direction to obtain a one-dimensional distance image signal S ″, after the pulse pressureT(n) is the first one-dimensional range profile signal. Obtaining the one-dimensional range profile signal S ″ after pulse pressureTMaximum value position Pos (n) of (n)T) And amplitude calibration coefficient Amp (n)T) Wherein n ist∈[0,NT]And N isTIs the number of the transmitting units, thereby obtaining the measured distance R from the transmitting antenna on the first side to the receiving antenna on the second sidetestIs Pos (n)T) Δ z. The position of the receiving antenna for calibration in the second plane is known as (x)0R,y0R,z0R) The position of the first surface transmitting antenna is (x)T,yT,zT) The theoretical distance R from the transmitting antenna of the first plane to the receiving antenna selected for calibration of the second planerealIs composed of
Figure BDA0001852948180000092
The error distance calibration coefficient ar for a transmit antenna element on the first plane to a receive element selected for calibration on the second planetIs (R)test(nT)-Rreal(nT)). Will be Δ RTAnd Amp (n)T) And storing the parameters into a memory to finish the parameter extraction of the inconsistency of the first surface emission channel.
Step 203: and switching the calibration mode of the MIMO antenna array to the transmitting unit of the second surface of the MIMO antenna array to transmit the radio frequency signal to the receiving antenna unit of the first surface.
The MIMO antenna array is switched to a first surface receiving antenna calibration mode of the calibration mode, a receiving antenna unit of the first surface simultaneously receives a transmitting signal of a certain selected transmitting antenna unit of a second surface and transmits the receiving signal to a receiving chip of the first surface, after receiving processing including dechirp processing is carried out in the receiving chip, the signal is transmitted to a signal processing unit, and the signal is a second echo signal.
Step 204: determining an inconsistency parameter for a receive channel of the first face.
The specific manner of determining the inconsistency parameter of the receiving channel of the first surface may specifically be, with reference to the consistency parameter determining manner of the transmitting channel of the first surface:
firstly, acquiring a second echo signal and a calibration signal of a second linear frequency modulation signal through a signal processing unit, wherein the second echo signal is generated through a radio frequency signal transmitted by a transmitting antenna on a second surface;
secondly, extracting a second linear frequency modulation signal calibration coefficient matrix from the calibration signal of the second linear frequency modulation signal;
thirdly, multiplying the second echo signal after digital down-conversion by the second linear frequency modulation signal calibration coefficient matrix to obtain a second one-dimensional range profile signal after pulse pressure;
and finally, determining an error distance calibration coefficient and an amplitude calibration coefficient of a receiving channel of the first surface according to the pulse-pressed second one-dimensional distance image signal.
A chirp calibration coefficient matrix, i.e., a second chirp calibration coefficient matrix Sref ', is obtained in the same manner as in step 202'RA correction (m, n). Then the received signal SR(m) obtaining a signal S 'after digital down-conversion (DDC)'R(m) calibrating coefficient matrix Sref 'with the conversion matrix obtained above, i.e. second chirp signal'RMultiplying by a correlation (m, n), completing the linearity correction of the linear frequency modulation signal, and completing the pulse pressure in the distance direction to obtain a second one-dimensional distance image signal S ″ after the pulse pressureR(n) of (a). Obtaining the second one-dimensional range profile signal S ″ after pulse pressureR(n) maximum value position Pos' (n)R) And amplitude Amp' (n)R) Wherein n isR∈[0,NR]And N isRIs the number of receiving units, thereby obtaining the measured distance R 'from the first-side receiving antenna to the second-side selected transmitting antenna'testIs Pos' (n)R) Δ z. The position of the transmitting antenna for calibration in the second plane is known as (x)0T,y0T,z0T) The position of the first surface receiving antenna is (x)R,yR,zR)，Theoretical distance R 'of receive antenna selected for calibration from transmit antenna of first side to transmit antenna of second side'realIs composed of
Figure BDA0001852948180000101
The distance error ar from a certain transmitting antenna element on the first plane to the receiving element selected for calibration on the second planeRIs (R'test(nR)-R′real(nR)). Calibrating error distance of receiving channel by using delta RRAnd amplitude calibration coefficient Amp' (n) of reception channelR) And storing the parameters into a memory to finish the parameter extraction of the inconsistency of the receiving channels of the first surface.
Step 205: and determining a first optimal delay phase compensation item of the MIMO imaging system according to the inconsistency parameters of the transmitting channel of the first surface and the receiving channel of the first surface.
In the normal working mode, a group of empty background echo signals are collected, and the collected echo signals are multiplied by an error distance calibration coefficient exp (j (k) of a receiving channel of a transmitting channelf_kfc)(-ΔRT-ΔRR) K) central wave number kfc2 pi λ c', wave number kf2 π λ ', λ' is a series of wavelengths within the operating bandwidth, λ 'being ∈ [ λ'min,λ′max],λ′minIs the minimum wavelength, λ 'within the operating band'maxIs the maximum wavelength in the operating band, λ c' is the center wavelength of operation, and is divided by the amplitude calibration coefficients Amp (n) of the transmit and receive channelsT) And Amp' (n)R). And then, Fourier transform is carried out on the echo signals multiplied by the error distance correction coefficient and the amplitude correction coefficient, the position Pos ' of the maximum value is measured, then the distance of the opposite antenna is measured to be Pos ' Delta z, and the actual distance of the opposite antenna is known to be R 'realThe optimal delay distance is Ropt＝Pos″(n)Δz-R″realImaging the planar array by the well-known BP imaging algorithm and saving the first optimal delay phase compensation term exp (j (k))f_kfc)Ropt). Wherein the optimal delay distance is Ropt。
Step 206: calibrating the transmitting antenna and the receiving antenna of the second surface of the MIMO antenna array, and determining an inconsistency parameter of a transmitting channel of the second surface, an inconsistency parameter of a receiving channel of the second surface and a second optimal delay phase compensation item.
Wherein the inconsistency parameters include: error distance calibration coefficients and amplitude calibration coefficients.
Steps 201 to 205 are specific implementation flows of calibrating the transmitting antenna and the receiving antenna on the first side of the MIMO antenna array, and determining an inconsistency parameter of the transmitting channel on the first side, an inconsistency parameter of the receiving channel on the first side, and a first optimal delay phase compensation term, and in the specific implementation processes, the inconsistency parameter of the transmitting channel on the second side, the inconsistency parameter of the receiving channel on the second side, and a second optimal delay phase compensation term may be determined in the same manner.
Step 207: and calibrating echo data acquired by the MIMO imaging system according to the inconsistency parameters, the first optimal delay phase compensation item and the second optimal delay phase compensation item.
In the subsequent imaging process, the acquired echo signals of the first surface are multiplied by error distance calibration coefficients exp (j (k) of the transmitting channel and the receiving channelf_kfc)(-ΔRT-ΔRR) And a first delay phase compensation term exp (j (k))f_kfc)Ropt) Divided by the amplitude calibration coefficients Amp (n) of the transmit and receive channelsT) And Amp' (n)R). And obtaining an optimal image of the measured target by using a known imaging algorithm. The echo signals of the second surface also execute the same operation, the echo signals of the second surface are multiplied by the error distance calibration coefficients of the transmitting channel and the receiving channel and the second delay phase compensation term, and are divided by the amplitude calibration coefficients of the transmitting channel and the receiving channel, and the optimal image of the measured target is obtained by using the known imaging algorithm.
The calibration method of the MIMO imaging system provided by the embodiment of the present invention calibrates the transmitting antennas and the receiving antennas of the first and second surfaces of the MIMO antenna array, respectively, determines the inconsistency parameter of the transmitting channel of the first surface, the inconsistency parameter of the receiving channel of the first surface, the first optimal delay phase compensation term, the inconsistency parameter of the transmitting channel of the second surface, the inconsistency parameter of the receiving channel of the second surface, and the second optimal delay phase compensation term, calibrates the echo data acquired by the MIMO imaging system according to the inconsistency parameters, the first optimal delay phase compensation term, and the second optimal delay phase compensation term, and has the core that a calibration method of the receiving and transmitting unit of the opposite antenna array is adopted, a calibration piece with high precision does not need to be prepared, and the complexity and difficulty of system calibration can be reduced, the system is more convenient and fast to calibrate.
EXAMPLE III
Referring to fig. 4, a block diagram of a calibration apparatus of a MIMO imaging system according to an embodiment of the present invention is shown. The calibration device for the MIMO imaging system can realize the details of the calibration method for the MIMO imaging system in the previous embodiment and achieve the same effect.
The calibration device of the MIMO imaging system comprises: a first calibration module 301, configured to calibrate a transmitting antenna and a receiving antenna of a first side of a MIMO antenna array, and determine an inconsistency parameter of a transmitting channel of the first side, an inconsistency parameter of a receiving channel of the first side, and a first optimal delay phase compensation term;
a second calibration module 302, configured to calibrate the transmit antennas and the receive antennas on a second plane of the MIMO antenna array, and determine an inconsistency parameter of transmit channels on the second plane, an inconsistency parameter of receive channels on the second plane, and a second optimal delay phase compensation term; wherein the inconsistency parameter comprises: error distance calibration coefficients and amplitude calibration coefficients;
a third calibration module 303, configured to calibrate the echo data acquired by the MIMO imaging system according to each of the inconsistency parameters, the first optimal delay phase compensation term, and the second optimal delay phase compensation term.
The calibration device for the MIMO imaging system according to the embodiment of the present invention calibrates the transmitting antennas and the receiving antennas of the first and second surfaces of the MIMO antenna array, determines the inconsistency parameter of the transmitting channel of the first surface, the inconsistency parameter of the receiving channel of the first surface, the first optimal delay phase compensation term, the inconsistency parameter of the transmitting channel of the second surface, the inconsistency parameter of the receiving channel of the second surface, and the second optimal delay phase compensation term, calibrates the echo data acquired by the MIMO imaging system according to the inconsistency parameters, the first optimal delay phase compensation term, and the second optimal delay phase compensation term, and has a core that a calibration method of the receiving and transmitting unit of the opposite antenna array is adopted, a calibration piece with high precision does not need to be prepared, and the complexity and difficulty of system calibration can be reduced, the system is more convenient and fast to calibrate.
Example four
Referring to fig. 5, a block diagram of a calibration apparatus of a MIMO imaging system according to an embodiment of the present invention is shown.
The calibration device for the MIMO imaging system according to the embodiment of the present invention is further optimized as described in the third embodiment, and the optimized calibration device for the MIMO imaging system includes: a first calibration module 401, configured to calibrate a transmitting antenna and a receiving antenna of a first side of a MIMO antenna array, and determine an inconsistency parameter of a transmitting channel of the first side, an inconsistency parameter of a receiving channel of the first side, and a first optimal delay phase compensation term;
a second calibration module 402, configured to calibrate the transmit antennas and the receive antennas on a second plane of the MIMO antenna array, and determine an inconsistency parameter of transmit channels on the second plane, an inconsistency parameter of receive channels on the second plane, and a second optimal delay phase compensation term; wherein the inconsistency parameter comprises: error distance calibration coefficients and amplitude calibration coefficients;
a third calibration module 403, configured to calibrate the echo data acquired by the MIMO imaging system according to each of the inconsistency parameters, the first optimal delay phase compensation term, and the second optimal delay phase compensation term.
Preferably, the first calibration module 401 comprises: a first switching sub-module 4011, configured to switch a calibration mode of the MIMO antenna array to a transmitting unit on a first side of the MIMO antenna array to transmit a radio frequency signal to a receiving antenna unit on a second side; a first determining submodule 4012, configured to determine an inconsistency parameter of a transmit channel of the first plane; a second switching submodule 4013, configured to switch the calibration mode of the MIMO antenna array to the transmitting unit on the second side of the MIMO antenna array to transmit the radio frequency signal to the receiving antenna unit on the first side; a second determining submodule 4014, configured to determine an inconsistency parameter of the receiving channel of the first plane; and the compensation term determining submodule 4015 is configured to determine a first optimal delay phase compensation term of the MIMO imaging system according to the inconsistency parameter of the transmit channel of the first plane and the inconsistency parameter of the receive channel of the first plane.
Preferably, the first determination submodule includes: the first acquisition unit is used for acquiring a first echo signal and a calibration signal of a first linear frequency modulation signal through the signal processing unit, wherein the first echo signal is generated through a radio frequency signal transmitted by a transmitting antenna on a first surface; a first extraction unit, configured to extract a first chirp calibration coefficient matrix from a calibration signal of the first chirp; the first pulse pressure unit is used for multiplying the first echo signal after digital down-conversion by the first linear frequency modulation signal calibration coefficient matrix to obtain a first one-dimensional distance image signal after pulse pressure; and the first coefficient determining unit is used for determining an error distance calibration coefficient and an amplitude calibration coefficient of a transmitting channel of the first surface according to the pulse-pressed first one-dimensional distance image signal.
Preferably, the second determination submodule includes: the second acquisition unit is used for acquiring a second echo signal and a calibration signal of the first linear frequency modulation signal through the signal processing unit, wherein the second echo signal is generated through a radio frequency signal transmitted by a transmitting antenna on a second surface; a second extraction unit, configured to extract a second chirp calibration coefficient matrix from a calibration signal of the second chirp; the second pulse pressure unit is used for multiplying the second echo signal after digital down-conversion by the second linear frequency modulation signal calibration coefficient matrix to obtain a second one-dimensional range profile signal after pulse pressure; and the second coefficient determining unit is used for determining an error distance calibration coefficient and an amplitude calibration coefficient of a receiving channel of the first surface according to the pulse-pressed second one-dimensional range profile signal.
Preferably, the third calibration module 403 includes: the first sub-module 4031 is configured to, in an imaging process of the MIMO imaging system, multiply the acquired first echo signal of the first surface by an error distance calibration coefficient of a transmit channel of the first surface, an error distance calibration coefficient of a receive channel of the first surface, and the first optimal delay phase compensation term, divide the error distance calibration coefficient by an amplitude calibration coefficient of the transmit channel of the first surface and an amplitude calibration coefficient of the receive channel of the first surface, and then obtain a target image by using a preset imaging algorithm; the second sub-module 4032 is configured to multiply the acquired second echo signal of the second surface by the error distance calibration coefficient of the transmit channel of the second surface, the error distance calibration coefficient of the receive channel of the second surface, and the second optimal delay phase compensation term, and obtain a target image by using a preset imaging algorithm after dividing the second echo signal by the amplitude calibration coefficient of the transmit channel of the second surface and the amplitude calibration coefficient of the receive channel of the second surface.
The calibration apparatus for the MIMO imaging system according to the embodiment of the present invention can implement each process in the method embodiments of fig. 1 to fig. 3, and is not described herein again to avoid repetition.
The calibration device and the calibration method for the MIMO imaging system provided by the embodiment of the invention calibrate the transmitting antennas and the receiving antennas of the first surface and the second surface of the MIMO antenna array respectively, determine the inconsistency parameter of the transmitting channel of the first surface, the inconsistency parameter of the receiving channel of the first surface and the first optimal delay phase compensation item, the inconsistency parameter of the transmitting channel of the second surface, the inconsistency parameter of the receiving channel of the second surface and the second optimal delay phase compensation item, calibrate the echo data acquired by the MIMO imaging system according to the inconsistency parameters, the first optimal delay phase compensation item and the second optimal delay phase compensation item, and have the core that the calibration method for the transmitting unit of the opposite antenna array is adopted, high-precision calibration pieces do not need to be prepared, and the complexity and difficulty of system calibration can be reduced, the system is more convenient and fast to calibrate.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (6)

1. A method for calibrating a MIMO imaging system, the method comprising:
calibrating a transmitting antenna and a receiving antenna of a first surface of the MIMO antenna array, and determining an inconsistency parameter of a transmitting channel of the first surface, an inconsistency parameter of a receiving channel of the first surface and a first optimal delay phase compensation item;
calibrating a transmitting antenna and a receiving antenna of a second surface of the MIMO antenna array, and determining an inconsistency parameter of a transmitting channel of the second surface, an inconsistency parameter of a receiving channel of the second surface and a second optimal delay phase compensation item; wherein the inconsistency parameter comprises: error distance calibration coefficients and amplitude calibration coefficients;
and calibrating echo data acquired by the MIMO imaging system according to the inconsistency parameters, the first optimal delay phase compensation item and the second optimal delay phase compensation item.
2. The method of claim 1, wherein the step of calibrating the transmitting antennas and the receiving antennas of the first side of the MIMO antenna array and determining the disparity parameters of the transmitting channels of the first side, the disparity parameters of the receiving channels of the first side, and the first optimal delay phase compensation term comprises:
switching the calibration mode of the MIMO antenna array to a transmitting unit of a first surface of the MIMO antenna array to transmit a radio frequency signal to a receiving antenna unit of a second surface;
determining an inconsistency parameter of a transmit channel of the first face;
switching the calibration mode of the MIMO antenna array to transmit radio frequency signals from the transmit elements of the second side of the MIMO antenna array to the receive antenna elements of the first side;
determining an inconsistency parameter of a receive channel of the first face;
and determining a first optimal delay phase compensation item of the MIMO imaging system according to the inconsistency parameters of the transmitting channel of the first surface and the receiving channel of the first surface.
3. The method of claim 1, wherein the step of calibrating the echo data acquired by the MIMO imaging system according to each of the inconsistency parameters, the first optimal delayed phase compensation term, and the second optimal delayed phase compensation term comprises:
in the imaging process of the MIMO imaging system, multiplying the acquired first echo signal of the first surface by an error distance calibration coefficient of a transmitting channel of the first surface, an error distance calibration coefficient of a receiving channel of the first surface and the first optimal delay phase compensation term, dividing the error distance calibration coefficient by an amplitude calibration coefficient of the transmitting channel of the first surface and an amplitude calibration coefficient of the receiving channel of the first surface, and then obtaining a target image by adopting a preset imaging algorithm;
and multiplying the acquired second echo signal of the second surface by an error distance calibration coefficient of a transmitting channel of the second surface, an error distance calibration coefficient of a receiving channel of the second surface and the second optimal delay phase compensation term, dividing by an amplitude calibration coefficient of the transmitting channel of the second surface and an amplitude calibration coefficient of the receiving channel of the second surface, and then obtaining a target image by adopting a preset imaging algorithm.
4. An apparatus for calibrating a MIMO imaging system, the apparatus comprising:
the MIMO antenna array comprises a first calibration module, a second calibration module and a third calibration module, wherein the first calibration module is used for calibrating a transmitting antenna and a receiving antenna of a first surface of the MIMO antenna array and determining an inconsistency parameter of a transmitting channel of the first surface, an inconsistency parameter of a receiving channel of the first surface and a first optimal delay phase compensation item;
the second calibration module is used for calibrating the transmitting antenna and the receiving antenna of the second surface of the MIMO antenna array and determining an inconsistency parameter of a transmitting channel of the second surface, an inconsistency parameter of a receiving channel of the second surface and a second optimal delay phase compensation item; wherein the inconsistency parameter comprises: error distance calibration coefficients and amplitude calibration coefficients;
and the third calibration module is used for calibrating the echo data acquired by the MIMO imaging system according to each inconsistency parameter, the first optimal delay phase compensation item and the second optimal delay phase compensation item.
5. The apparatus of claim 4, wherein the first calibration module comprises:
the first switching submodule is used for switching the calibration mode of the MIMO antenna array to a transmitting unit of a first surface of the MIMO antenna array to transmit a radio frequency signal to a receiving antenna unit of a second surface;
the first determining submodule is used for determining an inconsistency parameter of a transmitting channel of the first surface;
a second switching sub-module, configured to switch the calibration mode of the MIMO antenna array to transmit radio frequency signals to the transmitting units on the second side of the MIMO antenna array to the receiving antenna units on the first side;
the second determining submodule is used for determining an inconsistency parameter of a receiving channel of the first surface;
and the compensation item determining submodule is used for determining a first optimal delay phase compensation item of the MIMO imaging system according to the inconsistency parameters of the transmitting channel of the first surface and the receiving channel of the first surface.
6. The apparatus of claim 4, wherein the third calibration module comprises:
the first sub-module is used for multiplying the acquired first echo signal of the first surface by an error distance calibration coefficient of a transmitting channel of the first surface, an error distance calibration coefficient of a receiving channel of the first surface and the first optimal delay phase compensation term in the imaging process of the MIMO imaging system, dividing the error distance calibration coefficient by an amplitude calibration coefficient of the transmitting channel of the first surface and an amplitude calibration coefficient of the receiving channel of the first surface, and then obtaining a target image by adopting a preset imaging algorithm;
and the second submodule is used for multiplying the acquired second echo signal of the second surface by the error distance calibration coefficient of the transmitting channel of the second surface, the error distance calibration coefficient of the receiving channel of the second surface and the second optimal delay phase compensation term, dividing the error distance calibration coefficient by the amplitude calibration coefficient of the transmitting channel of the second surface and the amplitude calibration coefficient of the receiving channel of the second surface, and then obtaining a target image by adopting a preset imaging algorithm.
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