CN110618410B - Angle calibration and calculation method for millimeter wave radar - Google Patents
Angle calibration and calculation method for millimeter wave radar Download PDFInfo
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- CN110618410B CN110618410B CN201910923804.1A CN201910923804A CN110618410B CN 110618410 B CN110618410 B CN 110618410B CN 201910923804 A CN201910923804 A CN 201910923804A CN 110618410 B CN110618410 B CN 110618410B
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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
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Abstract
The invention discloses an angle calibration and calculation method for a millimeter wave radar. The present invention expresses the relationship between sin (θ) and Kmax by the expression sin (θ) = g (Kmax) in step S4. It is thereby achieved that the angle calculation is handled as a black box, and only the angle calculation expression in which sin (θ) involves only the phase factor as in step S3 is no longer considered. Therefore, the influence of angle errors caused by all non-phase factors is considered in the expression in the step S4, and the application range of the expression and the calculation accuracy of the target incident angle are improved. Meanwhile, an input-output function relation table is established in the standard test field through the S4 and the S5, so that calculation and calibration of the target incidence angle can be realized according to the input-output function relation table or the relation expression.
Description
Technical Field
The invention belongs to the technical field of millimeter wave radars, and particularly relates to an angle calibration and calculation method for a millimeter wave radar.
Background
In the automotive industry, millimeter wave radar sensors are one of the mainstream detection sensors due to moderate cost, strong environmental adaptability and good remote detection capability. The working frequency band targets of the vehicle-mounted millimeter wave radar product comprise 24GHz and 77GHz. With the development of products in the industry, the cost of 77GHz frequency band series products is continuously reduced, and the advantages of small volume and long detection distance are increasingly prominent, so that the products become one of the main research directions of vehicle-mounted radars in the future.
The millimeter wave radar mainly determines the position and relative speed of a target, and the position includes relative distance, elevation angle (height) and horizontal angle. As an advanced automobile radar system, the height of an object, such as a manhole cover and an overpass, needs to be identified, and therefore, it is very important to measure the pitch angle of the object.
The main principle of the existing angle calibration method is mainly to compensate the phase difference between the feeder line of the millimeter wave radar antenna system and the internal phase difference of a radio frequency chip. In the angle measuring process, the extra phase difference introduced by each receiving antenna and the feeder thereof is measured and added into the phase of each antenna to eliminate the influence brought by the feeder, the antenna and the radio frequency chip.
The existing method can not effectively eliminate the influence of angle errors caused by non-phase factors and errors can occur under some angles.
Disclosure of Invention
The invention aims to provide an angle calibration and calculation method capable of effectively eliminating the influence of angle errors caused by non-phase factors in order to overcome the problems in the prior art.
The purpose of the invention is realized by the following technical scheme:
an angle calibration and calculation method for a millimeter wave radar, the angle calibration and calculation method for the millimeter wave radar at least comprising the following steps:
s1: based on the angle measurement principle of radar, the phase difference omega =2 pi/lambda dsin (theta) generated by the distance between the receiving antennas is obtained, wherein d is the distance between the two receiving lines, theta is the target incident angle, and lambda is the millimeter wave wavelength;
s2: obtaining a target phase difference of omega = f (Kmax) based on phase measurement of each antenna in the radar, wherein Kmax is a subscript of a target position obtained by establishing antenna phase calculation;
s3: based on the two formulas in S1 and S2, the expression of sin (theta) is obtained as follows: sin (θ) = f (Kmax) × λ/(2 pi)/d;
s4: based on the expression structure of sin (θ) in S3, the relationship between sin (θ) and Kmax is expressed by the following expression:
sin(θ)＝g(Kmax)，
establishing a relational expression of sin (theta) = g (Kmax) in a standard test field through a corresponding relation table of a plurality of measured sin (theta) values and Kmax;
s5: when angle calculation of the millimeter wave radar is performed, calculation of a target incident angle corresponding to Kmax is completed based on the established relational expression of sin (θ) = g (Kmax).
That is, by expressing the relationship of sin (θ) and Kmax in step S4 by the expression sin (θ) = g (Kmax). It is thereby realized that the angle calculation is handled as a black box, and only the angle calculation expression in which sin (θ) only involves the phase factor as in step S3 is no longer considered. Therefore, the influence of angle errors caused by all non-phase factors is considered in the expression in the step S4, and the application range of the expression and the calculation accuracy of the target incident angle are improved. Meanwhile, an input-output function relation table is established in the standard test field through the S4 and the S5, so that calculation and calibration of the target incidence angle can be realized according to the input-output function relation table or the relation expression.
According to a preferred embodiment, the step S5 may also be based on the step S4, and the calculation of the target incident angle corresponding to Kmax is completed by looking up or fitting a table of correspondence between several sin (θ) values measured in the standard test field and Kmax.
According to a preferred embodiment, when the calculation of the target incident angle corresponding to Kmax is performed in a table lookup manner, the calculation method includes, but is not limited to, calculating the target incident angle by using a difference method.
According to a preferred embodiment, in step S4, in the standard test field, starting from the radar detection range, by the turntable and the corner reflector, the corresponding Kmax of the corner reflector in the angle measurement is recorded, and the θ angle in sin (θ) is given by the turntable angle, so as to obtain a plurality of mutually corresponding sin (θ) values and Kmax values, or obtain a plurality of mutually corresponding θ angles and Kmax values.
The main scheme and the further selection schemes can be freely combined to form a plurality of schemes which are all adopted and claimed by the invention; in the invention, the selection (each non-conflict selection) and other selections can be freely combined. The skilled person in the art can understand that there are many combinations, which are all the technical solutions to be protected by the present invention, according to the prior art and the common general knowledge after understanding the scheme of the present invention, and the technical solutions are not exhaustive herein.
The invention has the beneficial effects that: the invention takes the angle calculation as black box processing, and realizes the calculation and calibration of the target incident angle according to the input and output function relation table or the relation expression by establishing the input and output function relation table.
Detailed Description
The following non-limiting examples serve to illustrate the invention.
Example 1:
an angle calibration and calculation method for millimeter wave radar. The angle calibration and calculation method of the millimeter wave radar at least comprises the following steps:
s1: based on the angle measurement principle of radar, the phase difference ω =2 pi/λ dsin (θ) generated by the distance between the receiving antennas is obtained, wherein d is the distance between the two receiving antennas, θ is the target incident angle, and λ is the millimeter wave wavelength.
S2: based on the phase measurement of each antenna in the radar, a target phase difference is obtained to be ω = f (Kmax), wherein Kmax is a subscript where the target is located, which is obtained through establishing antenna phase calculation.
S3: based on the two formulas in S1 and S2, the expression of sin (theta) is obtained as follows: sin (θ) = f (Kmax) × λ/(2 pi)/d.
S4: based on the expression structure of sin (θ) in S3, the relationship between sin (θ) and Kmax is expressed by the following expression:
sin(θ)＝g(Kmax)，
and in a standard test field, establishing a relational expression of sin (theta) = g (Kmax) through a corresponding relation table of a plurality of measured sin (theta) values and Kmax.
Preferably, in step S4, in the standard test field, starting from the radar detection range through the rotary table and the corner reflector, kmax corresponding to the corner reflector in the angle measurement is recorded, and θ angle in sin (θ) is given by the angle of the rotary table, so as to obtain a plurality of sin (θ) values and Kmax values corresponding to each other.
I.e. by expressing sin (theta) = g (Kmax) in step S4 by the expression sin (theta) = g (Kmax). Thereby enabling the angle calculation to be handled as a black box. The angle calculation expression in which sin (θ) only involves the phase factor as in step S3 is no longer considered. Therefore, the influence of angle errors caused by all non-phase factors is considered in the expression in the step S4, and the application range of the expression and the calculation accuracy of the target incident angle are improved.
S5: when angle calculation of the millimeter wave radar is performed, calculation of a target incident angle corresponding to Kmax is completed based on the established relational expression of sin (θ) = g (Kmax).
Preferably, the step S5 may also be based on the correspondence table between several sin (θ) values measured in the standard test field and Kmax in step S4, and the target incident angle corresponding to Kmax is calculated by looking up the table. Further, when the calculation of the target incident angle corresponding to Kmax is completed in a table lookup manner, the calculation method includes, but is not limited to, calculating the target incident angle by using a difference method.
An input-output function relation table is established in the standard test field through S4 and S5, so that calculation and calibration of the target incidence angle can be realized according to the input-output function relation table or the relation expression.
The foregoing basic embodiments of the invention and their various further alternatives can be freely combined to form multiple embodiments, all of which are examples of what the invention can employ and claim. In the scheme of the invention, each selection example can be combined with any other basic example and selection example at will. Numerous combinations will be known to those skilled in the art.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. An angle calibration and calculation method for a millimeter wave radar, the angle calibration and calculation method for the millimeter wave radar at least comprises the following steps:
s1: based on the angle measurement principle of radar, obtaining a phase difference omega =2 pi/lambda dsin (theta) generated by the distance between the receiving antennas, wherein d is the distance between the two receiving antennas, theta is a target incident angle, and lambda is a millimeter wave wavelength;
s2: obtaining a target phase difference of omega = f (Kmax) based on phase measurement of each antenna in the radar, wherein Kmax is a subscript of a target position obtained by establishing antenna phase calculation;
s3: based on the two formulas in S1 and S2, the expression of sin (theta) is obtained as follows: sin (θ) = f (Kmax) × λ/(2 pi)/d;
s4: based on the expression structure of sin (θ) in S3, the relationship between sin (θ) and Kmax is expressed by the following expression:
sin(θ)＝g(Kmax)，
establishing a relational expression of sin (theta) = g (Kmax) in a standard test field through a corresponding relation table of a plurality of measured sin (theta) values and Kmax;
s5: when angle calculation of the millimeter wave radar is performed, calculation of a target incident angle corresponding to Kmax is completed based on the established relational expression of sin (θ) = g (Kmax).
2. The method according to claim 1, wherein the step S5 is performed by performing table look-up or fitting based on the correspondence table between several sin (θ) values measured in the standard test field and Kmax in step S4 to calculate the target incident angle corresponding to Kmax.
3. The angle calibration and calculation method for millimeter wave radar as claimed in claim 2, wherein when the calculation of the target incident angle corresponding to Kmax is performed by looking up the table, the calculation method comprises calculating the target incident angle by using a difference method.
4. The angle calibration and calculation method for millimeter wave radar according to claim 1, wherein in step S4, in the standard test field, from the radar detection range, by the turntable and the corner reflector, kmax corresponding to the corner reflector in the angle measurement is recorded, and θ angle in sin (θ) is given by the turntable angle, so as to obtain a plurality of mutually corresponding sin (θ) values and Kmax values, or obtain a plurality of mutually corresponding θ angles and Kmax values.
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| CN112180374B (en) * | 2020-09-23 | 2022-09-23 | 南京楚航科技有限公司 | Vehicle-mounted millimeter wave radar RCS test method based on high-precision intelligent mechanical arm |
| CN112859024B (en) * | 2021-04-01 | 2024-05-28 | 东风汽车集团股份有限公司 | Vehicle-mounted millimeter wave radar calibration device and calibration method |
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| EP3260882A1 (en) * | 2016-05-31 | 2017-12-27 | Panasonic Intellectual Property Management Co., Ltd. | Radar apparatus mounted on moving body and azimuth angle correction method for use in radar apparatus mounted on moving body |
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