CN112485767A - Radar calibration method and device - Google Patents
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- 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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- 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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Abstract
The embodiment of the application discloses a radar calibration method and a device, wherein the method comprises the following steps: determining an intersection line between the scanning ranges of the first radar and the second radar when the elevation angles of the first radar and the second radar are both target elevation angles; acquiring a first reflectivity of a first radar on each target reference point on an intersecting line when the elevation angle of the first radar is a target elevation angle; acquiring a second reflectivity of a second radar on each target reference point on an intersecting line when the elevation angle of the second radar is a target elevation angle; and determining the positioning azimuth deviation of the first radar and the second radar and the echo intensity deviation of the first radar and the second radar according to the first reflectivity and the second reflectivity on each target reference point. Therefore, the calibration of the echo intensity and the positioning direction between the two radars is realized, the calibration can be carried out under the condition that the radar service operation is not influenced, a user can find the fault of the radar in time, and the detection, the calibration and the fault maintenance are carried out on the fault.
Description
Technical Field
The application relates to the technical field of radars, in particular to a radar calibration method and device.
Background
For a weather radar service network, the weather forecasting work can be better carried out only by ensuring the consistency of the echo intensities among a plurality of radars and the consistency of positioning results; the inconsistency of the echo intensity among multiple radars or the inconsistency of the positioning result will affect the accuracy of weather prediction.
Currently, only a scheme for calibrating the echo intensity and the positioning result of a single radar exists in the related art, and calibration can be usually performed only when the radar is stopped. On one hand, the echo intensity and the positioning result of a single radar are calibrated, so that the accuracy is low; on the other hand, when the radar is stopped, the radar is calibrated, so that faults occurring in the running process of the radar cannot be timely found by a user, and the accuracy of a weather prediction result is influenced.
Disclosure of Invention
The embodiment of the application provides a radar calibration method and device, which can determine the echo intensity difference and the positioning azimuth difference between radars under the condition of not influencing the radar service operation.
In view of this, a first aspect of the present application provides a radar calibration method, including:
determining an intersection line between scanning ranges of a first radar and a second radar when both elevation angles of the first radar and the second radar are target elevation angles;
acquiring a first reflectivity of the first radar on each target reference point on the intersecting line when the elevation angle of the first radar is the target elevation angle; acquiring a second reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle;
and determining the positioning azimuth deviation of the first radar and the second radar and the echo intensity deviation of the first radar and the second radar according to the first reflectivity and the second reflectivity on each target reference point.
Optionally, the method further includes:
acquiring echo reflectivity of the first radar on each first reference point in a scanning range of the first radar when the elevation angle of the first radar in a target time period is the target elevation angle;
calculating the average value of the echo reflectivity on the first reference points as the first reflectivity corresponding to the first reference points for each first reference point;
acquiring echo reflectivity of the second radar on each second reference point in the scanning range of the second radar when the elevation angle of the second radar in the target time period is the target elevation angle;
calculating the average value of the echo reflectivity on each second reference point as the second reflectivity corresponding to the second reference point;
then said obtaining a first reflectivity of the first radar at each target reference point on the intersection line when the elevation angle of the first radar is the target elevation angle comprises:
searching each target reference point in each first reference point in the scanning range of the first radar; acquiring first reflectivity corresponding to each target reference point;
then said obtaining a second reflectivity of said second radar at said target reference points on said intersection line when said elevation angle of said second radar is said target elevation angle comprises:
searching each target reference point in each second reference point in the scanning range of the second radar; and acquiring second reflectivity corresponding to each target reference point.
Optionally, the determining a positioning azimuth deviation of the first radar and the second radar according to the first reflectivity and the second reflectivity at each target reference point includes:
controlling the second radar to rotate within a deviation range by a preset stepping angle;
when the elevation angle of the second radar is the target elevation angle, acquiring second reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle, and using the second reflectivity as a second reflectivity set corresponding to the deflection angle of the current rotation;
and determining the positioning azimuth deviation of the first radar and the second radar according to a second reflectivity set corresponding to each deflection angle in the deviation range and the first reflectivity on each target reference point.
Optionally, the determining, according to a second reflectivity set corresponding to each deflection angle in the deviation range and the first reflectivity at each target reference point, a positioning azimuth deviation between the first radar and the second radar includes:
for each deflection angle, calculating a zero-order cross correlation degree between a second reflectivity in a second reflectivity set corresponding to the deflection angle and the first reflectivity on each target reference point, and taking the zero-order cross correlation degree as the zero-order cross correlation degree corresponding to the deflection angle;
and taking the deflection angle with the maximum corresponding zero-order cross correlation degree as the positioning azimuth deviation of the first radar and the second radar.
Optionally, the determining, according to the first reflectivity and the second reflectivity at each target reference point, an echo intensity deviation between the first radar and the second radar includes:
adjusting an azimuth of the second radar based on the positioning azimuth deviation;
after the azimuth of the second radar is adjusted, acquiring a second reflectivity of the second radar on each target reference point on the intersection line when the elevation angle of the second radar is the target elevation angle;
and calculating the distance between the first reflectivity and the second reflectivity on each target reference point by adopting a least square method to obtain the echo intensity deviation of the first radar and the second radar.
A second aspect of the present application provides a radar calibration apparatus, the apparatus including:
the intersection line determining module is used for determining an intersection line between the scanning ranges of the first radar and the second radar when the elevation angles of the first radar and the second radar are both target elevation angles;
the reflectivity acquisition module is used for acquiring first reflectivity of the first radar on each target reference point on the intersecting line when the elevation angle of the first radar is the target elevation angle; acquiring a second reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle;
and the calibration module is used for determining the positioning azimuth deviation of the first radar and the second radar and the echo intensity deviation of the first radar and the second radar according to the first reflectivity and the second reflectivity on each target reference point.
Optionally, the apparatus further comprises:
a reference reflectivity obtaining module, configured to obtain echo reflectivities of the first radar at first reference points in a scanning range of the first radar when an elevation angle of the first radar in a target time period is the target elevation angle; calculating the average value of the echo reflectivity on the first reference points as the first reflectivity corresponding to the first reference points for each first reference point;
the reference reflectivity obtaining module is further configured to obtain an echo reflectivity of the second radar at each second reference point in a scanning range of the second radar when an elevation angle of the second radar in the target time period is the target elevation angle; calculating the average value of the echo reflectivity on each second reference point as the second reflectivity corresponding to the second reference point;
the reflectivity obtaining module is specifically configured to:
searching each target reference point in each first reference point in the scanning range of the first radar; acquiring first reflectivity corresponding to each target reference point;
searching each target reference point in each second reference point in the scanning range of the second radar; and acquiring second reflectivity corresponding to each target reference point.
Optionally, the calibration module is specifically configured to:
controlling the second radar to rotate within a deviation range by a preset stepping angle;
when the elevation angle of the second radar is the target elevation angle, acquiring second reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle, and using the second reflectivity as a second reflectivity set corresponding to the deflection angle of the current rotation;
and determining the positioning azimuth deviation of the first radar and the second radar according to a second reflectivity set corresponding to each deflection angle in the deviation range and the first reflectivity on each target reference point.
Optionally, the calibration module is specifically configured to:
for each deflection angle, calculating a zero-order cross correlation degree between a second reflectivity in a second reflectivity set corresponding to the deflection angle and the first reflectivity on each target reference point, and taking the zero-order cross correlation degree as the zero-order cross correlation degree corresponding to the deflection angle;
and taking the deflection angle with the maximum corresponding zero-order cross correlation degree as the positioning azimuth deviation of the first radar and the second radar.
Optionally, the calibration module is specifically configured to:
adjusting an azimuth of the second radar based on the positioning azimuth deviation;
after the azimuth of the second radar is adjusted, acquiring a second reflectivity of the second radar on each target reference point on the intersection line when the elevation angle of the second radar is the target elevation angle;
and calculating the distance between the first reflectivity and the second reflectivity on each target reference point by adopting a least square method to obtain the echo intensity deviation of the first radar and the second radar.
According to the technical scheme, the embodiment of the application has the following advantages:
the embodiment of the application provides a radar calibration method, which comprises the steps of firstly determining an intersecting line between scanning ranges of a first radar and a second radar when elevation angles of the first radar and the second radar are target elevation angles aiming at the first radar and the second radar to be calibrated; then, acquiring first reflectivity of the first radar on each target reference point of the intersecting line when the elevation angle of the first radar is a target elevation angle, and acquiring second reflectivity of the second radar on each target reference point of the intersecting line when the elevation angle of the second radar is a target elevation angle; and further, determining the positioning azimuth deviation of the first radar and the second radar and the echo intensity deviation of the first radar and the second radar according to the first reflectivity and the second reflectivity on each target reference point of the intersection line. Therefore, the method can realize the calibration of the echo intensity and the positioning direction between the two radars, and the calibration process is based on the echo reflectivity of the radars, so that the calibration can be carried out under the condition of not influencing the radar service operation, a user can find the fault of the radar in time, and the fault can be checked, calibrated and repaired.
Drawings
Fig. 1 is a schematic flowchart of a radar calibration method according to an embodiment of the present disclosure;
fig. 2 is a schematic position diagram of an intersection line of the first radar and the second radar in a top view according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a radar calibration apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the related art, only a scheme for calibrating the echo intensity and the positioning result of a single radar is provided at present, and calibration can be generally performed only when the radar is stopped. On one hand, the echo intensity and the positioning result of a single radar are calibrated, so that the accuracy is low; on the other hand, when the radar is stopped, the radar is calibrated, so that faults occurring in the running process of the radar cannot be timely found by a user, and the accuracy of a weather prediction result is influenced.
In view of the problems in the related art, embodiments of the present application provide a radar calibration method, which can determine echo intensity differences and positioning azimuth differences among multiple radars without affecting radar service operation.
Specifically, in the radar calibration method provided in the embodiment of the present application, an intersection line between scanning ranges of a first radar and a second radar to be calibrated when elevation angles of the first radar and the second radar are both target elevation angles is determined; then, acquiring first reflectivity of the first radar on each target reference point of the intersecting line when the elevation angle of the first radar is a target elevation angle, and acquiring second reflectivity of the second radar on each target reference point of the intersecting line when the elevation angle of the second radar is a target elevation angle; and further, determining the positioning azimuth deviation of the first radar and the second radar and the echo intensity deviation of the first radar and the second radar according to the first reflectivity and the second reflectivity on each target reference point of the intersection line. Therefore, the method can realize the calibration of the echo intensity and the positioning direction between the two radars, and the calibration process is based on the echo reflectivity of the radars, so that the calibration can be carried out under the condition of not influencing the radar service operation, a user can find the fault of the radar in time, and the fault can be checked, calibrated and repaired.
The radar calibration method provided by the present application is introduced by the method embodiment below.
Referring to fig. 1, fig. 1 is a schematic flowchart of a radar calibration method provided in an embodiment of the present application. As shown in fig. 1, the radar calibration method includes the following steps:
step 101: determining an intersection line between scan ranges of a first radar and a second radar when both elevation angles of the first radar and the second radar are target elevation angles.
In specific implementation, when the elevation angles of the first radar and the second radar are both target elevation angles, the intersecting line between the scanning ranges of the first radar and the second radar can be determined according to the respective longitude and latitude and the height of the first radar and the second radar. Fig. 2 is a schematic diagram of the position of the intersection line between the first radar and the second radar in a top view, as shown in fig. 2, R1 represents the first radar, R2 represents the second radar, and according to the respective latitudes and longitudes of R1 and R2, the intersection line P1P2 between the scanning range of R1 when the elevation angle is the target elevation angle and the scanning range of R2 when the elevation angle is the target elevation angle can be determined, and from the top view, the intersection line P1P2 should be actually on a vertical plane bisection of a line connecting the position of R1 and the position of R2.
After determining an intersection line between the scanning ranges of the first radar and the second radar when the elevation angles of the first radar and the second radar are both target elevation angles, a plurality of target reference points may be further determined on the intersection line. For example, the intersecting line may be divided into several segments on average, and the end point of each segment is regarded as the target reference point on the intersecting line; for example, assuming that the length of the intersecting line P1P2 is 10km, a target reference point may be set every 100m on the intersecting line P1P 2.
Of course, in practical applications, the target reference point on the intersecting line may also be set in other manners, and the present application does not limit the manner of setting the target reference point on the intersecting line.
Step 102: acquiring a first reflectivity of the first radar on each target reference point on the intersecting line when the elevation angle of the first radar is a target elevation angle; and acquiring a second reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle.
And when the elevation angle of the first radar is a target elevation angle, acquiring the echo reflectivity of the first radar on each target reference point on the intersecting line, and regarding the echo reflectivity of the first radar on each target reference point as the first reflectivity. Similarly, when the elevation angle of the second radar is the target elevation angle, the echo reflectivities of the second radar on the target reference points on the intersection line are obtained, and the echo reflectivities of the second radar on the target reference points are all regarded as the second reflectivities.
In a possible implementation manner, when the elevation angle of the first radar in the target time period is the target elevation angle, the echo reflectivity of the first radar on each first reference point in the scanning range of the first radar can be obtained; then, for each first reference point, an average value of the echo reflectivities at the first reference point is calculated as the first reflectivity corresponding to the first reference point. And then, finding out a target reference point on the intersection line from each first reference point in the scanning range of the first radar, and correspondingly taking the found first reference points as the first reflectivity corresponding to each target reference point respectively.
Specifically, in practical applications, when the radar normally works, a plurality of 360-degree scans (i.e., volume scans) with different elevation angles are performed, and the method provided in the embodiment of the present application needs to acquire the echo reflectances of the first reference points in the scanning range of the first radar when the elevation angle of the first radar is a specific target elevation angle in a target time period, for example, if the target time period is 13:00 to 14:00 and the target elevation angle is 0.5 degree, the echo reflectances of the first reference points in the scanning range of the first radar need to be acquired when the elevation angle is 0.5 degree in the process of scanning the first radar at 13:00 to 14: 00.
Since the first radar usually performs multi-wheel scanning in the target period, it is necessary to acquire the echo reflectivity of the first radar at each first reference point when the elevation angle in each wheel scanning is the target elevation angle. Then, aiming at each first reference point, calculating the average value of the echo reflectivities of the wheel bodies on the first reference point when the sweeping elevation angle of each wheel body is the target elevation angle in the target time period, and taking the average value as the first reflectivity of the first reference point; therefore, the first reflectivity corresponding to each first reference point in the scanning range of the first radar is obtained. And then, searching each target reference point on the intersecting line in each first reference point in the scanning range of the first radar, and correspondingly taking the first reflectivity of the first reference point corresponding to the target reference point as the first reflectivity of the target reference point.
Similarly, when the elevation angle of the second radar in the target time period is the target elevation angle, the echo reflectivity of the second radar on each second reference point in the scanning range of the second radar can be obtained; then, for each second reference point, an average value of the echo reflectivities at the second reference point is calculated as the second reflectivity corresponding to the second reference point. And then, finding out a target reference point on the intersection line from all second reference points in the scanning range of the second radar, and correspondingly taking the found second reference points as the second reflectivity corresponding to all the target reference points respectively, wherein the second reflectivity corresponds to all the second reference points.
Specifically, since the second radar usually performs multi-wheel scanning in the target period, it is necessary to acquire the echo reflectivity of the second radar at each second reference point when the elevation angle in each wheel scanning is the target elevation angle. Then, aiming at each second reference point, calculating the average value of the echo reflectivities of the wheel bodies on the second reference point when the elevation angle in each wheel body sweep is the target elevation angle in the target time period, and taking the average value as the second reflectivity of the second reference point; thus, the second reflectivity corresponding to each second reference point in the scanning range of the second radar is obtained. And then, searching each target reference point on the intersecting line in each second reference point in the scanning range of the second radar, and correspondingly taking the second reflectivity of the second reference point corresponding to the target reference point as the second reflectivity of the target reference point.
Step 103: and determining the positioning azimuth deviation of the first radar and the second radar and the echo intensity deviation of the first radar and the second radar according to the first reflectivity and the second reflectivity on each target reference point.
After the first reflectivity and the second reflectivity on each target reference point on the intersection line are determined, a first reflectivity curve corresponding to the first radar can be drawn according to the first reflectivity on each target reference point, a second reflectivity curve corresponding to the second radar can be drawn according to the second reflectivity on each target reference point, and further, the positioning azimuth deviation between the first radar and the second radar and the echo intensity deviation between the first radar and the second radar can be determined according to the first reflectivity curve corresponding to the first radar and the second reflectivity curve corresponding to the second radar.
Specifically, when the positioning azimuth deviation between the first radar and the second radar is determined, the second radar can be controlled to rotate within a deviation range by a preset stepping angle, and each time the rotation is completed, the second reflectivity of the second radar on each target reference point on the intersection line when the elevation angle of the second radar is the target elevation angle is obtained and is used as a second reflectivity set corresponding to the deflection angle of the rotation; and further, determining the positioning azimuth deviation between the first radar and the second radar according to the second reflectivity set corresponding to each deflection angle in the deviation range and the first reflectivity on each target reference point.
Assuming the maximum possible yaw angle of the second radar in the azimuth of the location
May depend on the angle of this maximum possible deflection
Setting the deviation range, e.g. assuming
At 10 degrees, a deviation range of-10 degrees to +10 degrees may be set. Controlling the second radar to a predetermined step angle
Rotating within the above deviation range, for example, assuming a deviation range of-10 degrees to +10 degrees，
At 1 degree, the second radar may be controlled to rotate from-10 degrees to +10 degrees in a counterclockwise direction, each time by 1 degree, or may be controlled to rotate from +10 degrees to-10 degrees in a clockwise direction, each time by 1 degree.
When the rotation is completed once, correspondingly acquiring the echo reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle, regarding the acquired echo reflectivity on each target reference point as the second reflectivity, and forming a second reflectivity set by using the second reflectivity on each target reference point, wherein the second reflectivity set corresponds to the deflection angle of the rotation; for example, assuming that the above operation is performed when the second radar is rotated to-7 degrees, the second reflectivity set obtained by the above operation should correspond to-7 degrees. Thus, a second reflectivity set corresponding to each deflection angle in the deviation range is obtained.
Furthermore, for each deflection angle, a zero-order cross correlation between the second reflectivity in the second reflectivity set corresponding to the deflection angle and the first reflectivity at each target reference point may be calculated as the zero-order cross correlation corresponding to the deflection angle. And taking the deflection angle with the maximum corresponding zero-order cross correlation degree as the positioning azimuth deviation between the first radar and the second radar. Illustratively, assuming N deflection angles within the deviation range, CR is usediRepresenting the zeroth order cross-correlation between the second set of reflectivities corresponding to the ith deflection angle within the deviation range and the first reflectivities at the respective target reference points, which in turn may be at CR1To CRNMiddle selection CRmaxThe CR ofmaxThe corresponding deflection angle is the positioning azimuth deviation between the first radar and the second radar.
It should be noted that, in practical applications, in addition to measuring the positioning azimuth deviation between the first radar and the second radar based on the zeroth-order cross-correlation between the first reflectivity and the second reflectivity at each target reference point, other parameters calculated based on other algorithms may also be used to measure the positioning azimuth deviation between the first radar and the second radar.
Specifically, when determining the echo intensity deviation between the first radar and the second radar, the position of the second radar may be adjusted based on the previously determined positioning azimuth deviation between the first radar and the second radar, so that the positioning azimuths of the first radar and the second radar are aligned. After the azimuth of the second radar is adjusted, a second reflectivity of the second radar on each target reference point on the intersection line when the second radar is under the positioning azimuth and the elevation angle is the target elevation angle can be obtained; further, the distance between the first reflectivity at each target reference point on the intersecting line and the second reflectivity at each acquired target reference point can be calculated by adopting a least squares method, so as to obtain the echo intensity deviation between the first radar and the second radar. In the radar calibration method provided by the embodiment of the application, firstly, aiming at a first radar and a second radar to be calibrated, an intersecting line between scanning ranges of the first radar and the second radar is determined when elevation angles of the first radar and the second radar are both target elevation angles; then, acquiring first reflectivity of the first radar on each target reference point of the intersecting line when the elevation angle of the first radar is a target elevation angle, and acquiring second reflectivity of the second radar on each target reference point of the intersecting line when the elevation angle of the second radar is a target elevation angle; and further, determining the positioning azimuth deviation of the first radar and the second radar and the echo intensity deviation of the first radar and the second radar according to the first reflectivity and the second reflectivity on each target reference point of the intersection line. Therefore, the method can realize the calibration of the echo intensity and the positioning direction between the two radars, and the calibration process is based on the echo reflectivity of the radars, so that the calibration can be carried out under the condition of not influencing the radar service operation, a user can find the fault of the radar in time, and the fault can be checked, calibrated and repaired.
The embodiment of the present application further provides a radar calibration device, refer to fig. 3, and fig. 3 is a schematic structural diagram of the radar calibration device provided in the embodiment of the present application. As shown in fig. 3, the radar calibration apparatus includes:
an intersection determining module 301, configured to determine an intersection between scanning ranges of a first radar and a second radar when both elevation angles of the first radar and the second radar are target elevation angles;
a reflectivity obtaining module 302, configured to obtain a first reflectivity of the first radar at each target reference point on the intersection line when an elevation angle of the first radar is a target elevation angle; acquiring a second reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle;
a calibration module 303, configured to determine, according to the first reflectivity and the second reflectivity at each target reference point, a positioning azimuth deviation between the first radar and the second radar and a return strength deviation between the first radar and the second radar.
Optionally, the apparatus further comprises:
a reference reflectivity obtaining module, configured to obtain echo reflectivities of the first radar at first reference points in a scanning range of the first radar when an elevation angle of the first radar in a target time period is the target elevation angle; calculating the average value of the echo reflectivity on the first reference points as the first reflectivity corresponding to the first reference points for each first reference point;
the reference reflectivity obtaining module is further configured to obtain an echo reflectivity of the second radar at each second reference point in a scanning range of the second radar when an elevation angle of the second radar in the target time period is the target elevation angle; calculating the average value of the echo reflectivity on each second reference point as the second reflectivity corresponding to the second reference point;
the reflectivity obtaining module is specifically configured to:
searching each target reference point in each first reference point in the scanning range of the first radar; acquiring first reflectivity corresponding to each target reference point;
searching each target reference point in each second reference point in the scanning range of the second radar; and acquiring second reflectivity corresponding to each target reference point.
Optionally, the calibration module is specifically configured to:
controlling the second radar to rotate within a deviation range by a preset stepping angle;
when the elevation angle of the second radar is the target elevation angle, acquiring second reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle, and using the second reflectivity as a second reflectivity set corresponding to the deflection angle of the current rotation;
and determining the positioning azimuth deviation of the first radar and the second radar according to a second reflectivity set corresponding to each deflection angle in the deviation range and the first reflectivity on each target reference point.
Optionally, the calibration module is specifically configured to:
for each deflection angle, calculating a zero-order cross correlation degree between a second reflectivity in a second reflectivity set corresponding to the deflection angle and the first reflectivity on each target reference point, and taking the zero-order cross correlation degree as the zero-order cross correlation degree corresponding to the deflection angle;
and taking the deflection angle with the maximum corresponding zero-order cross correlation degree as the positioning azimuth deviation of the first radar and the second radar.
Optionally, the calibration module is specifically configured to:
adjusting an azimuth of the second radar based on the positioning azimuth deviation;
after the azimuth of the second radar is adjusted, acquiring a second reflectivity of the second radar on each target reference point on the intersection line when the elevation angle of the second radar is the target elevation angle;
and calculating the distance between the first reflectivity and the second reflectivity on each target reference point by adopting a least square method to obtain the echo intensity deviation of the first radar and the second radar.
According to the radar calibration device provided by the embodiment of the application, firstly, aiming at a first radar and a second radar to be calibrated, an intersecting line between scanning ranges of the first radar and the second radar is determined when elevation angles of the first radar and the second radar are both target elevation angles; then, acquiring first reflectivity of the first radar on each target reference point of the intersecting line when the elevation angle of the first radar is a target elevation angle, and acquiring second reflectivity of the second radar on each target reference point of the intersecting line when the elevation angle of the second radar is a target elevation angle; and further, determining the positioning azimuth deviation of the first radar and the second radar and the echo intensity deviation of the first radar and the second radar according to the first reflectivity and the second reflectivity on each target reference point of the intersection line. Therefore, the device can realize the calibration of the echo intensity and the positioning direction between the two radars, and the calibration process is based on the echo reflectivity of the radars, so that the calibration can be carried out under the condition of not influencing the radar service operation, a user can find out the fault of the radar in time, and the fault is checked, calibrated and repaired.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing computer programs.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method of radar calibration, the method comprising:
determining an intersection line between scanning ranges of a first radar and a second radar when both elevation angles of the first radar and the second radar are target elevation angles;
acquiring a first reflectivity of the first radar on each target reference point on the intersecting line when the elevation angle of the first radar is the target elevation angle; acquiring a second reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle;
and determining the positioning azimuth deviation of the first radar and the second radar and the echo intensity deviation of the first radar and the second radar according to the first reflectivity and the second reflectivity on each target reference point.
2. The method of claim 1, further comprising:
acquiring echo reflectivity of the first radar on each first reference point in a scanning range of the first radar when the elevation angle of the first radar in a target time period is the target elevation angle;
calculating the average value of the echo reflectivity on the first reference points as the first reflectivity corresponding to the first reference points for each first reference point;
acquiring echo reflectivity of the second radar on each second reference point in the scanning range of the second radar when the elevation angle of the second radar in the target time period is the target elevation angle;
calculating the average value of the echo reflectivity on each second reference point as the second reflectivity corresponding to the second reference point;
then said obtaining a first reflectivity of the first radar at each target reference point on the intersection line when the elevation angle of the first radar is the target elevation angle comprises:
searching each target reference point in each first reference point in the scanning range of the first radar; acquiring first reflectivity corresponding to each target reference point;
then said obtaining a second reflectivity of said second radar at said target reference points on said intersection line when said elevation angle of said second radar is said target elevation angle comprises:
searching each target reference point in each second reference point in the scanning range of the second radar; and acquiring second reflectivity corresponding to each target reference point.
3. The method of claim 1, wherein determining the positional bearing deviation of the first radar from the second radar based on the first reflectivity and the second reflectivity at the respective target reference points comprises:
controlling the second radar to rotate within a deviation range by a preset stepping angle;
when the elevation angle of the second radar is the target elevation angle, acquiring second reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle, and using the second reflectivity as a second reflectivity set corresponding to the deflection angle of the current rotation;
and determining the positioning azimuth deviation of the first radar and the second radar according to a second reflectivity set corresponding to each deflection angle in the deviation range and the first reflectivity on each target reference point.
4. The method of claim 3, wherein determining the azimuth deviation of the first radar from the second radar according to the second set of reflectivities corresponding to the deflection angles in the deviation range and the first reflectivities at the target reference points comprises:
for each deflection angle, calculating a zero-order cross correlation degree between a second reflectivity in a second reflectivity set corresponding to the deflection angle and the first reflectivity on each target reference point, and taking the zero-order cross correlation degree as the zero-order cross correlation degree corresponding to the deflection angle;
and taking the deflection angle with the maximum corresponding zero-order cross correlation degree as the positioning azimuth deviation of the first radar and the second radar.
5. The method of claim 1, wherein determining the echo intensity deviation of the first radar from the second radar based on the first reflectivity and the second reflectivity at the respective target reference points comprises:
adjusting an azimuth of the second radar based on the positioning azimuth deviation;
after the azimuth of the second radar is adjusted, acquiring a second reflectivity of the second radar on each target reference point on the intersection line when the elevation angle of the second radar is the target elevation angle;
and calculating the distance between the first reflectivity and the second reflectivity on each target reference point by adopting a least square method to obtain the echo intensity deviation of the first radar and the second radar.
6. A radar calibration apparatus, the apparatus comprising:
the intersection line determining module is used for determining an intersection line between the scanning ranges of the first radar and the second radar when the elevation angles of the first radar and the second radar are both target elevation angles;
the reflectivity acquisition module is used for acquiring first reflectivity of the first radar on each target reference point on the intersecting line when the elevation angle of the first radar is the target elevation angle; acquiring a second reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle;
and the calibration module is used for determining the positioning azimuth deviation of the first radar and the second radar and the echo intensity deviation of the first radar and the second radar according to the first reflectivity and the second reflectivity on each target reference point.
7. The apparatus of claim 6, further comprising:
a reference reflectivity obtaining module, configured to obtain echo reflectivities of the first radar at first reference points in a scanning range of the first radar when an elevation angle of the first radar in a target time period is the target elevation angle; calculating the average value of the echo reflectivity on the first reference points as the first reflectivity corresponding to the first reference points for each first reference point;
the reference reflectivity obtaining module is further configured to obtain an echo reflectivity of the second radar at each second reference point in a scanning range of the second radar when an elevation angle of the second radar in the target time period is the target elevation angle; calculating the average value of the echo reflectivity on each second reference point as the second reflectivity corresponding to the second reference point;
the reflectivity obtaining module is specifically configured to:
searching each target reference point in each first reference point in the scanning range of the first radar; acquiring first reflectivity corresponding to each target reference point;
searching each target reference point in each second reference point in the scanning range of the second radar; and acquiring second reflectivity corresponding to each target reference point.
8. The apparatus of claim 6, wherein the calibration module is specifically configured to:
controlling the second radar to rotate within a deviation range by a preset stepping angle;
when the elevation angle of the second radar is the target elevation angle, acquiring second reflectivity of the second radar on each target reference point on the intersecting line when the elevation angle of the second radar is the target elevation angle, and using the second reflectivity as a second reflectivity set corresponding to the deflection angle of the current rotation;
and determining the positioning azimuth deviation of the first radar and the second radar according to a second reflectivity set corresponding to each deflection angle in the deviation range and the first reflectivity on each target reference point.
9. The apparatus of claim 8, wherein the calibration module is specifically configured to:
for each deflection angle, calculating a zero-order cross correlation degree between a second reflectivity in a second reflectivity set corresponding to the deflection angle and the first reflectivity on each target reference point, and taking the zero-order cross correlation degree as the zero-order cross correlation degree corresponding to the deflection angle;
and taking the deflection angle with the maximum corresponding zero-order cross correlation degree as the positioning azimuth deviation of the first radar and the second radar.
10. The apparatus of claim 6, wherein the calibration module is specifically configured to:
adjusting an azimuth of the second radar based on the positioning azimuth deviation;
after the azimuth of the second radar is adjusted, acquiring a second reflectivity of the second radar on each target reference point on the intersection line when the elevation angle of the second radar is the target elevation angle;
and calculating the distance between the first reflectivity and the second reflectivity on each target reference point by adopting a least square method to obtain the echo intensity deviation of the first radar and the second radar.
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