CN112505630B - Analysis compensation method of millimeter wave radar - Google Patents
Analysis compensation method of millimeter wave radar Download PDFInfo
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- CN112505630B CN112505630B CN202011294148.2A CN202011294148A CN112505630B CN 112505630 B CN112505630 B CN 112505630B CN 202011294148 A CN202011294148 A CN 202011294148A CN 112505630 B CN112505630 B CN 112505630B
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- millimeter wave
- wave radar
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- radar
- ground device
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000004088 simulation Methods 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
-
- 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
- G01S7/4026—Antenna boresight
-
- 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
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides an analysis and compensation method of a millimeter wave radar, which comprises the following steps: s1, under the simulation condition, determining the gain and side lobe of a millimeter wave radar antenna; s2, according to the pitch angle of the millimeter wave radar antenna, the millimeter wave radar is obliquely arranged around the ground device relative to the ground, and the radar emission direction of the millimeter wave radar deviates from the ground; s3, judging the influence of the ground device on the millimeter wave radar, and compensating the data fed back by the millimeter wave radar based on the judgment result. According to the invention, the millimeter wave radar is obliquely arranged, so that the influence of ground clutter can be greatly reduced. The method is also beneficial to eliminating the mirror reflection phenomenon of the chassis, so that the echo information contains scattering information of reaction detail characteristics. Meanwhile, under the condition of matching with a ground device, the gain and side lobe level of a radar transmitting antenna and the relation between the phase difference between receiving channels and the angle of an incident beam are obtained, so that the phase compensation parameter of the radar sensor can be obtained, and the phase compensation parameter is compensated through an algorithm.
Description
Technical Field
The invention relates to the technical field of wireless charging, in particular to an analysis and compensation method of a millimeter wave radar.
Background
With the popularization of new energy automobiles in important plans of the country, wireless charging technology is also popularized with the rapid development of the electric automobile industry. Meanwhile, in the field of wired charging of electric automobiles, the wired charging pile has the problems of large occupied area, complex operation, high wear rate and the like. Therefore, the wireless charging technology is of great significance in achieving charging of the electric automobile.
In the wireless charging technology of an automobile, a millimeter wave radar is required to realize a wireless charging auxiliary function, so that one of the common schemes is realized. The scheme is that a plurality of radar sensors are integrated around a Ground Assembly (GA), and the millimeter wave radar detection direction is outward. However, the above scheme has the following problems:
1) The millimeter wave radar is installed at a position very close to the ground within about 3-5 cm. Thus, if the antenna plane is mounted perpendicular to the ground, it is subject to more interference from reflected clutter from the ground. Meanwhile, at the moment, the plane of the millimeter wave radar antenna is also vertical to the chassis, so that the phenomenon of specular reflection exists, the echo energy is extremely strong, and other detailed information is easy to submerge.
2) The structural plastic parts of the Ground device (GA) have certain requirements on thickness and materials due to appearance design and rolling resistance. Consequently, there is inevitably a signal decay, phase deflection, and thus an increase in measurement bias, and even a result error.
Therefore, in view of the above problems, it is necessary to propose further solutions.
Disclosure of Invention
The invention aims to provide an analysis and compensation method of a millimeter wave radar so as to overcome the defects in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
an analytical compensation method for millimeter wave radar, comprising:
s1, under the simulation condition, determining the gain and side lobe of a millimeter wave radar antenna;
S2, according to the pitch angle of the millimeter wave radar antenna, the millimeter wave radar is obliquely arranged around the ground device relative to the ground, and the radar transmitting direction of the millimeter wave radar deviates from the ground;
S3, judging the influence of the ground device on the millimeter wave radar, and compensating the data fed back by the millimeter wave radar based on a judging result.
As an improvement of the analysis compensation method of the millimeter wave radar of the present invention, the step S1 includes: setting simulation conditions to determine gain and side lobes of the millimeter wave radar antenna when the millimeter wave radar is not used in combination with a ground device.
As an improvement of the analysis compensation method of the millimeter wave radar, the pitch angle is related to the decibel value of the millimeter wave radar, and the installation angle of the millimeter wave radar is the maximum angle of the radar transmitting direction deviating from the ground under the condition of meeting the preset decibel value.
As an improvement of the analysis compensation method of the millimeter wave radar of the present invention, the judgment of the influence of the ground device on the millimeter wave radar includes:
Based on various parameters of the ground device, verifying differences between gains of the millimeter wave radar and gains of the millimeter wave radar antenna under simulation conditions and differences between side lobes of the millimeter wave radar and side lobes of the millimeter wave radar antenna under simulation conditions when the device is installed around the ground device;
and judging the influence of the ground device on the gain and side lobe of the millimeter wave radar antenna according to the difference value.
As an improvement of the analysis compensation method of the millimeter wave radar of the invention, the judgment of the influence of the ground device on the millimeter wave radar further comprises:
transmitting plane waves to a millimeter wave radar antenna, and analyzing phase differences among all channels;
And adjusting the incident angle of the plane wave to obtain different phase differences, and judging the influence of the ground device on the phase consistency of each receiving channel of the millimeter wave radar.
As an improvement of the analysis and compensation method of the millimeter wave radar, the phase compensation parameter of the radar sensor is obtained based on the judgment result of the step S3, and the data fed back by the millimeter wave radar is compensated.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the millimeter wave radar is obliquely arranged, so that the influence of ground clutter can be greatly reduced. The method is also beneficial to eliminating the mirror reflection phenomenon of the chassis, so that the echo information contains scattering information of reaction detail characteristics, and the radar is easier to acquire and process.
Meanwhile, under the condition of matching with a ground device, the gain and side lobe level of a radar transmitting antenna and the relation between the phase difference between receiving channels and the angle of an incident beam are obtained, so that the phase compensation parameter of the radar sensor can be obtained, and the phase compensation parameter is compensated through an algorithm.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
Fig. 1 is a schematic diagram of an installation mode of the millimeter wave radar in an embodiment of the analysis and compensation method of the millimeter wave radar according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An embodiment of the present invention provides an analysis compensation method for a millimeter wave radar, which includes:
S1, under the simulation condition, determining the gain and side lobe of the millimeter wave radar antenna.
The purpose of step S1 is to examine the gain and side lobe of the millimeter wave radar antenna in the case where the Ground Assembly (GA) is not engaged. Thus, the step S1 includes: setting simulation conditions to determine gain and side lobes of the millimeter wave radar antenna when the millimeter wave radar is not used in combination with a ground device.
S2, according to the pitch angle of the millimeter wave radar antenna, the millimeter wave radar is obliquely arranged around the ground device relative to the ground, and the radar transmitting direction of the millimeter wave radar deviates from the ground.
The purpose of step S2 is to enable the influence of ground clutter to be greatly reduced by obliquely mounting the millimeter wave radar in consideration of the problems in the prior art when the millimeter wave radar is vertically arranged. The method is also beneficial to eliminating the mirror reflection phenomenon of the chassis, so that the echo information contains scattering information of reaction detail characteristics, and the radar is easier to acquire and process.
As shown in fig. 1, since the millimeter wave radar antenna has a certain pitch angle. Thus, in this embodiment, the pitch angle is associated with a db value of the millimeter wave radar, and the installation angle of the millimeter wave radar is the maximum angle at which the radar emission direction deviates from the ground when the preset db value is satisfied. In one embodiment, the millimeter wave radar is mounted at an angle of 70 ° when the pitch angle of the millimeter wave radar antenna is between about-20 to +20 degrees when the pitch angle is-6 dB.
It should be noted that, the radar is placed at a certain angle, the lower edge of the pitch angle is parallel to the ground, and the radar is not necessarily placed at 70 degrees. In other embodiments: a radar module with a 60 ° pitch angle, the tilt angle being corrected to 60 ° (90-60/2=60); a 30 ° pitch radar module, the tilt angle is corrected to 75 ° (90-30/2=75).
S3, judging the influence of the ground device on the millimeter wave radar, and compensating the data fed back by the millimeter wave radar based on a judging result.
The purpose of step S3 is to examine the effect of the ground device on the millimeter wave radar after the installation is completed, in this embodiment, by testing the gain, side lobe and each receiving channel phase difference value of the millimeter wave radar antenna.
Phase difference analysis virtual aperture technology radar for MIMO (multiple input multiple output). The radar has multiple receiving antennas, and each receiving antenna (i.e., channel) receives waves in different phases after a parallel waveform is obliquely incident. Since the interval of each receiving antenna is uniform, the phase difference of adjacent reception is also uniform. With good radar antennas, the variation of adjacent phase differences should also be uniform with the variation of the angle of incidence. Based on this, the influence of the ground device on the millimeter wave radar after the completion of the installation is examined, and the phase difference between the channels can be analyzed.
Specifically, determining the influence of the ground device on the millimeter wave radar includes:
S31, verifying differences between gains of the millimeter wave radar and gains of the millimeter wave radar antenna under simulation conditions and differences between side lobes of the millimeter wave radar and side lobes of the millimeter wave radar antenna under simulation conditions when the device is installed around the ground device based on various parameters of the ground device.
S32, judging the influence of the ground device on the gain and side lobe of the millimeter wave radar antenna according to the difference value. The antenna gain and the side lobe are analyzed, the radar antenna and the radome (peripheral structural member) can be redesigned, and the structural design of the used radar antenna and radome can meet the actual use requirements by modifying and improving correspondingly.
Further, determining the influence of the ground device on the millimeter wave radar further includes:
S33, emitting plane waves to the millimeter wave radar antenna, and analyzing phase differences among the channels. Wherein the plane wave transmission can be realized by the corresponding transmitter. After the received original data is processed by a fast algorithm of discrete Fourier transform and the like, the linearity of the phase difference between the channels can be judged.
S34, adjusting the incident angle of the plane wave to obtain different phase differences, and judging the influence of the ground device on the phase consistency of each receiving channel of the millimeter wave radar.
And S35, based on the judgment result of the step S3, obtaining a radar sensor phase compensation parameter, and compensating the data fed back by the millimeter wave radar.
In summary, the millimeter wave radar is obliquely installed, so that the influence of ground clutter can be greatly reduced. The method is also beneficial to eliminating the mirror reflection phenomenon of the chassis, so that the echo information contains scattering information of reaction detail characteristics, and the radar is easier to acquire and process.
Meanwhile, under the condition of matching with a ground device, the gain and side lobe level of a radar transmitting antenna and the relation between the phase difference between receiving channels and the angle of an incident beam are obtained, so that the phase compensation parameter of the radar sensor can be obtained, and the phase compensation parameter is compensated through an algorithm.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (4)
1. The analysis and compensation method of the millimeter wave radar is characterized by comprising the following steps of:
s1, under the simulation condition, determining the gain and side lobe of a millimeter wave radar antenna;
S2, according to the pitch angle of the millimeter wave radar antenna, the millimeter wave radar is obliquely arranged around the ground device relative to the ground, and the radar transmitting direction of the millimeter wave radar deviates from the ground;
the pitch angle is related to the decibel value of the millimeter wave radar, and the installation angle of the millimeter wave radar is the maximum angle of the radar transmitting direction deviating from the ground under the condition that the preset decibel value is met;
S3, judging the influence of the ground device on the millimeter wave radar, obtaining a radar sensor phase compensation parameter based on a judgment result, and compensating the data fed back by the millimeter wave radar.
2. The method for analyzing and compensating millimeter wave radar according to claim 1, wherein the step S1 includes: setting simulation conditions to determine gain and side lobes of the millimeter wave radar antenna when the millimeter wave radar is not used in combination with a ground device.
3. The analysis compensation method of millimeter wave radar according to claim 1, wherein judging the influence of the ground device on the millimeter wave radar comprises:
Based on various parameters of the ground device, verifying differences between gains of the millimeter wave radar and gains of the millimeter wave radar antenna under simulation conditions and differences between side lobes of the millimeter wave radar and side lobes of the millimeter wave radar antenna under simulation conditions when the device is installed around the ground device;
and judging the influence of the ground device on the gain and side lobe of the millimeter wave radar antenna according to the difference value.
4. The analysis compensation method of millimeter wave radar according to claim 1 or 3, wherein determining an influence of a ground device on the millimeter wave radar further comprises:
transmitting plane waves to a millimeter wave radar antenna, and analyzing phase differences among all channels;
And adjusting the incident angle of the plane wave to obtain different phase differences, and judging the influence of the ground device on the phase consistency of each receiving channel of the millimeter wave radar.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011294148.2A CN112505630B (en) | 2020-11-18 | 2020-11-18 | Analysis compensation method of millimeter wave radar |
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| CN202011294148.2A CN112505630B (en) | 2020-11-18 | 2020-11-18 | Analysis compensation method of millimeter wave radar |
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| CN112505630B true CN112505630B (en) | 2024-05-14 |
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| CN114628905B (en) * | 2022-05-16 | 2022-07-29 | 深圳市国天电子股份有限公司 | Monitoring device and method with adjustable angle based on millimeter wave radar |
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2020
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| CN102243276A (en) * | 2011-03-28 | 2011-11-16 | 西安电子科技大学 | Electric coupling analysis method of temperature loader of large-scale foundation surface antenna |
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