WO2021115226A1 - Plateforme de tests et procédé de détermination d'erreurs de canaux - Google Patents

Plateforme de tests et procédé de détermination d'erreurs de canaux Download PDF

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Publication number
WO2021115226A1
WO2021115226A1 PCT/CN2020/134275 CN2020134275W WO2021115226A1 WO 2021115226 A1 WO2021115226 A1 WO 2021115226A1 CN 2020134275 W CN2020134275 W CN 2020134275W WO 2021115226 A1 WO2021115226 A1 WO 2021115226A1
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WO
WIPO (PCT)
Prior art keywords
radar device
angle
radar
target simulator
distance
Prior art date
Application number
PCT/CN2020/134275
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English (en)
Chinese (zh)
Inventor
刘剑刚
郭海
王文祺
廖小僮
李珽
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华为技术有限公司
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Publication of WO2021115226A1 publication Critical patent/WO2021115226A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating

Definitions

  • This application relates to the field of radar technology, and in particular to a test platform and a method for determining channel errors.
  • MIMO Multiple-input-multiple-output
  • the vehicle can determine the angle of the target object relative to the vehicle through the vehicle-mounted radar.
  • the vehicle-mounted radar can determine the angle of the target object relative to the vehicle-mounted radar according to the phase difference of the echo signals received by different channels.
  • the channel here refers to the signal transmitted by a certain transmitting antenna propagating in space and being received by a certain receiving antenna.
  • the signal transmission channel formed by the transmitting antenna and the receiving antenna can also be called a channel.
  • the echo signal refers to the signal after the signal sent by the vehicle-mounted radar is reflected by the target object.
  • an additional amplitude error and/or phase error between the channels will be introduced, resulting in a lower accuracy of the angle information of the determined target object relative to the vehicle.
  • the vehicle-mounted radar needs to compensate for the amplitude error and/or phase error between the aforementioned channels.
  • This compensation process can also be called channel calibration.
  • One of the current channel calibration methods such as the "far-field condition method" is to set a target at a certain distance from the vehicle-mounted radar. The distance can satisfy the delay difference of the echo signals of each channel. The phase difference caused by the delay difference is less than or equal to 22.5.
  • the distance between the target object and the vehicle-mounted radar must be greater than or equal to the minimum distance, so this method is called the "far-field condition method".
  • the minimum distance is defined as the distance from the corresponding transmitting antenna to the receiving antenna when the distance of the signal propagation in space between the receiving channels is equal to one-sixteenth of the wavelength.
  • the target object and the vehicle-mounted radar may not meet the above far-field conditions, so the maximum distance between the target and the vehicle-mounted radar is less than the above-mentioned minimum distance, that is, relative to the far field, it can be considered as a near field.
  • the maximum distance between the target and the vehicle-mounted radar is less than the above-mentioned minimum distance, that is, relative to the far field, it can be considered as a near field.
  • the present application provides a test platform and a method for determining the channel error. Based on the test platform, the channel error of the radar device can be determined more accurately, so as to improve the accuracy of radar angle measurement as much as possible.
  • an embodiment of the present application provides a method for determining channel error, which can be applied to a test platform
  • the test platform includes a radar device and a target simulator, wherein the target simulator is used to receive data from the radar device And forward the radar signal, the center of the target simulator and the center of the radar device are located in a first straight line, and the first straight line is parallel to a first plane, such as a ground or a horizontal plane
  • the method It includes: calculating the first distance between the center of the radar device and the center of the target simulator; determining the system error according to the first distance; calculating the channel error of the radar device according to the system error and the weight, wherein , The weight is used to adjust the beam direction of the radar device.
  • the first distance between the center of the radar device and the center of the target simulator can be obtained by calculation, which is more accurate than the measurement obtained by the current measurement tool.
  • the system error of the radar device needs to be based on the second distance, that is, the distance between the transmitting antenna of the radar device and the receiving antenna of the target simulator and the receiving antenna of the radar device. It is determined by the sum of the distance between the antenna and the transmitting antenna of the target simulator.
  • the second distance can be directly calculated based on the first distance. Compared with the current measurement of the second distance, the distance obtained by this solution is more accurate, and the efficiency of determining the system error is higher.
  • the first distance is determined according to a first position coordinate and a second distance
  • the first position coordinate is the antenna position coordinate of the radar device
  • the second distance The distance is determined according to the transmission time and the transmission distance of the radar signal.
  • the transmission distance is the length of the transmission path that the radar signal sends through the radar device and is reflected by the target simulator and returns to the radar device.
  • the transmission time is the time for the radar signal to pass through the transmission path.
  • This solution provides a way to calculate the first distance, that is, the first distance is calculated according to the position coordinates of each antenna of the radar device and the second distance.
  • the position coordinates of the center of the radar device and the position coordinates of the center of the target simulator can be preset. No matter how the positions of the radar device and the target simulator are changed, the position coordinates of each antenna of the radar device and the target simulator can be known. The position coordinates of the transmitting antenna and the position coordinates of the receiving antenna of the target simulator have lower requirements for test conditions.
  • the systematic error is determined based on the first distance and the first position coordinates.
  • the range of each channel of the radar device can be calculated through the first distance and the first position coordinates, and then the system error can be determined.
  • the system error can be determined.
  • the first position coordinate is determined according to the position coordinate of the center of the radar device and the first angle and/or the second angle
  • the first angle is determined by The angle between the projection of the beam of the radar device on the ground and the projection of the first straight line on the ground
  • the second angle is the angle between the beam of the radar device and the ground.
  • the position coordinates of each antenna of the radar device can be calculated according to the first angle and/or the second angle, and then the coordinates of each channel of the radar device can be calculated through the first distance and the first position coordinates.
  • the wave range is more accurate than the current measurement of the distance between each antenna of the radar device and the antenna of the target simulator to determine the wave range of each channel of the radar device.
  • the method may further include:
  • Rotating the radar device is used to change the first angle and/or the second angle.
  • This solution uses the above-mentioned test platform to measure the systematic errors of the radar device at various beam directions, such as the systematic errors of the radar device at different angles in the horizontal direction, and can also be extended to realize the measurement of the radar device’s system errors at different pitch angles. .
  • the weight includes an ideal weight and an actual weight
  • the channel error is determined according to the ideal weight, the system error, and the actual weight.
  • the channel error is determined based on the relationship between the ideal weight, the system error, the channel error, and the actual weight.
  • the method may further include compensating the actual weight value according to the channel error and the system error.
  • the determined channel error and system error are used to compensate the actual weight, so as to reduce the angle measurement error of the radar device.
  • test platform can not only be used to determine the channel error of the radar device, but also can verify the angle measurement performance of the radar device, that is, the test platform provided in the embodiment of the present application is compatible with the function of determining the channel error of the radar device and verifying the angle measurement of the radar device Performance features.
  • the method may further include rotating the radar device by the first angle, transmitting a second signal through the radar device, and receiving a relay from the target simulator The second signal; the third angle of rotation of the target simulator relative to the radar device is determined according to the second signal; the angle measurement performance of the radar device is determined according to the first angle and the third angle.
  • the method may further include: rotating the radar device by the first angle, and rotating the radar device by the second angle, through the radar device Transmit a third signal, and receive the third signal forwarded from the target simulator; determine the fourth angle of rotation of the target simulator relative to the radar device according to the received third signal; according to the first An angle, the second angle, and the fourth angle determine the angle measurement performance of the radar device.
  • the above two examples respectively provide verification of the angle measurement performance of the radar device in the horizontal direction and verification of the angle measurement performance of the radar device in the horizontal direction and the pitch direction.
  • an embodiment of the present application provides a test platform, which may include a radar device and a target simulator, the center of the target simulator and the center of the radar device are located in a first straight line, and the first line A straight line parallel to the ground, wherein: the target simulator is used to receive the radar signal from the radar device and forward the radar signal; the radar device is used to calculate the center of the radar device and the The first distance between the centers of the target simulator, and the system error is determined according to the first distance, and the channel error is calculated according to the system error and the weight, and the weight is used to adjust the beam direction of the radar device.
  • the embodiment of the present application can calculate the first distance between the center of the radar device and the center of the target simulator, and then determine the channel error of the radar device according to the first distance. Compared with the first distance measured by the current measurement tool, it is more accurate, and for the MIMO radar device, the efficiency of determining the channel error is higher.
  • the test platform further includes a bearing component for adjusting the beam direction of the radar device, wherein the center of the radar device is located at the center of the bearing component Axis, the central axis is perpendicular to the first straight line.
  • the radar device is fixed on a carrier component, such as a turntable.
  • the radar device rotates with the rotation of the carrier component, and the beam direction of the radar device can be changed. In this way, it is possible to test the radar device in a different test platform without rebuilding another test platform.
  • the test platform further includes a fixing component provided on the carrying component, and the fixing component is used to fix the radar device to the carrying component.
  • a fixed component is provided on the carrier component, so that the position of the fixed component on the carrier component can be set in advance, so that no matter what kind of radar device is installed on the fixed component, the center of the radar device can be located on the central axis of the carrier component. the goal of.
  • the test platform may further include: a first laser, which is arranged on the target simulator for adjusting the position of the target simulator; and/or The second laser, the second laser is arranged on the carrying assembly, and is used to adjust the position of the radar device.
  • the use of the first laser and the second laser can more accurately align the center of the radar device with the center of the target simulator, that is, adjust the center of the target simulator and the center of the radar device to the first straight line. .
  • the test platform may further include: a transmission belt for carrying the target simulator and adjusting the distance between the target simulator and the radar device.
  • the setting of the transmission belt can adjust the distance between the target simulator and the radar device, which is applicable Radar devices for various detection distances.
  • the test platform may further include: a processing device connected to the carrying assembly, the radar device, and the conveyor belt, wherein the processing device It is used to control the angle of rotation of the bearing assembly; and/or control the distance of movement of the conveyor belt.
  • an embodiment of the present application provides a device that includes: a transceiver unit for transmitting radar signals and for receiving signals reflected by the radar signal by a target simulator, wherein the target simulator uses To receive the radar signal from the radar device and forward the radar signal, the center of the target simulator and the center of the radar device are located in a first straight line, and the first straight line is parallel to the ground; a processing unit for Calculate the first distance between the center of the radar device and the center of the target simulator, determine the system error according to the first distance, and calculate the channel error according to the system error and the weight, and the weight is used for Adjust the beam direction of the radar device.
  • an embodiment of the present application provides a device that includes a radar and a processing unit, wherein the radar can be used to transmit radar signals and to receive signals reflected by the target simulator, wherein:
  • the target simulator is configured to receive radar signals from the radar and forward the radar signals, the center of the target simulator and the center of the radar are located in a first straight line, and the first straight line is parallel to the ground;
  • the processing unit is used to calculate the first distance between the center of the radar and the center of the target simulator, determine the system error according to the first distance, and calculate the channel error according to the system error and the weight, the The weight is used to adjust the beam pointing of the radar.
  • the radar may be the radar device in the above method design.
  • the first distance is determined according to the first position coordinates and the second distance
  • the first position coordinates are the antenna position coordinates of the radar device
  • the second distance is determined according to the radar
  • the transmission time and the transmission distance of the signal are determined
  • the transmission distance is the length of the transmission path for the radar signal to be sent by the radar device and reflected by the target simulator to return to the radar device
  • the transmission time is the length of the transmission path. The time for the radar signal to pass through the transmission path.
  • the first position coordinates are determined according to the position coordinates of the center of the radar device and the first angle and/or the second angle, and the first angle is the radar device The angle between the projection of the emitted beam on the ground and the projection of the first straight line on the ground, and the second angle is the angle between the beam direction of the radar device and the ground.
  • the system error is determined according to the first distance and the first position coordinates.
  • the processing unit is further used to rotate the radar device for changing the first angle and/or the second angle.
  • the weight value includes an ideal weight value and an actual weight value
  • the actual weight value is determined according to the ideal weight value, the system error, and the channel error.
  • the processing unit is further configured to compensate the actual weight value according to the channel error and the system error.
  • the processing unit is further configured to rotate the radar device by the first angle, transmit a second signal through the radar device, and receive the second signal forwarded by the target simulator Determine the third angle of rotation of the target simulator relative to the radar device according to the second signal; determine the angle measurement performance of the radar device after channel compensation according to the first angle and the third angle.
  • the processing unit is further configured to rotate the radar device by the first angle, and rotate the radar device by the second angle, transmit a second signal through the radar device, and receive The second signal forwarded from the target simulator; the fourth angle of rotation of the target simulator relative to the radar device is determined according to the received second signal; according to the first angle, the second angle The angle and the fourth angle determine the angle measurement performance of the radar device.
  • an embodiment of the present application provides a device that includes at least one processor and a communication interface.
  • the communication interface is used to provide program instructions for the at least one processor.
  • the at least one processor executes
  • the device or the device installed with the device executes the method described in any one of the second aspect.
  • an embodiment of the present application provides a device that includes: a memory: used to store instructions; a processor, used to call and run the instructions from the memory, so that the device or the device is installed with the The device of the device executes the method described in any one of the second aspect.
  • the device can be the radar device in the above-mentioned method design.
  • the device is a chip provided in a radar device.
  • the radar device is a radar.
  • the device includes: a memory for storing computer executable program codes; and a processor, which is coupled with the memory.
  • the program code stored in the memory includes instructions, and when the processor executes the instructions, the device or a device installed with the device executes the method in any one of the possible implementation manners of the second aspect.
  • the device may also include a communication interface, which may be a transceiver in the radar device, for example, implemented by the antenna, feeder, and codec in the radar device, or if the device is installed in the radar device In the chip, the communication interface can be the input/output interface of the chip, such as input/output pins.
  • a communication interface which may be a transceiver in the radar device, for example, implemented by the antenna, feeder, and codec in the radar device, or if the device is installed in the radar device In the chip, the communication interface can be the input/output interface of the chip, such as input/output pins.
  • a computer storage medium stores instructions that, when run on a computer, cause the computer to execute the second aspect or any one of the possible designs of the second aspect. The method described.
  • a computer program product containing instructions.
  • the computer program product stores instructions that, when run on a computer, cause the computer to execute the second aspect or any one of the possible designs of the second aspect. The method described in.
  • Figure 1 is a possible application scenario provided by an embodiment of this application.
  • FIG. 2 is a schematic structural diagram of a test platform provided by an embodiment of the application.
  • 3 is a schematic diagram of the relative position coordinates of the radar device and the target simulator provided by an embodiment of the application;
  • FIG. 4 is a schematic structural diagram of another test platform provided by an embodiment of the application.
  • FIG. 5 is a schematic structural diagram of yet another test platform provided by an embodiment of the application.
  • FIG. 6 is a schematic flowchart of a method for determining a channel error according to an embodiment of the application
  • FIG. 7 is a schematic structural diagram of a radar device provided by an embodiment of the application.
  • FIG. 8 is a schematic diagram of another structure of a radar device provided by an embodiment of the application.
  • FIG. 9 is a schematic diagram of another structure of a radar device provided by an embodiment of the application.
  • FIG. 10 is a schematic diagram of still another structure of a radar device provided by an embodiment of this application.
  • FIG. 1 is a schematic diagram of a possible application scenario of an embodiment of this application.
  • the above application scenarios can be unmanned driving, autonomous driving, intelligent driving, networked driving, etc.
  • Radar devices can be installed in motor vehicles (such as unmanned vehicles, smart cars, electric vehicles, digital cars, etc.), drones, rail cars, bicycles, signal lights, speed measurement devices, or network equipment (such as base stations and terminals in various systems) Equipment) and so on.
  • the embodiments of the present application are not only applicable to radar devices between cars, but also radar devices between cars and drones and other devices, or radar devices between other devices.
  • the radar device can be installed on a mobile device, for example, on a vehicle as a vehicle-mounted radar device, or can also be installed on a fixed device, for example, on a roadside unit (RSU) and other equipment.
  • RSU roadside unit
  • the embodiment of the present application does not limit the installation position and function of the radar device.
  • the radar is also referred to as a radar device, and may also be referred to as a detector, a radar device, or a radar signal transmitting device. Its working principle is to detect the corresponding target object by sending a signal (or called a detection signal) and receiving the signal reflected by the target object.
  • the signal emitted by the radar can be a radar signal.
  • the received signal reflected by the target object can also be a radar signal.
  • radar devices can be applied to ADAS.
  • ADAS uses radar devices to perceive the environment around the vehicle to provide assistance in blind spot monitoring, lane change assistance, collision warning, and adaptive cruise.
  • Millimeter wave radar is a kind of radar device, which is widely used in automatic driving of vehicles.
  • Millimeter wave radars are usually equipped with MIMO antennas, and obtain the angle information of surrounding objects through the direction-of-arrival (DOA) estimation method.
  • DOA estimation method uses the difference in the spatial propagation time delay of electromagnetic waves between the object and each antenna element to determine the angle information of the object relative to the radar device. If the radar device determines the distance and angle of the surrounding objects from the radar device, the location of the surrounding objects can be known, so as to achieve assistance in blind spot monitoring, lane change assistance, collision warning, and adaptive cruise.
  • One of the channel calibration methods such as the "far-field condition method" described in the background art, requires that the distance between the object and the radar device be greater than the minimum distance, that is, to meet the requirements of each receiving channel, and the signal propagation distance in space is equal to sixteenths.
  • the distance from the transmitting antenna to the receiving antenna corresponding to one wavelength.
  • the target object and the vehicle-mounted radar may not meet the above far-field conditions. Relative to the far-field, it can be considered as the near-field.
  • a current solution is to traverse each antenna through a probe.
  • the probe When the probe is above an antenna, measure the amplitude and phase of the signal received by the probe, and determine the channel based on the amplitude and phase. error. Since the detection traverses each antenna, this scheme can also be called “probe round-robin".
  • the "probe patrol method” requires that the distance between the probe and the antenna be within the range of 0.25-0.5 times the wavelength, which requires a high-precision locator to carry the probe, which requires higher platform construction.
  • the probe if it is a MIMO radar, there are multiple transmitting antennas and multiple receiving antennas.
  • the probe For the transmitting antenna, the probe needs to transmit signals.
  • the receiving antenna the probe needs to receive signals, which requires multiple switching detections. Transmitting operation and receiving operation, the test efficiency is low.
  • the embodiments of the present application provide a test platform and a method for determining channel errors.
  • the test platform includes a radar device and a target simulator. In short, it provides a test platform that meets the far-field conditions.
  • the target simulator includes a transmitting antenna and a receiving antenna. The signal can be received through the receiving antenna, and it can also be used to transmit signals to the outside through the transmitting antenna.
  • the radar device sends a radar signal to the target simulator, and the target simulator receives the radar signal and forwards the radar signal to the radar device.
  • the embodiment of the present application can calculate the spatial geometric relationship between the radar device and the target simulator, such as the distance between each element (transmitting antenna or receiving antenna) of the radar device and the target simulator, and then according to the space The geometric relationship determines the channel error of the radar device. Compared with manually measuring the spatial geometric relationship between the radar device and the target simulator to determine the channel error of the radar device, the accuracy and efficiency of determining the channel error are improved.
  • the test platform includes a radar device 100 and a target simulator 200.
  • the radar device 100 has at least one transmitting antenna and at least one receiving antenna for transmitting signals to surrounding objects and receiving signals reflected by the surrounding objects.
  • the radar device 100 may send a radar signal through at least one transmitting antenna. The radar signal encounters a target object, and after being transmitted by the target object, the radar signal is received by the receiving antenna of the radar device 100.
  • the target simulator 200 can be regarded as a target object having the functions of receiving and transmitting signals.
  • the target simulator 200 may include a transmitting antenna 202 and a receiving antenna 203, the radar signal transmitted by the radar device 100 may be received by the receiving antenna 203 of the target simulator 200, and the target simulator 200 may pass through the transmitting antenna 202 forwards the received radar signal to the radar device 100.
  • the embodiment of the present application aims at how to determine the spatial geometric relationship between the radar device 100 and the target simulator 200, and then calculate the wave range of each receiving antenna of the radar device 100 relative to the transmitting antenna according to the spatial geometric relationship. It should be understood that the spatial geometric relationship between the radar device 100 and the target simulator 200 includes the distance from each element (transmitting antenna or receiving antenna) of the radar device 100 to the target simulator 200.
  • the center of the radar device 100 and the center of the target simulator 200 in the test platform provided by the embodiment of the present application are located on the same straight line (shown by a dotted line in FIG. 2), and the straight line may be parallel to the first plane, which is referred to as The first straight line.
  • the first straight line may be the ground or a horizontal plane, or the first plane may be a plane perpendicular to the antenna array of the radar device 100.
  • the center of the radar device 100 and the center of the target simulator 200 are located in the first straight line, it can be considered that the center of the radar device 100 is aligned with the center of the target simulator 200, and then the center of the radar device 100 and the center of the target simulator 200 The distance between, for example, the first distance is fixed.
  • the connection line between the transmitting antenna 202 and the receiving antenna 203 of the target simulator 200 can be parallel to the ground or perpendicular to the ground ( Figure 2 is perpendicular to the ground as an example).
  • the center of the target simulator 200 can be the transmitting antenna.
  • a certain distance can be calculated based on the first distance and the position coordinates of the center of the radar device 100 and the position coordinates of the center of the target simulator 200.
  • the distance between a transmitting antenna or a receiving antenna and the target simulator 200 Compared with the current measurement of the distance between the antenna and the target simulator 200 for each antenna, the efficiency is obviously higher.
  • a laser can be used to align the center of the radar device 100 with the center of the target simulator 200 to ensure the accuracy of the alignment between the center of the radar device 100 and the center of the target simulator 200 as much as possible.
  • the test platform provided by the embodiment of the present application further includes a first laser 201 and a second laser 300.
  • the first laser 201 is set in the target simulator 200.
  • the first laser 201 may be set in the target simulator 200.
  • the radar device 100 is located between the second laser 300 and the target simulator 200.
  • the first laser 201 emits laser light through the center of the radar device 100, and the second laser 300 emits laser light. If the light beam emitted by the first laser 201 and the second laser 300 The emitted light beams are located in the same straight line, then the center of the radar device 100 and the center of the target simulator 200 are aligned.
  • FIG. 3 is a schematic diagram of the relative positions of the radar device 100 and the target simulator 200.
  • a three-dimensional coordinate system (the coordinate system shown in the x, y, and z directions as shown in FIG. 3) can be established with the center of the radar device 100 as the origin. It is assumed that the radar device 100 includes M transmitting antennas and N receiving antennas.
  • the coordinates of the m- th (1 ⁇ m ⁇ M) transmitting antenna T m satisfy formula (1)
  • the coordinates of the n-th (1 ⁇ n ⁇ N) receiving antenna R n satisfy formula (2).
  • the m-th transmitting antenna here refers to any transmitting antenna
  • the n-th receiving antenna also refers to any receiving antenna.
  • the radar device 100 array is a planar array (antenna)
  • any m and n there are
  • the position of the radar device 100 can be rotated to simulate the radar device 100 in a certain beam direction. Detect surrounding target objects.
  • the beam direction of the radar device 100 includes the direction of the beam in the horizontal direction, and may also include the direction of the beam in the elevation direction.
  • the radar device 100 rotates ⁇ in the horizontal direction, then the angle between the projection of the beam of the radar device 100 on the xoy plane and the positive direction of the y axis is ⁇ .
  • the xoy plane is also It can be understood that it is the ground, then the angle ⁇ between the projection of the beam pointing on the xoy plane and the positive direction of the y-axis of the radar device 100 can also be regarded as the projection of the beam pointing to the ground and the projection of the first straight line on the ground.
  • the included angle ⁇ of is hereinafter referred to as the first angle.
  • the radar device 100 rotates ⁇ in the z-axis direction
  • the angle between the beam direction of the radar device 100 and the xoy plane is ⁇ , which is referred to as the second angle hereinafter. It should be understood that the dimensions of the first angle and the second angle are different.
  • the first angle can be understood as a corresponding horizontal dimension, and correspondingly, the second angle corresponds to a pitch dimension.
  • the radar device 100 can be rotated by a first angle in the horizontal dimension, and then the radar device 100 can be rotated by a second angle in the elevation dimension; or, the radar device 100 can also be rotated in the elevation first. Rotate the second angle in the dimension, and then rotate the radar device 100 in the horizontal dimension by the first angle.
  • the radar device 100 transmits a radar signal through the transmitting antenna T m , for example, the first signal, then the coordinates of the transmitting antenna T m satisfy the formula (6), and the coordinates of the receiving antenna R n satisfy the formula (7):
  • C( ⁇ ) is the coordinate rotation matrix:
  • the above formula (6), formula (7) and formula (8) can be considered that the position coordinates of the transmitting antenna and the position coordinates of the receiving antenna of the radar device 100 can be determined according to the position coordinates of the center of the radar device 100 and the first angle.
  • the position coordinates of the transmitting antenna and the receiving antenna of the radar device 100 may be determined according to the position coordinates of the center of the radar device 100 and the first angle and the second angle.
  • the C( ⁇ ) in formula (8) is adaptively modified to C( ⁇ , ⁇ ), that is, C( ⁇ ) is expanded from the ⁇ dimension to the ⁇ dimension and the ⁇ dimension.
  • the receiving antenna of the target simulator 200 receives the first signal, and forwards the first signal through the transmitting antenna, and the first signal is received by the receiving antenna R n of the radar device 100.
  • the second distance can be determined by the transmission time and transmission distance of the radar signal, where the second distance is the distance from the mth antenna of the radar device 100 to the receiving antenna of the target simulator 200 and the nth antenna of the radar device 100 to the target simulation. The sum of the distances between the transmitting antennas of the device 200 determines the system error.
  • the radar signal is transmitted by the radar device 100 and reflected by the target simulator 200 Then return to the transmission path length r mn of the radar device 100.
  • the propagation distance of the first signal is r A during the time between the target simulator 200 receiving the first signal and the target simulator 200 transmitting the first signal, that is, the internal delay of the target simulator 200 corresponds to The propagation distance is r A , then r mn , r A and the second distance s mn satisfy formula (9):
  • the first position coordinates can be calculated to obtain the first distance.
  • the first position coordinates include the position coordinates of the m-th transmitting antenna of the radar device 100 and also include the position coordinates of the n-th receiving antenna of the radar device 100.
  • the second distance satisfies formula (10)
  • the target simulator 200 is used to receive the first signal from the radar device 100 and send the first signal to the radar device 100.
  • the receiving antenna 203 of the target simulator 200 may be a horn antenna, and the horn opening faces the radar device 100.
  • the transmitting antenna 202 of the target simulator 200 may also be a horn antenna, and the horn opening faces the radar device 100.
  • the embodiment of the present application can calculate the relative position of each antenna of the radar device 100 and the transmitting antenna or receiving antenna of the target simulator 200 through the position coordinates of the transmitting antenna and the receiving antenna of the radar device 100 and L.
  • the relative position of each antenna of the radar device 100 is fixed when the mine detection device leaves the factory, and the relative positions of the transmitting antenna 202 and the receiving antenna 203 of the target simulator 200 are also fixed when the target simulator 200 leaves the factory, so according to L
  • the position coordinates of a certain antenna of the radar device 100 and the position coordinates of the target simulator 200 for example, the position coordinates of the transmitting antenna, the relative positional relationship between a certain antenna and the transmitting antenna 202 of the target simulator 200 can be calculated, or in some embodiments,
  • the relative positional relationship between a certain antenna and the transmitting antenna 202 of the target simulator 200 can also be understood as the distance between a certain antenna and the transmitting antenna of the target simulator 200.
  • the relative positions of each antenna of the radar device 100 and the transmitting antenna 202 or the receiving antenna 203 of the target simulator 200 can be determined by formula (1), formula (2), formula (4), formula (5), and formula (5).
  • (11) Calculate the second distance, and then determine the channel error of the radar device 100 through the second distance.
  • the radar device 100 is a vehicle-mounted radar, and the frequency band used by it is in the 76GHz-81GHz frequency band, and the wavelength corresponding to the frequency band is in the range of 3.70mm to 3.95mm.
  • the measurement error needs to be much smaller than the wavelength, such as 1/10 wavelength, then the manual measurement error needs to be in the sub-millimeter level, which is difficult to guarantee.
  • the efficiency of determining the channel error is also high, and the compensation of the near-field channel error can be realized.
  • the following describes how to determine the channel error of the radar device 100.
  • b is the same amplitude weighted value of each channel, and " ⁇ " means the corresponding elements are multiplied, where,
  • ⁇ is the carrier wavelength.
  • w( ⁇ , ⁇ ) ie w( ⁇ , ⁇ ) b ⁇ a( ⁇ , ⁇ ).
  • ⁇ is the channel error
  • the test platform may also include a bearing assembly 400, which is used to carry the radar device 100.
  • the bearing assembly 400 can rotate to drive the radar device 100 to rotate and can be adjusted.
  • the beam direction of the radar device 100 may include the above-mentioned first angle and/or second angle.
  • the phase center of the equivalent antenna array of the radar device 100 is located on the central axis of the carrier assembly 400 along the second direction (shown in dotted lines in FIG. 4).
  • the second direction is perpendicular to the first direction, that is, the central axis of the carrying assembly 400 is perpendicular to the first straight line.
  • the radar device 100 may be fixed on the carrier assembly 400 by using the fixing assembly 500.
  • the second laser 300 may also be fixed on the carrier assembly 400.
  • the second laser 300 is fixed on the carrier assembly 400 by a fixing member 600.
  • the light beam emitted by the second laser 300 is always parallel to the upper surface of the carrier assembly 400.
  • the rotating bearing assembly 400 realizes the calibration of the center of the radar device 100 and the center of the target simulator 200.
  • the bearing assembly 400 may be a turntable, which can rotate within a range of 360° on a plane parallel to the ground.
  • the carrying assembly 400 may be a cylindrical turntable ( Figure 4 takes this as an example), and the height of the cylindrical turntable can be set according to actual needs.
  • the fixing assembly 500 and the carrying assembly 400 may be an integrated design or may be separate. The integrated design can ensure that when the radar device 100 is installed in a fixed assembly, the center of the radar device 100 is always located on the central axis of the carrier assembly 400. If the fixed component 500 and the carrying component 400 are designed separately, the position of the fixed component 500 on the carrying component 400 can be adjusted as needed. When the center of the radar device 100 is not on the central axis of the carrying component 400, the fixed component 500 can be adjusted to The position on the carrier assembly 400 can make the center of the radar device 100 always located on the central axis of the carrier assembly 400.
  • the fixing member 600 may be an L-shaped structure, or other possible structures.
  • the fixing member 600 is arranged on the side of the carrying assembly 400 away from the target simulator 200, and can slide along the central axis of the carrying assembly 400.
  • a sliding groove is provided in the carrying assembly 400, and the fixing member 600 It can slide along the chute. Even if the height of the radar device 100 and the target simulator 200 relative to the ground changes, only the height of the fixing member 600 needs to be adjusted to achieve the alignment of the second laser 300 and the first laser 201.
  • the channel error of the radar device 100 can be calculated according to the aforementioned multiple formulas, for example, when the angle between the projection of the xoy plane and the positive direction of the y-axis is ⁇ . It can be seen that by using the test platform provided by the embodiment of the present application, the system error ⁇ of the radar device in each beam direction can be easily tested through the bearing assembly 400 without rebuilding another test platform.
  • the embodiment of the present application uses the determined channel error ⁇ and the system error ⁇ to compensate each channel, that is, to compensate the actual weight, so as to eliminate the influence of the phase difference and/or amplitude difference of each channel on the performance of the radar device.
  • the detection performance of the compensated radar device 100 such as the angle measurement performance
  • the embodiment of the present application can also verify the angle measurement performance of the radar device 100 after compensation. If the angle measurement performance is still low, then the determined channel error is still large, and the channel error of the radar device 100 can be determined again. Each channel of the radar device 100 is compensated again to ensure the angle measurement performance of the radar device 100 as much as possible.
  • the embodiment of the present application may rotate the carrier assembly 400, and use the rotated radar device 100 to detect the target simulator 200, that is, determine the angle of the target simulator 200 relative to the radar device 100.
  • the relative positional relationship between the radar device 100 and the target simulator 200 is the initial state of the radar device 100 and the target simulator 200. This initial state can also be understood as the relative position of the target simulator 200 relative to the radar device 100.
  • the angle is 0°.
  • Rotating the carrier assembly 400 at a certain angle, such as a first angle is to rotate the radar device 100 by a first angle.
  • the angle of the target simulator 200 relative to the radar device 100 is also the first angle.
  • the angle measurement performance of the radar device 100 is angle
  • the angle of the target simulator 200 relative to the radar device 100 measured by the radar device 100 is not equal to the first angle.
  • the test platform of the embodiment of the present application can measure the angle measurement performance of the radar device 100 at various beam directions. For example, take the measurement of the angle measurement performance of the radar device 100 when the beam direction in the horizontal direction is the first angle as an example.
  • the radar device 100 can be rotated by a first angle, the radar device 100 transmits a first signal and receives the first signal forwarded from the target simulator 200, and the radar device 100 performs DOA estimation based on the received first signal, that is,
  • the angle of the target simulator 200 relative to the radar device 100 is referred to as a third angle, for example.
  • the third angle can be considered to be based on the first connection line between the center of the radar device 100 and the center of the target simulator 200.
  • the center of the target simulator 200 is between the center of the radar device 100 and the center of the radar device 100.
  • the second connection line is offset by the angle of the first connection line.
  • the third angle is equal to the first angle. If the difference between the third angle and the first angle is smaller, the angle measurement performance of the radar device 100 is better.
  • the radar device 100 may perform DOA estimation based on the received first signal, that is, calculate the third angle. Specifically, for example, the radar device 100 rotates ( ⁇ , 0), that is, the radar device 100 rotates by the first angle ⁇ . According to the actual measurement weight Compensate for system error and channel error, and obtain the weight after compensation According to Perform DOA estimation to obtain the target angle, for example among them, Satisfy formula (20):
  • Formula (21) can verify the angle measurement performance of the radar device 100 after channel compensation. If the value of ⁇ err is small, then the angle measurement performance of the radar device 100 is better; and if the value of ⁇ err is large, then the angle measurement performance of the radar device 100 is poor, then the radar device 100 can be considered as The accuracy of the channel compensation is low, and the channel of the radar device 100 can be compensated again. With this test platform, there is no need to build a separate test platform for verifying the angle measurement performance of the radar device 100. Or it can be understood that the embodiment of the present application reuses the test platform for verifying the angle measurement performance of the radar device 100 to realize the function of determining channel errors.
  • the radar device 100 can be rotated by a first angle, and the radar device 100 can be rotated by a second angle.
  • the radar device 100 transmits a second signal and receives the second signal forwarded from the target simulator 200.
  • the radar device 100 receives DOA estimation is performed on the second signal of, that is, the angle of the target simulator 200 relative to the radar device 100, which is called the fourth angle, for example. It should be understood that the fourth angle can be considered to be based on the first line connecting the center of the radar device 100 and the center of the target simulator 200.
  • the center of the target simulator 200 After the radar device 100 is rotated by the first angle and the second angle, the center of the target simulator 200 The second line from the center of the radar device 100 is offset by an angle from the first line. Ideally, the fourth angle is equal to the first angle. If the difference between the fourth angle and the first angle is smaller, the angle measurement performance of the radar device 100 is better.
  • the radar device 100 can perform DOA estimation based on the received second signal, that is, calculate the fourth angle. Similar to calculating the third angle, for example, the radar device 100 rotates ( ⁇ , ⁇ ), where ⁇ is the first angle that the radar device 100 rotates, and ⁇ is the second angle that the radar device 100 rotates. According to the actual measurement weight Compensate for system error and channel error, and obtain the weight after compensation According to Perform DOA estimation to obtain the target angle, for example among them, Satisfy formula (22):
  • Formula (23) can verify the angle measurement performance of the radar device 100 after channel compensation. If the value of ⁇ err and the value of ⁇ err are smaller, then the angle measurement performance of the radar device 100 is better; and if the value of ⁇ err and ⁇ err are larger, then the measurement of the radar device 100 If the angle performance is poor, it can be considered that the accuracy of the channel compensation of the radar device 100 is low, and the channel of the radar device 100 can be compensated again.
  • ⁇ in the above formula (22) can be set to 0, which will not be repeated here.
  • the channel error shown in the above formula (19) has nothing to do with the beam direction of the radar device 100 by default, that is, the channel error of the radar device 100 in each beam direction is the same. Considering that in practice, in addition to the physical differences between the various channels of the radar device 100, which will cause channel errors between the various channels, it may also include other possible factors that cause the channel errors of the radar channel 100. Then the radar device 100 is The channel error may be different. In this case, the test platform provided by the embodiment of the present application can also test the channel error of the radar device 100 in each beam direction. For example, a variation of the above formula (19) is formula (24):
  • the channel error ⁇ of the radar device in each beam direction can be determined by formula (24).
  • bearing assembly 400 and the fixing assembly 500 in the test platform shown in FIG. 4 are set to verify the angle measurement performance of the radar device 100. If it is to determine the channel error of the radar device 100, the carrying component 400 and the fixing component 500 may not be provided.
  • radar devices 100 of multiple specifications there are radar devices 100 of multiple specifications, and the actual measurement distances corresponding to radar devices 100 of different specifications may be different.
  • there is a long-range radar device 100 that is, the measurement distance of the radar device 100 is relatively long
  • there is a short-range radar device 100 that is, the measurement distance of the radar device 100 is relatively short.
  • the test platform provided in the embodiment of the present application may further include a transmission belt 700.
  • the conveyor belt 700 can carry the target simulator 200, and the position of the target simulator 200 on the conveyor belt 700 can be adjusted to adjust the distance between the target simulator 200 and the radar device 100, so as to be compatible with radars of various specifications.
  • the channel error and/or angle measurement performance of the device 100 may be adjusted to adjust the distance between the target simulator 200 and the radar device 100, so as to be compatible with radars of various specifications.
  • the test platform provided by the embodiment of the present application may further include a processing device 800, and the processing device 800 may be connected to the radar device 100, the target simulator 200, and the carrying component 400. It should be understood that the processing device 800 can control the rotation of the carrier assembly 400 and adjust the position of the target simulator 200 on the conveyor belt 700. The processing device 800 can also determine the error of each channel of the radar device 100.
  • the test platform may include a processing device, a radar device 100 and a target simulator 200, wherein the processing device 800 can determine the channel error of each channel of the radar device 100.
  • the radar device 100 may include a processor, and the processor may also determine the channel error of each channel of the radar device 100. In practice, whether the processing device or the radar device 100 determines the channel error of each channel of the radar device 100, the implementation of this application The examples are not limited.
  • the absolute coordinate system is used as an example for the relative position relationship between the radar device 100 and the target simulator 200, that is, the position coordinates of the target simulator 200 are fixed, and the position coordinates of the radar device 100 will not change. And change. It should be understood that in another example, a relative coordinate system may also be used to characterize the relative positional relationship between the radar device 100 and the target simulator 200.
  • the embodiment of the present application may also set a radar coordinate system, that is, with the equivalent phase center of the radar device 100 as the origin, the y-axis shown in FIG. 3 is always perpendicular to the antenna array of the radar device 100 to establish the coordinate system. That is, the position of the radar device 100 is always the same, but the relative angle of the target simulator 200 changes with the rotation of the turntable.
  • a variation of the above formula (10) is formula (25):
  • the calculation of the channel error and the verification of the angle measurement performance under the formula (25) all take the light beam emitted by the radar device 100 in the ⁇ dimension as an example.
  • the calculation of the channel error and the verification of the angle measurement performance can be extended to the light beam emitted by the radar device 100 in the ⁇ dimension and in the ⁇ dimension.
  • the aforementioned C( ⁇ ) is adaptively modified to C( ⁇ , ⁇ ), that is, C( ⁇ ) is expanded from the ⁇ dimension to the ⁇ dimension and the ⁇ dimension.
  • the test platform provided by the embodiments of the present application can calculate the first distance from the center of the radar device 100 to the center of the target simulator 200, and the antennas of the radar device 100 and the transmitting antenna 202 of the target simulator 200 can be determined according to the first distance. Or the relative position of the receiving antenna 203, so that the second distance can be calculated, and then the channel error of the radar device 100 can be determined. With this solution, the near-field channel error compensation can be realized. At the same time, when determining the channel error of the radar device 100, there is no need to measure the second distance every time, which is more efficient and can avoid errors caused by manual measurement.
  • the value of the phase difference that needs to be compensated can be calculated according to the frequency of the signal transmitted by the radar device. Using the value of the phase difference that needs to be compensated can eliminate the influence of the near-field environment on the radar device, so as to meet the test of the far-field condition.
  • the following describes the flow of the method for determining the channel error provided by the embodiment of the present application in conjunction with the test platform shown in FIG. 2, FIG. 4, or FIG. 5, and in conjunction with the absolute coordinate system of the radar device 100 and the target simulator 200 shown in FIG. .
  • FIG. 6 is a schematic flow chart of a method for determining channel error provided by an embodiment of this application.
  • the method can be applied to the above-mentioned test platform.
  • the execution subject of the method can be the above-mentioned radar device 100, or it can be independent of the radar.
  • the device 100 for example, the processing device 800 in the aforementioned test platform, the processing device 800 and the radar device 100 jointly implement the aforementioned method.
  • the radar device 100 is taken as an example in which the execution body of the method is executed, which is not limited in the embodiment of the present application.
  • the process of this method is described as follows:
  • the step S601 may be performed by the radar device 100, for example.
  • the first distance between the center of the radar device 100 and the center of the target simulator 200 may be calculated first, so as to determine the receiving antenna and the transmitting antenna that form each channel according to the first distance.
  • the wave length between the antennas which in turn determines the channel error.
  • the distance between the mnth channel and the target simulator 200 and the radar device can calculate the first distance, and the mnth channel refers to the signal path directly formed by the mth transmitting antenna and the nth receiving antenna.
  • the radar device 100 may first send a radar signal to the target simulator 200 and receive the radar signal forwarded from the target simulator 200 .
  • the radar signal is transmitted to the target simulator 200 through the m-th transmitting antenna of the radar device 100, and the radar signal forwarded from the target simulator 200 is received through the n-th receiving antenna of the radar device 100.
  • the radar device 100 sends radar signals to the target simulator 200 and receives the radar signals forwarded from the target simulator 200.
  • the transmitting antenna used by the radar device 100 to send the radar signals is not limited, but the radar device 100 may Determine a certain channel corresponding to the radar signal, that is, the transmitting antenna that transmits the radar signal, such as the m-th transmitting antenna and the receiving antenna that receives the radar signal, such as the channel formed by the n-th receiving antenna. It should be understood that both m and n are integers greater than or equal to 1.
  • the position coordinates of the radar device 100 and the target simulator 200 may be established in advance.
  • the absolute position coordinates of the radar device 100 can be established.
  • the three-dimensional coordinate system shown in FIG. 3 is established with the center of the radar device 100 as the origin of the coordinates. Then the coordinates of the m-th transmitting antenna T m satisfy the above formula (1), the coordinate of the n-th receiving antenna R n satisfies the above formula (2).
  • the position coordinates of the target simulator 200 can be established, then the coordinates of the transmitting antenna AT of the target simulator 200 satisfy the above formula (4), and the coordinates of the receiving antenna AR of the target simulator 200 The above formula (5) is satisfied. It should be understood that, in other embodiments, the absolute position coordinates of the target simulator 200 can be established, and then the position coordinates of the radar device 100 can be established using the position coordinates of the target simulator 200 as a reference, and the position coordinates are relative position coordinates. In the following, the establishment of the absolute position coordinates of the radar device 100 is taken as an example.
  • the radar device 100 rotates by the first angle, since the position coordinates of the m-th transmitting antenna, the n-th transmitting antenna and the radar device 100 are known, the m-th transmitting antenna and the position coordinates of the radar device 100 can be determined.
  • the radar device 100 can calculate the wave length between the mnth channel and the target simulator 200 according to the time when the radar signal is sent, the time when the radar signal is received, and the propagation speed of the electromagnetic wave.
  • This wave length can also be referred to as the second distance, that is, The above s mn .
  • the second distance s mn can be considered as the sum of the distance between the mth antenna of the radar device 100 and the receiving antenna of the target simulator 200 and the distance between the nth antenna of the radar device 100 and the transmitting antenna of the target simulator 200 .
  • the target simulator 200 receives the radar signal, and the target simulator 200 delays forwarding the radar signal to the radar device 100 due to the internal delay of the target simulator 200.
  • the second distance is actually the propagation distance of the radar signal.
  • the difference between the above-mentioned r mn and the propagation distance r A corresponding to the internal delay of the target simulator 200, so the second distance s mn can be calculated according to r mn and r A .
  • Another way to express the second distance s mn is to pass the first distance, the position coordinates of the m-th transmitting antenna, the position coordinates of the n-th receiving antenna, and the position coordinates of the transmitting antenna of the target simulator 200 and the target
  • the position coordinates of the receiving antenna of the simulator 200 can be calculated to obtain the second distance s mn , such as the above formula (10). Assuming the distance from the center of the radar device 100 to the center of the target simulator 200, that is, the first distance is L, then the first distance The two distance s mn satisfies the above formula (12).
  • the first distance L can be calculated according to the above formula (12).
  • the simulated radar device 100 sends a radar signal to the target simulator 200 to calculate the first distance between the center of the radar device 100 and the center of the target simulator 200, so that the subsequent The distance between a certain transmitting antenna or receiving antenna of the radar device 100 and the target simulator 200 can be calculated according to the first distance, the antenna position coordinates of the radar device 100 and the antenna position coordinates of the target simulator 200, and the radar is determined according to the distance.
  • the system error and channel error of the device 100 Compared with the current manual measurement of the distance between the antenna and the target simulator 200 for each antenna, it is obviously more efficient and more accurate.
  • S602. Determine the systematic error of the radar device 100 according to the first distance.
  • the carrier assembly 400 can be rotated to make the beam of the radar device 100 point in a certain direction, for example, the carrier assembly 400 is rotated to make the radar device 100 rotate.
  • the first angle mentioned above the first angle mentioned above.
  • Substituting the first angle into the aforementioned formula (1) and formula (8) can obtain, for example, the position coordinates of the m-th transmitting antenna of the radar device, and substituting the first angle into the aforementioned formula (2) and formula (8) can obtain the radar device’s position coordinates.
  • the position coordinates of the n-th receiving antenna are combined with formula (4), formula (5), formula (11), formula (12) and the first distance to determine the second distance.
  • the second distance corresponding to each channel of the radar device can be determined, which is also called the wave range, and the wave range of each channel can be converted into a wave range vector, for example, the aforementioned formula (10). Therefore, the systematic error corresponding to the first angle is determined according to the wave length vector.
  • formula (13)-formula (16) which will not be repeated here.
  • the bearing assembly 400 can be rotated so that the radar device 100 rotates, for example, the second angle mentioned above.
  • the process of determining the systematic error of the radar device 100 is similar The process of determining the systematic error of the radar device 100 under the first angle will not be repeated here.
  • the bearing assembly 400 can be rotated so that the radar device 100 rotates, for example, the first angle and the second angle mentioned above. In this case, determine the radar device 100
  • the process of the system error is similar to the process of determining the system error of the radar device 100 at the first angle, and will not be repeated here.
  • S603 Calculate the channel error of the radar device 100 according to the system error, the theoretical weight and the actual weight.
  • the system error is determined, which can be converted into the actual system error vector, and the channel error of the radar device 100 is determined by combining the theoretical weight value and the actual weight value.
  • the details can be calculated according to the above formula (14), formula (15) and formula (16).
  • the channel error of the radar device 100 is determined according to formula (17) and formula (19). For details, reference may be made to the introduction of the above-mentioned embodiments of these formulas, which will not be repeated here.
  • the test platform provided by the embodiments of the present application can calculate the first distance from the center of the radar device 100 to the center of the target simulator 200, and the second distance can be determined according to the first distance, so that the radar device 100 can be determined by the second distance.
  • Channel error the calibration of the near-field channel error can be achieved.
  • there is no need to manually measure the second distance each time which is more efficient and can avoid errors caused by manual measurement.
  • the embodiment of the present application can use the above-mentioned test platform to verify the angle measurement performance of the radar device 100 after channel calibration.
  • the carrier assembly 400 is used to rotate the radar device 100, the radar device 100 transmits a signal and receives a signal from the target simulator 200, and the radar device 100 performs DOA estimation based on the received signal.
  • DOA estimation is performed according to the actual measurement weight value after compensation, and the target angle obtained by two DOA estimation is compared, so as to determine the angle measurement performance of the radar device 100 after the channel calibration is good or bad according to the comparison result.
  • formula (20)-formula (23) which will not be repeated here.
  • test platform there is no need to build a separate test platform to verify the angle measurement performance of the radar device. Or it can be understood that the embodiment of the present application reuses the test platform for verifying the angle measurement performance of the radar device to realize the function of determining the channel error.
  • each device such as a radar device, includes a hardware structure and/or software module corresponding to each function.
  • the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software-driven hardware depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the embodiments of the present application.
  • the embodiment of the present application may divide the functional modules of the radar device. For example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division, and there may be other division methods in actual implementation.
  • FIG. 7 shows a possible schematic structural diagram of the radar device 100 involved in the foregoing embodiment of the present application.
  • the radar device 100 may include a transceiver unit 701 and a processing unit 702, and optionally the radar device may further include a storage unit 703.
  • the transceiving unit 701 may also be called an interface unit, and may include a sending unit and/or a receiving unit.
  • the storage unit 703 can be used to store instructions (codes or programs) and/or data.
  • the transceiving unit 701 and the processing unit 702 may be coupled with the storage unit 703.
  • the processing unit 702 may read instructions (codes or programs) and/or data in the storage unit to implement corresponding methods.
  • the above-mentioned units can be set independently, or partly or fully integrated.
  • the processing unit 702 may be used to execute or control all operations performed by the radar device 100 in the embodiment shown in FIG. 6 except for the transceiving operations, such as S601, S602, and S603, and/ Or other processes used to support the technology described in this article.
  • the transceiving unit 701 may be used to perform all the transceiving operations performed by the radar device 100 in the embodiment shown in FIG. 6 and/or to support other processes of the technology described herein.
  • the transceiver unit 701 is used to transmit radar signals and to receive the radar signals reflected by the target simulator 200, where the target simulator 200 is used to receive radar signals from the radar device 100 and forward the radar signals.
  • the center of the target simulator 200 and the center of the radar device 100 are located in a first straight line, and the first straight line is parallel to the ground;
  • the processing unit 702 is used to calculate the distance between the center of the radar device 100 and the center of the target simulator 200 The first distance, the system error is determined according to the first distance, and the channel error of the radar device 100 is calculated according to the system error and the weight value, wherein the weight value is used to adjust the beam direction of the radar device 100.
  • the first distance is determined based on the first location coordinates and the second distance
  • the first location coordinates are the antenna location coordinates of the radar device 100
  • the second distance is based on the transmission time and transmission time of the radar signal.
  • the transmission distance is the length of the transmission path for the radar signal to be sent by the radar device 100 and reflected by the target simulator 200 to return to the radar device 100
  • the transmission time is the time for the radar signal to pass through the transmission path.
  • the first position coordinates are determined according to the position coordinates of the center of the radar device 100, the first angle and/or the second angle, and the first angle is the projection of the beam of the radar device 100 on the ground.
  • the included angle with the projection of the first straight line on the ground, and the second angle is the included angle between the beam direction of the radar device 100 and the ground.
  • the system error is determined according to the first distance and the first position coordinates.
  • the processing unit 702 is also used to rotate the radar device 100 for changing the first angle and/or the second angle.
  • the weight value includes an ideal weight value and an actual weight value
  • the channel error is determined according to the ideal weight value, the system error and the actual weight value.
  • the processing unit 702 is further configured to compensate the actual weight value according to the channel error and the system error.
  • the processing unit 702 is further configured to rotate the radar device 100 by a first angle, transmit a second signal through the radar device 100, and receive the second signal forwarded from the target simulator 200; according to the second signal
  • the third angle at which the target simulator 200 rotates relative to the radar device 100 is determined; the angle measurement performance of the radar device 100 after channel compensation is determined according to the first angle and the third angle.
  • the processing unit 702 is further configured to rotate the radar device 100 by a first angle, and rotate the radar device 100 by a second angle, transmit a third signal through the radar device 100, and receive signals from the target simulator 200.
  • the forwarded third signal; the fourth angle of rotation of the target simulator 200 relative to the radar device 100 is determined according to the received third signal; the angle measurement performance of the radar device 100 is determined according to the first angle, the second angle, and the fourth angle.
  • processing unit 702 in the embodiments of the present application may be implemented by a processor or processor-related circuit components
  • transceiver unit 701 may be implemented by a transceiver or transceiver-related circuit components or a communication interface.
  • FIG. 8 is a schematic diagram of another possible structure of the radar device 100 provided by an embodiment of the application.
  • the radar device 100 may include a processor 801 and a communication interface, and the communication interface may include a transmitter 802 and a receiver 803. The functions thereof can respectively correspond to the specific functions of the processing unit 702 and the transceiver unit 701 shown in FIG. 7, and will not be repeated here.
  • the transceiver unit 701 may be implemented by a transmitter 802 and a receiver 803.
  • the radar device 800 may further include a memory 804 for storing program instructions and/or data for the processor 801 to read.
  • FIG. 9 provides a schematic diagram of another possible structure of the radar device 100.
  • the radar device 100 includes a transmitting antenna 901, a receiving antenna 902, and a processor 903. Further, the radar device further includes a mixer 904 and/or an oscillator 905. Further, the radar device 100 may also include a low-pass filter and/or a coupler, etc. Among them, the transmitting antenna 901 and the receiving antenna 902 are used to support the radar device 100 for radio communication, the transmitting antenna 901 supports the transmission of radar signals, and the receiving antenna 902 supports the reception of radar signals and/or the reception of reflected signals, so as to finally realize detection.
  • the processor 903 performs some possible determination and/or processing functions.
  • the processor 903 also controls the operation of the transmitting antenna 901 and/or the receiving antenna 902. Specifically, the signal to be transmitted is transmitted by the processor 903 controlling the transmitting antenna 901, and the signal received through the receiving antenna 902 can be transmitted to the processor 903 for corresponding processing.
  • the various components included in the radar device 100 can be used to cooperate to execute the method provided in the embodiment shown in FIG. 5.
  • the radar device 100 may further include a memory for storing program instructions and/or data.
  • the transmitting antenna 901 and the receiving antenna 902 may be set independently, or may be integratedly set as a transceiver antenna to perform corresponding transceiver functions.
  • the processor 903 may be used to execute or control all operations performed by the radar device in the embodiment shown in FIG. 6 except for the transceiving operations, such as S601, S602, and S603, and/or Other processes used to support the technology described in this article.
  • the transmitting antenna 901 and the receiving antenna 902 may be used to perform all the transceiving operations performed by the radar device in the embodiment shown in FIG. 6 and/or to support other processes of the technology described herein.
  • the transmitting antenna 901 is used to transmit radar signals
  • the receiving antenna 902 is used to receive the radar signal reflected by the target simulator 200, where the target simulator 200 is used to receive the radar signal from the radar device 100 and forward it.
  • the center of the target simulator 200 and the center of the radar device 100 are located on a first straight line, and the first straight line is parallel to the ground;
  • the processor 903 is used to calculate the distance between the center of the radar device 100 and the center of the target simulator 200
  • the system error is determined according to the first distance
  • the channel error of the radar device 100 is calculated according to the system error and the weight.
  • the weight is used to adjust the beam direction of the radar device 100.
  • the first distance is determined based on the first location coordinates and the second distance
  • the first location coordinates are the antenna location coordinates of the radar device 100
  • the second distance is based on the transmission time and transmission time of the radar signal.
  • the transmission distance is the length of the transmission path for the radar signal to be sent by the radar device 100 and reflected by the target simulator 200 to return to the radar device 100
  • the transmission time is the time for the radar signal to pass through the transmission path.
  • the first position coordinates are determined according to the position coordinates of the center of the radar device 100, the first angle and/or the second angle, and the first angle is the projection of the beam of the radar device 100 on the ground.
  • the included angle with the projection of the first straight line on the ground, and the second angle is the included angle between the beam direction of the radar device 100 and the ground.
  • the system error is determined according to the first distance and the first position coordinates.
  • the processor 903 is further used to rotate the radar device 100 for changing the first angle and/or the second angle.
  • the weight value includes an ideal weight value and an actual weight value
  • the channel error is determined according to the ideal weight value, the system error and the actual weight value.
  • the processor 903 is further configured to compensate the actual weight value according to the channel error and the system error.
  • the processor 903 is further configured to rotate the radar device 100 by a first angle, transmit a second signal through the radar device 100, and receive the second signal forwarded from the target simulator 200; according to the second signal
  • the third angle at which the target simulator 200 rotates relative to the radar device 100 is determined; the angle measurement performance of the radar device 100 after channel compensation is determined according to the first angle and the third angle.
  • the processor 903 is further configured to rotate the radar device 100 by a first angle, and rotate the radar device 100 by a second angle, transmit a third signal through the radar device 100, and receive signals from the target simulator 200.
  • the forwarded third signal; the fourth angle of rotation of the target simulator 200 relative to the radar device 100 is determined according to the received third signal; the angle measurement performance of the radar device 100 is determined according to the first angle, the second angle, and the fourth angle.
  • the radar device provided in Figures 7-9 may be part or all of the radar device in the actual communication scenario, or may be a functional module integrated in the radar device or located outside the radar device, for example, a chip system, specifically to achieve the corresponding
  • the function of the radar device shall prevail, and the structure and composition of the radar device shall not be specifically limited.
  • FIG. 10 is a schematic structural diagram of an apparatus 1000 provided by an embodiment of this application.
  • the device 1000 shown in FIG. 10 may be the radar device 100 itself, or may be a chip or circuit capable of completing the functions of the radar device 100, for example, the chip or circuit may be provided in the radar device 100.
  • the apparatus 1000 shown in FIG. 10 may include a processor 1001 (for example, the processing unit 702 may be implemented by the processor 801 or the processor 903, and the processor 801 and the processor 903 may be the same component, for example) and an interface circuit 1002 (for example, the transceiver unit 701). It can be implemented by the interface circuit 1002, and the transmitter 802 and the receiver 803 and the interface circuit 1002 are, for example, the same component).
  • the processor 1001 can enable the device 1000 to implement the steps executed by the radar device 100 in the method provided in the embodiment shown in FIG. 6.
  • the device 1000 may further include a memory 1003, and the memory 1003 may be used to store instructions.
  • the processor 1001 executes the instructions stored in the memory 1003 to enable the device 1000 to implement the steps executed by the radar device in the method provided in the embodiment shown in FIG. 6.
  • the processor 1001, the interface circuit 1002, and the memory 1003 can communicate with each other through an internal connection path to transfer control and/or data signals.
  • the memory 1003 is used to store a computer program.
  • the processor 1001 can call and run the computer program from the memory 1003 to control the interface circuit 1002 to receive signals or send signals to complete the radar device execution in the method provided by the embodiment shown in FIG. 6 step.
  • the memory 1003 may be integrated in the processor 1001, or may be provided separately from the processor 1001.
  • the interface circuit 1002 may include a receiver and a transmitter.
  • the receiver and the transmitter may be the same component or different components.
  • the component can be called a transceiver.
  • the interface circuit 1002 may include an input interface and an output interface, and the input interface and the output interface may be the same interface, or may be different interfaces respectively.
  • the device 1000 may not include the memory 1003, and the processor 1001 can read instructions (programs or codes) in the memory external to the chip or circuit to implement the implementation shown in FIG. 6 The steps performed by the radar device in the method provided in the example.
  • the device 1000 may include a resistor, a capacitor, or other corresponding functional components, and the processor 1001 or the interface circuit 1002 may be implemented by corresponding functional components.
  • the function of the interface circuit 1002 may be implemented by a transceiver circuit or a dedicated chip for transceiver.
  • the processor 1001 may be implemented by a dedicated processing chip, a processing circuit, a processor, or a general-purpose chip.
  • a general-purpose computer may be considered to implement the radar device provided in the embodiment of the present application. That is, the program codes for realizing the functions of the processor 1001 and the interface circuit 1002 are stored in the memory 1003, and the processor 1001 implements the functions of the processor 1001 and the interface circuit 1002 by executing the program codes stored in the memory 1003.
  • the functions and actions of the modules or units in the device 1000 listed above are only exemplary descriptions, and the functional units in the device 1000 can be used to execute the actions or processing procedures performed by the radar device in the embodiment shown in FIG. 6. In order to avoid repetition, detailed descriptions are omitted here.
  • FIGS. 7-10 only show the simplified design of the radar device.
  • a radar device can include any number of transmitters, receivers, processors, controllers, memories, and other possible components. It can be understood that the device shown in FIGS. 7 to 10 may also be the aforementioned processing device 800.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium includes a computer program, and when the computer program runs on a radar device, the radar device is caused to execute the radar device as shown in FIG. 6 above. All or part of the steps described in the method embodiment.
  • the embodiment of the present application also provides a program product, including instructions, when the instructions run on a computer, the computer executes all or part of the steps recorded in the method embodiment shown in FIG. 6.
  • the radar device when implemented by software, it can be implemented in the form of a computer program product in whole or in part.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the computer instructions may be transmitted from a website, computer, server, or data center.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrated with one or more available media.
  • the usable medium may be a magnetic medium, (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).
  • the processor included in the detection device used to execute the detection method or signal transmission method may be a central processing unit (CPU), a general-purpose processor, or digital signal processing.
  • Digital signal processor (DSP) digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA field programmable gate array
  • the processor may also be a combination for realizing computing functions, for example, including a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on.
  • the steps of the method or algorithm described in the embodiments of the present application may be implemented in a hardware manner, or may be implemented in a manner in which a processor executes software instructions.
  • Software instructions can be composed of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), erasable programmable read-only Memory (erasable programmable read-only memory, EPROM), electrically erasable programmable read-only memory (EEPROM), register, hard disk, mobile hard disk, compact disc (read-only memory) , CD-ROM) or any other form of storage medium known in the art.
  • An exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and write information to the storage medium.
  • the storage medium may also be an integral part of the processor.
  • the processor and the storage medium may be located in the ASIC.
  • the ASIC may be located in the detection device.
  • the processor and the storage medium may also exist as discrete components in the detection device.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, for example, multiple units or components may be divided. It can be combined or integrated into another device, or some features can be omitted or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate parts may or may not be physically separate.
  • the parts displayed as units may be one physical unit or multiple physical units, that is, they may be located in one place, or they may be distributed to multiple different places. . Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium.
  • the technical solutions of the embodiments of the present application are essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product, and the software product is stored in a storage medium. It includes several instructions to make a device (which may be a single-chip microcomputer, a chip, etc.) or a processor (processor) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

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  • 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

L'invention concerne une plateforme de tests et un procédé de détermination d'erreurs de canaux, appartenant au domaine technique des capteurs. La plateforme de tests comprend un appareil radar (100) et un simulateur cible (200), le simulateur cible (200) servant à recevoir un signal radar de l'appareil radar (100) et à transmettre le signal radar. Le centre du simulateur cible (200) et le centre de l'appareil radar (100) sont situés sur une première ligne droite parallèle au sol. Le procédé consiste : à calculer une première distance entre le centre d'un appareil radar (100) et le centre d'un simulateur cible (200) (S601) ; à déterminer une erreur de système selon la première distance (S602) ; et à calculer une erreur de canal selon l'erreur de système et un poids (S603), le poids servant à régler une direction de pointage de faisceau de l'appareil radar (100). Sur la base de la plateforme de tests, des erreurs sur tous les canaux de l'appareil radar (100), peuvent être déterminées plus précisément de façon à optimiser la précision de mesure d'angles d'un radar.
PCT/CN2020/134275 2019-12-11 2020-12-07 Plateforme de tests et procédé de détermination d'erreurs de canaux WO2021115226A1 (fr)

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