Method, device, equipment and medium for calibrating inter-channel error of planar array radar

Abstract

The present application relates to the technical field of MIMO radar, and particularly relates to a method, device, equipment and medium for calibrating the inter-channel error of a planar array radar. The method includes: establishing a signal model of the measured direct wave data based on the direct wave data of the opposite radiation; estimating the relative position relationship between two opposite planar arrays based on the signal model of the measured direct wave data of the opposite radiation; using the relative position relationship as the true value, calculating the estimated value of the amplitude-phase error between channels, and compensating the target reflected echo data with the estimated value of the amplitude-phase error between channels, so as to perform imaging processing on the compensated reflected echo data to generate a radar imaging result. Thus, the problem of relying on external calibration bodies such as metal plates or metal columns in the related art is solved, and the convenience and accuracy of the method for calibrating the amplitude-phase error between channels of the MIMO planar array radar are greatly improved.

Description

Technical Field

[0001] This application relates to the technical field of MIMO (Multiple-Input Multiple-Output) radar, and particularly to a method, device, equipment and medium for calibrating the inter-channel error of a planar array radar. Background Art

[0002] MIMO radar is a new type of radar system that has emerged in recent years. Both its transmitting and receiving ends adopt multi-antenna structures. M transmitting antennas at the transmitting end simultaneously transmit mutually orthogonal waveform signals, and then N receiving antennas simultaneously receive the echo data of all waveforms and perform sorting. Thus, it can use a relatively small number of actual antenna elements (M + N) to achieve an independent observation channel number (M·N) that is much larger than the number of array elements. At the same time, since M·N channels of data can be collected simultaneously, MIMO radar can achieve single snapshot acquisition of target echoes, so that the acquisition frame rate of radar images is much higher than that of traditional mechanical scanning imaging radar systems based on the synthetic aperture principle. With faster image acquisition speed and more stable system structure, MIMO radar has received great attention in fields such as security inspection and landslide warning. A large number of researchers have carried out extensive research on its system design, array design, and imaging processing methods, etc.

[0003] Since MIMO radar adopts a structure of multiple transmitters and multiple receivers, and the transmission links of echo data of different channels are different, there will be differences in amplitude and phase of echoes in different channels, which is called inter-channel amplitude-phase error. These errors will cause the imaging quality of MIMO radar to deteriorate seriously or even defocus, and must be eliminated before imaging processing. Currently, the amplitude-phase errors between the channels of existing MIMO radar arrays are generally calibrated by using a metal flat plate or a metal cylinder as a standard calibration object.

[0004] However, these calibration objects are generally large in size, which will seriously affect the convenience of calibration processing; at the same time, the position error and processing error of the calibration object will seriously affect the accuracy of calibration processing.

[0005] Application Content

[0006] This application provides a method, device, equipment and medium for calibrating the inter-channel error of a planar array radar, so as to solve the problem of relying on external calibration objects such as metal flat plates or metal columns in the related art, and greatly improve the convenience and accuracy of the method for calibrating the inter-channel amplitude-phase error of a MIMO planar array radar.

[0007] The first aspect embodiment of this application provides a method for calibrating the inter-channel error of a planar array radar, including the following steps:

[0008] Establish a signal model of the measured direct wave data based on the direct wave data of the opposite shot;

[0009] Based on the signal model of the measured direct wave data of the opposite radiation, estimate the relative position relationship between the two opposite radiation planar arrays; and

[0010] Using the relative position relationship as the true value, calculate the estimated value of the amplitude-phase error between channels, and use the estimated value of the amplitude-phase error between channels to compensate the target reflected echo data, so as to perform imaging processing on the compensated reflected echo data and generate a radar imaging result.

[0011] Optionally, the establishing of the signal model of the measured direct wave data of the opposite radiation based on the direct wave data of the opposite radiation includes:[[]]

[0012] Set any two MIMO planar array radars in a geometric configuration of opposite radiation;

[0013] According to the actual positions between the two planar arrays, establish the signal model of the measured direct wave data of the opposite radiation including the amplitude-phase error between channels.

[0014] Optionally, the estimating of the relative position relationship between the two opposite radiation planar arrays includes:[[]]

[0015] According to the measured direct wave data of the opposite radiation measured by the signal model, use the principal component analysis method to estimate the relative position relationship between the two opposite radiation planar arrays, where the relative position relationship includes the Euler angles in three directions and the offsets in three directions.

[0016] Optionally, the calculating of the estimated value of the amplitude-phase error between channels with the relative position relationship as the true value includes:[[]]

[0017] Taking the relative position relationship as the true value, calculate the conjugate Hadamard product of the reference direct wave of the opposite radiation and the measured direct wave data of the opposite radiation;

[0018] And perform SVD (Singular Value Decomposition) decomposition on the conjugate Hadamard product to obtain the estimated value of the amplitude-phase error between channels.

[0019] Optionally, after estimating the relative position relationship between the two opposite radiation planar arrays, it further includes:[[]]

[0020] Obtain the principal component contribution rate of the relative position relationship;

[0021] According to the principal component contribution rate, obtain an evaluation index of the estimation performance, and generate an evaluation result from the evaluation index.

[0022] An embodiment of the second aspect of the present application provides a calibration device for the error between channels of a planar array radar, including:[[]]

[0023] A building module, configured to build a signal model of measured direct wave data based on the direct wave data of the opposed arrays;

[0024] An estimation module, configured to estimate the relative position relationship between two opposed planar arrays based on the signal model of the measured direct wave data of the opposed arrays; and

[0025] A calibration module, configured to use the relative position relationship as the true value, calculate the estimated value of the amplitude-phase error between channels, and compensate the target reflected echo data by using the estimated value of the amplitude-phase error between channels, so as to perform imaging processing on the compensated reflected echo data to generate a radar imaging result.

[0026] Optionally, the building module is specifically configured to:

[0027] Set any two MIMO planar array radars to an opposed geometric configuration;

[0028] Build a signal model of the measured direct wave data including the amplitude-phase error between channels according to the actual positions between the two planar arrays.

[0029] Optionally, the estimation module is specifically configured to:

[0030] Estimate the relative position relationship between the two opposed planar arrays by using the principal component analysis method according to the measured direct wave data of the opposed arrays obtained from the signal model, wherein the relative position relationship includes Euler angles in three directions and offsets in three directions of the planar array.

[0031] Optionally, the calibration module is specifically configured to:

[0032] Use the relative position relationship as the true value, and calculate the conjugate Hadamard product of the reference direct wave of the opposed arrays and the measured direct wave data of the opposed arrays;

[0033] And perform SVD decomposition on the conjugate Hadamard product to obtain the estimated value of the amplitude-phase error between channels.

[0034] Optionally, after estimating the relative position relationship between the two opposed planar arrays, the calibration module is further configured to:

[0035] Obtain the principal component contribution rate of the relative position relationship;

[0036] Obtain an evaluation index of the estimation performance according to the principal component contribution rate, and generate an evaluation result from the evaluation index.

[0037] In a third aspect of the present application, an embodiment provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the method for calibrating the error between channels of a planar array radar as described in the above embodiments.

[0038] In a fourth aspect of the present application, an embodiment provides a computer-readable storage medium, on which a computer program is stored, and characterized in that the program is executed by a processor to be used for implementing the method for calibrating the error between channels of a planar array radar as described in the above embodiments.

[0039] Thus, a signal model of the measured direct wave data can be established based on the direct wave data of the opposite radiation, and based on the signal model of the measured direct wave data of the opposite radiation, the relative position relationship between two opposite planar arrays can be estimated, and the relative position relationship is used as the true value to calculate the estimated value of the amplitude-phase error between channels, and the target reflected echo data is compensated by using the estimated value of the amplitude-phase error between channels, so as to perform imaging processing on the compensated reflected echo data to generate a radar imaging result. Thus, the calibration of the amplitude-phase error between channels of the MIMO planar array radar system is realized by using the direct wave data of the opposite radiation between the opposite planar arrays, which solves the problem in the related art that relies on external calibration bodies such as metal plates or metal columns, and greatly improves the convenience and accuracy of the method for calibrating the amplitude-phase error between channels of the MIMO planar array radar.

[0040] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0042] Figure 1 is a flowchart of a method for calibrating the error between channels of a planar array radar according to an embodiment of the present application;

[0043] Figure 2 is a schematic diagram of the geometric relationship between two opposite MIMO planar array radars according to an embodiment of the present application;

[0044] Figure 3 is a schematic diagram of the arrangement of the transmitting and receiving array elements of a single planar array of a MIMO planar array radar according to an embodiment of the present application;

[0045] Figure 4 is a schematic diagram of the imaging result of planar array 1 before compensating the amplitude-phase error between channels according to an embodiment of the present application;

[0046] Figure 5Schematic diagram of the imaging result after compensating the amplitude and phase errors between channels of the planar array 1 according to an embodiment of the present application;

[0047] Figure 6 Example diagram of the inter-channel error calibration device of the planar array radar according to an embodiment of the present application;

[0048] Figure 7 Example diagram of the electronic device according to an embodiment of the present application. Detailed implementation manners

[0049] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation to the present application.

[0050] The inter-channel error calibration method, device, equipment and medium of the planar array radar according to the embodiments of the present application will be described below with reference to the accompanying drawings. In view of the problem in the related art mentioned in the above background art that relies on external calibration bodies such as metal plates or metal columns, the present application provides an inter-channel error calibration method for a planar array radar. In this method, a signal model of the measured direct wave data can be established based on the direct wave data of the opposite array, and based on the signal model of the measured direct wave data of the opposite array, the relative position relationship between the two opposite planar arrays can be estimated, and the relative position relationship can be used as the true value to calculate the estimated value of the amplitude and phase errors between channels, and the target reflected echo data can be compensated by using the estimated value of the amplitude and phase errors between channels, so as to perform imaging processing on the compensated reflected echo data to generate a radar imaging result. Thus, the inter-channel amplitude and phase error calibration of the MIMO planar array radar system is realized by using the direct wave data between the opposite planar arrays, which solves the problem in the related art that relies on external calibration bodies such as metal plates or metal columns, and greatly improves the convenience and accuracy of the inter-channel amplitude and phase error correction method of the MIMO planar array radar.

[0051] Specifically, Figure 1 It is a schematic flow chart of an inter-channel error calibration method for a planar array radar provided by an embodiment of the present application.

[0052] As Figure 1 shown, the inter-channel error calibration method of the planar array radar includes the following steps:

[0053] In step S101, a signal model of the measured direct wave data of the opposite array is established based on the direct wave data of the opposite array.

[0054] Optionally, in some embodiments, a signal model of the measured direct wave data is established based on the direct wave data of the opposed arrangement, including: setting any two MIMO planar array radars in an opposed geometric configuration; and establishing a signal model of the measured direct wave data of the opposed arrangement including the amplitude-phase error between channels according to the actual positions between the two planar arrays.

[0055] Specifically, in the embodiments of the present application, a signal model of the measured direct wave data of the opposed arrangement can be established, that is, two MIMO planar array radars are placed in an opposed geometric configuration. Assuming that the actual positional relationship between the two planar arrays is known, a signal model of the measured direct wave data of the opposed arrangement including the amplitude-phase error between channels is established.

[0056] In step S102, based on the signal model of the measured direct wave data of the opposed arrangement, the relative positional relationship between the two opposed planar arrays is estimated.

[0057] Optionally, in some embodiments, estimating the relative positional relationship between the two opposed planar arrays includes: using the principal component analysis method to estimate the relative positional relationship between the two opposed planar arrays according to the measured direct wave data of the opposed arrangement obtained from the signal model, where the relative positional relationship includes the Euler angles in three directions and the offsets in three directions of the planar array.

[0058] Specifically, in the embodiments of the present application, the relative positional relationship between the two opposed planar arrays can be estimated: that is, according to the measured direct wave data of the opposed arrangement, using the principal component analysis method to estimate the relative positional relationship between the two opposed planar arrays, including the Euler angles (θ, ψ, ω) in three directions and the offsets (Δx, Δy, Δz) in three directions of the planar array 2.

[0059] In step S103, taking the relative positional relationship as the true value, calculating the estimated value of the amplitude-phase error between channels, and using the estimated value of the amplitude-phase error between channels to compensate the target reflected echo data, and performing imaging processing on the compensated reflected echo data to generate a radar imaging result.

[0060] Optionally, in some embodiments, taking the relative positional relationship as the true value and calculating the estimated value of the amplitude-phase error between channels includes: taking the relative positional relationship as the true value, calculating the conjugate Hadamard product of the reference direct wave of the opposed arrangement and the measured direct wave data of the opposed arrangement; and performing SVD decomposition on the conjugate Hadamard product to obtain the estimated value of the amplitude-phase error between channels.

[0061] Optionally, in some embodiments, after estimating the relative positional relationship between the two opposed planar arrays, it further includes: obtaining the principal component contribution rate of the relative positional relationship; obtaining an evaluation index of the estimation performance according to the principal component contribution rate, and generating an evaluation result from the evaluation index.

[0062] Specifically, the embodiments of the present application can estimate the amplitude-phase error between channels: taking the estimated relative position relationship as the true value, calculating the conjugate Hadamard product of the ideal reference direct wave and the measured direct wave data, and performing SVD decomposition on it to obtain the estimated value of the amplitude-phase error between channels.

[0063] Further, compensate the amplitude-phase error between channels and perform imaging: that is, use the estimated amplitude-phase error to compensate the target reflected echo data, and perform imaging processing on the compensated reflected echo data to obtain an ideal radar imaging result.

[0064] Thus, the method for calibrating the inter-channel error of the planar array radar in the embodiments of the present application can use the direct wave data between the opposing planar arrays to calibrate the amplitude-phase error between channels of the MIMO planar array radar system, overcoming the problem that the traditional method relies on external calibration bodies such as metal plates or metal columns, and greatly improving the convenience and accuracy of the method for calibrating the amplitude-phase error between channels of the MIMO planar array radar.

[0065] To enable those skilled in the art to further understand the method for calibrating the inter-channel error of the planar array radar in the embodiments of the present application, the following will be elaborated in detail in combination with specific embodiments.

[0066] Specifically, in the embodiments of the present application, by placing two planar array radars in an opposing geometric configuration, the problem of estimating the amplitude-phase error of the transceiver array elements is transformed into a principal component analysis problem, and a method for calibrating the amplitude-phase error between channels based on SVD decomposition is given. First, establish a signal model for the measured direct wave data between the opposing arrays; then, estimate the relative position relationship between the two opposing planar arrays; then, estimate the amplitude-phase error between channels; finally, use the estimated amplitude-phase error to compensate the measured echo data and perform imaging processing. Based on Figure 2 As shown in the two opposing MIMO planar array radars, the two planar arrays adopt exactly the same array configuration, both consisting of M transmitting array elements and N receiving array elements. Denote the theoretical array element positions of a single planar array in the ideal case as (x Tm , y Tm , 0), (x Rn , y Rn , 0), where the subscript Tm represents the m-th transmitting array element and the subscript Rn represents the n-th receiving array element.

[0067] The method for calibrating the inter-channel error of the planar array radar in the embodiments of the present application mainly includes the following steps:

[0068] (1) Establish a signal model for the measured direct wave data between the opposing arrays: Considering that there must be certain errors between the two opposing planar arrays, it is necessary to re-consider the actual positions of each array element at this time. It is considered that the array element positions of planar array 1 are completely ideal, and a new coordinate system is established in the relative coordinate system determined by this planar array, asFigure 2 As shown, at this time, the coordinates of the transmitting and receiving array elements on the planar array 2 can be considered as the array obtained by flipping the ideal array left and right and then performing three-dimensional rotation and translation.

[0069] At this time, the coordinates of the array elements of the two opposed planar arrays can be expressed as follows:

[0070]

[0071]

[0072]

[0073] Among them, the superscripts (1) and (2) respectively represent planar array 1 and planar array 2, Π = (θ, ψ, ω, Δx, Δy, Δz), and the above rotation matrices respectively correspond to three Euler angles:

[0074]

[0075]

[0076] It can be seen from the above formulas that only six parameters of Π = (θ, ψ, ω, Δx, Δy, Δz) need to be determined to completely determine the relative position relationship between the two planar arrays.

[0077] Assume that the true values of the above unknown parameters in the measured direct wave data of the opposed pair are Π E , at this time, the distance between each transmitting and receiving pair is:

[0078]

[0079] Among them, and respectively represent the distances of each channel in the mode of planar array 1 transmitting and planar array 2 receiving and the mode of planar array 2 transmitting and planar array 1 receiving.

[0080] At this time, the direct wave data of the opposed pair in the mode of planar array 1 transmitting and planar array 2 receiving should be:

[0081]

[0082] Among them, respectively represent the amplitude errors of the m-th transmitting array element in planar array 1 and the n-th receiving array element in planar array 2. Similarly, respectively represent the corresponding phase errors, respectively represent the amplitude and phase random errors of this channel.

[0083] The amplitude and phase errors are uniformly recorded in complex form:

[0084]

[0085]

[0086] At this time, the above formula can be written in matrix form as follows:

[0087]

[0088] where e represents the Hadamard product between matrices,

[0089]

[0090]

[0091]

[0092]

[0093]

[0094] In fact, the third Hadamard product can be regarded as the outer product operation of two vectors:

[0095]

[0096] where vec(·) represents converting an arbitrary-order tensor into a one-dimensional column vector in column-major order, and × represents the outer product of two vectors.

[0097] The measured direct wave data signal model in the case of array 1 transmitting and array 2 receiving is given above. Similarly, it is easy to obtain the measured direct wave data signal model in the case of array 2 transmitting and array 1 receiving, as follows:

[0098]

[0099] (2) Estimate the relative position relationship between the two opposing arrays: At this time, assume the relative position between the two arrays is Π A , then the ideal reference direct wave data without amplitude-phase error can be constructed as:

[0100]

[0101] Taking the conjugate of the reference direct wave data and performing the Hadamard product with the measured direct wave data, we can obtain:

[0102]

[0103] where, represents taking the conjugate of A. Perform SVD decomposition on the above matrix, and denote its singular value matrix as Its singular values sorted from large to small are λ1, λ2, …, λ K , K = min(M, N).

[0104] It is easy to obtain that when Π A = Π E , there is:

[0105]

[0106] According to the principal component analysis theory, it can be known that the principal component contribution rate reaches the maximum at this time. Among them, the principal component contribution rate is defined as:

[0107]

[0108] Therefore, the problem of estimating the relative position relationship between two opposed planar arrays can be transformed into the following multi-dimensional optimization problem:

[0109]

[0110] When calculating the above optimization problem, the measured value of the relative position between the planar arrays can be used as the initial value, and heuristic algorithms such as genetic algorithms can be combined to achieve the solution.

[0111] (3) Estimate the amplitude-phase error between channels: Substitute the relative position between the planar arrays estimated above into to obtain Perform singular value decomposition on this matrix to obtain:

[0112]

[0113] At this time, the estimation result of the amplitude-phase error between the transmitting and receiving channels can be obtained as follows:

[0114] the first column of;

[0115] the first row of;

[0116] So far, based on the measured opposed direct wave data transmitted by planar array 1 and received by planar array 2, the amplitude-phase error between the transmitting channels of planar array 1 and the amplitude-phase error between the receiving channels of planar array 2 are estimated. Similarly, it is easy to estimate the amplitude-phase error between the transmitting channels of planar array 2 and the amplitude-phase error between the receiving channels of planar array 1 according to the measured opposed direct wave data transmitted by planar array 2 and received by planar array 1.

[0117] (4) Compensate the amplitude-phase error between channels and image: Use the estimated amplitude-phase error to compensate the target reflected echo data, and perform imaging processing on the compensated reflected echo data to obtain the ideal radar imaging result.

[0118] The present invention will be described in detail below with reference to the accompanying drawings. In this embodiment, the specifications of the MIMO planar array radar are as follows:

[0119] Carrier frequency: 77 GHz;

[0120] Number of frequency points: 128;

[0121] Operating bandwidth: 6.4 GHz;

[0122] Number of transmitting array elements in the planar array: 384;

[0123] Number of receiving array elements in the planar array: 384;

[0124] Spacing between transmitting array elements: 3 mm;

[0125] Spacing between receiving array elements: 3 mm.

[0126] The channel amplitude-phase error calibration method of the planar array radar according to the embodiment of the present application is used to perform channel amplitude-phase error calibration processing on the above radar system.

[0127] Specifically, it includes the following steps:

[0128] Step 1, establish a signal model for the measured direct wave data of the opposite-facing transmission: Consider that the array configurations of the two planar arrays are as Figure 3 shown. According to the above analysis, it is easy to obtain the signal model of the measured direct wave data of the system as follows:

[0129]

[0130]

[0131] Step 2, estimate the relative position relationship between the two opposite-facing planar arrays: According to the above analysis, using the idea of maximizing the contribution rate of the main component proposed by the present invention and combining with the genetic algorithm, the relative position relationship between the two opposite-facing planar arrays can be estimated. Among them, the three Euler angles are θ = 0.32°, ψ = -0.08°, ω = 0.17°, and the three offsets are Δx = 0.13 mm, Δy = -0.29 mm, Δz = 0.852 m.

[0132] Step 3, estimate the channel amplitude-phase error: Substitute the relative position between the planar arrays estimated above into to obtain Perform singular value decomposition on this matrix, and the channel amplitude-phase errors between the transmitting and receiving channels of the two opposite-facing planar arrays can be obtained.

[0133] Step 4: Compensate the amplitude and phase errors between channels and perform imaging: Use the estimated amplitude and phase errors to compensate the reflected echo data of the target in the planar array 1 system, and perform imaging processing on the compensated reflected echo data to obtain an ideal radar imaging result. Among them, the result of directly performing imaging processing on the echo data before calibration is as shown in Figure 4 shown, where the target is a pair of scissors fixed on a drawing board stand. The result of performing imaging processing on the echo data after calibration is as shown in Figure 5 shown, where the target is the same as the target in Figure 4 .

[0134] Through the processing of the measured data in this embodiment, it can be found that the present invention can estimate the amplitude and phase errors between channels by using the measured direct wave data of the opposite-facing planar array. By comparing the imaging results obtained before and after compensating the phase errors between channels (as shown in Figure 4 and Figure 5 ), it can be known that the imaging quality after compensation based on this method has been significantly improved.

[0135] According to the method for calibrating the errors between channels of a planar array radar proposed in the embodiments of the present application, a signal model of the measured direct wave data of the opposite-facing direct wave can be established based on the opposite-facing direct wave data, and based on the signal model of the measured direct wave data of the opposite-facing direct wave, the relative position relationship between the two opposite-facing planar arrays can be estimated, and the relative position relationship can be used as the true value to calculate the estimated value of the amplitude and phase errors between channels, and the estimated value of the amplitude and phase errors between channels is used to compensate the reflected echo data of the target, so as to perform imaging processing on the compensated reflected echo data to generate a radar imaging result. Thus, the calibration of the amplitude and phase errors between channels of the MIMO planar array radar system is realized by using the opposite-facing direct wave data between the opposite-facing planar arrays, solving the problem in the related art that depends on external calibration bodies such as metal plates or metal columns, and greatly improving the convenience and accuracy of the method for calibrating the amplitude and phase errors between channels of the MIMO planar array radar.

[0136] Next, refer to the drawings to describe the device for calibrating the errors between channels of a planar array radar proposed in the embodiments of the present application.

[0137] Figure 6 is a block diagram of the device for calibrating the errors between channels of a planar array radar according to the embodiments of the present application.

[0138] As shown in Figure 6 , the device 10 for calibrating the errors between channels of a planar array radar includes: a building module 100, a prediction module 200, and a calibration module 300.

[0139] Among them, the building module 100 is used to establish a signal model of the measured direct wave data of the opposite-facing direct wave based on the opposite-facing direct wave data;

[0140] The estimation module 200 is used to estimate the relative position relationship between two opposed planar arrays based on the signal model of the measured direct wave data of the opposed pair; and

[0141] The calibration module 300 is used to calculate the estimated value of the amplitude-phase error between channels with the relative position relationship as the true value, and use the estimated value of the amplitude-phase error between channels to compensate the target reflected echo data, so as to perform imaging processing on the compensated reflected echo data to generate a radar imaging result.

[0142] Optionally, the establishment module is specifically used for:

[0143] Set any two MIMO planar array radars to an opposed geometric configuration;

[0144] Establish a signal model of the measured direct wave data of the opposed pair including the amplitude-phase error between channels according to the actual positions between the two planar arrays.

[0145] Optionally, the estimation module 200 is specifically used for:

[0146] Estimate the relative position relationship between two opposed planar arrays by using the principal component analysis method according to the measured direct wave data of the opposed pair obtained from the signal model, where the relative position relationship includes the Euler angles in three directions and the offsets in three directions of the planar array.

[0147] Optionally, the calibration module 300 is specifically used for:

[0148] Take the relative position relationship as the true value and calculate the conjugate Hadamard product of the reference direct wave of the opposed pair and the measured direct wave data of the opposed pair;

[0149] And perform SVD decomposition on the conjugate Hadamard product to obtain the estimated value of the amplitude-phase error between channels.

[0150] Optionally, after estimating the relative position relationship between two opposed planar arrays, the calibration module 300 is further used for:

[0151] Obtain the principal component contribution rate of the relative position relationship;

[0152] Obtain an evaluation index of the estimation performance according to the principal component contribution rate, and generate an evaluation result from the evaluation index.

[0153] It should be noted that the foregoing explanation of the embodiment of the method for calibrating the error between channels of the planar array radar also applies to the device for calibrating the error between channels of the planar array radar in this embodiment, and will not be elaborated here.

[0154] The inter-channel error calibration device for a planar array radar according to an embodiment of the present application can establish a signal model of measured direct wave data based on the direct wave data of opposite radiation, and estimate the relative position relationship between two opposite planar arrays based on the signal model of the measured direct wave data of opposite radiation. Using the relative position relationship as the true value, an estimated value of the amplitude-phase error between channels is calculated, and the target reflected echo data is compensated using the estimated value of the amplitude-phase error between channels, so as to perform imaging processing on the compensated reflected echo data to generate a radar imaging result. Thus, the amplitude-phase error calibration between channels of the MIMO planar array radar system is realized by using the direct wave data of opposite radiation between opposite planar arrays, solving the problem in the related art that relies on external calibration bodies such as metal plates or metal columns, and greatly improving the convenience and accuracy of the amplitude-phase error correction method for the MIMO planar array radar channels.

[0155] Figure 7 The following is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device may include:

[0156] A memory 701, a processor 702, and a computer program stored on the memory 701 and executable on the processor 702.

[0157] When the processor 702 executes the program, it implements the inter-channel error calibration method for the planar array radar provided in the above embodiment.

[0158] Further, the electronic device further includes:

[0159] A communication interface 703 for communication between the memory 701 and the processor 702.

[0160] The memory 701 is used to store a computer program executable on the processor 702.

[0161] The memory 701 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0162] If the memory 701, the processor 702, and the communication interface 703 are independently implemented, the communication interface 703, the memory 701, and the processor 702 can be interconnected through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation,Figure 7 It is represented only by a thick line, but it does not mean that there is only one bus or one type of bus.

[0163] Optionally, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a single chip, the memory 701, the processor 702, and the communication interface 703 can communicate with each other through an internal interface.

[0164] The processor 702 may be a central processing unit (CPU for short), or an application specific integrated circuit (ASIC for short), or one or more integrated circuits configured to implement the embodiments of the present application.

[0165] This embodiment also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned method for calibrating the error between channels of a planar array radar is implemented.

[0166] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0167] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0168] Any process or method description represented in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where functions may be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed. This should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0169] Logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered a sequenced list of executable instructions for implementing a logical function, and can be embodied specifically in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0170] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0171] Those of ordinary skill in the art can understand that all or part of the steps carried out in implementing the above-mentioned embodiment methods can be completed by instructing relevant hardware through a program, and the said program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0172] In addition, in each of the embodiments of the present application, the functional units can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0173] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for calibrating the error between channels of a planar array radar, characterized in that, Including the following steps: Based on the direct wave data of the opposite shot, establish a signal model of the measured direct wave data of the opposite shot; Based on the signal model of the measured direct wave data of the opposite shot, estimate the relative position relationship between the two opposite-facing planar arrays; And Taking the relative position relationship as the true value, calculate the amplitude-phase error estimation value between channels, and use the amplitude-phase error estimation value between channels to compensate the target reflected echo data, so as to perform imaging processing on the compensated reflected echo data to generate a radar imaging result; Among them, taking the relative position relationship as the true value and calculating the amplitude-phase error estimation value between channels includes: taking the relative position relationship as the true value, calculating the conjugate Hadamard product of the reference direct wave of the opposite shot and the measured direct wave data of the opposite shot; and performing SVD decomposition on the conjugate Hadamard product to obtain the amplitude-phase error estimation value between channels.

2. The method according to claim 1, characterized in that, The establishing a signal model of the measured direct wave data of the opposite shot based on the direct wave data of the opposite shot includes: Set any two MIMO planar array radars in a geometric configuration of opposite shot; According to the actual positions between the two planar arrays, establish a signal model of the measured direct wave data of the opposite shot including the amplitude-phase error between channels.

3. The method according to claim 1, characterized in that, The estimating the relative position relationship between the two opposite-facing planar arrays includes: According to the measured direct wave data of the opposite shot of the signal model, use the principal component analysis method to estimate the relative position relationship between the two opposite-facing planar arrays, where the relative position relationship includes the Euler angles in three directions and the offsets in three directions of the planar array.

4. The method according to any one of claims 1-3, characterized in that, After estimating the relative position relationship between the two opposite-facing planar arrays, it further includes: Obtain the principal component contribution rate of the relative position relationship; According to the principal component contribution rate, obtain an evaluation index of the estimation performance, and generate an evaluation result from the evaluation index.

5. A device for calibrating the error between channels of a planar array radar, characterized in that, Including: A establishing module, used to establish a signal model of the measured direct wave data of the opposite shot based on the direct wave data of the opposite shot; A pre-estimating module, used to estimate the relative position relationship between the two opposite-facing planar arrays based on the signal model of the measured direct wave data of the opposite shot; And A calibration module, used to take the relative position relationship as the true value, calculate the amplitude-phase error estimation value between channels, and use the amplitude-phase error estimation value between channels to compensate the target reflected echo data, so as to perform imaging processing on the compensated reflected echo data to generate a radar imaging result; The calibration module is specifically used for: taking the relative position relationship as the true value, calculating the conjugate Hadamard product of the reference direct wave of the opposite shot and the measured direct wave data of the opposite shot; and performing SVD decomposition on the conjugate Hadamard product to obtain the amplitude-phase error estimation value between channels.

6. The device according to claim 5, characterized in that, The establishing module is specifically used for: Set any two MIMO planar array radars in a geometric configuration of opposite shot; According to the actual positions between the two planar arrays, establish a signal model of the measured direct wave data of the opposite shot including the amplitude-phase error between channels.

7. The device according to claim 5, characterized in that, The pre-estimating module is specifically used for: Using the direct wave data measured between the two opposing planar arrays according to the signal model, the relative position relationship between the two opposing planar arrays is estimated by using the principal component analysis method, where the relative position relationship includes the Euler angles in three directions and the offsets in three directions of the planar arrays.

8. The device according to any one of claims 5-7, characterized in that, After estimating the relative position relationship between the two opposing planar arrays, the calibration module is further configured to: Obtain the principal component contribution rate of the relative position relationship; Obtain an evaluation index of the estimation performance according to the principal component contribution rate, and generate an evaluation result from the evaluation index.

9. An electronic device, characterized in that, Including: A memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the method for calibrating the error between channels of the planar array radar according to any one of claims 1-4.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that, The program is executed by the processor to be used for implementing the method for calibrating the error between channels of the planar array radar according to any one of claims 1-4.

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