Radar calibration method and calibration terminal

Abstract

The present invention is applicable to the field of radar technology, and provides a radar calibration method and a calibration terminal, the method comprising: obtaining the longitude and latitude of a first target point and the coordinates of the first target point in a radar coordinate system, obtaining the longitude and latitude of a second target point and the coordinates of the second target point in the radar coordinate system; determining the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point and the coordinates of the second target point in the radar coordinate system; determining the longitude and latitude of the origin of the radar coordinate system and the target angle between the y-axis of the radar coordinate system and the true north direction according to the coordinates of the origin of the radar coordinate system in the UTM coordinate system. The present invention can realize the calibration of the radar coordinate system by coordinate transformation only according to the longitude and latitude of two target points and the coordinates in the radar coordinate system, and the method is simple and effective.

Description

Technical Field

[0001] The present invention belongs to the field of radar technology, and in particular relates to a radar calibration method and a calibration terminal. Background Art

[0002] Radar can accurately obtain information such as the position, speed, and angle of the detected target, and has been widely used in the field of the Internet of Things. The position of the target measured by the radar is relative to the position of the radar, which is not conducive to the unification of the coordinates of radars at different locations. In the era of the Internet of Everything, radar converts the position of the detected target into longitude and latitude, which effectively solves the problem of unifying the coordinates of radars at different installation locations. In order to achieve coordinate unification, it is usually necessary to calibrate the angle between the radar's y-axis and the true north direction and the longitude and latitude of the radar coordinate origin.

[0003] In the prior art, the calibration operation of the angle between the radar y-axis and the true north direction and the longitude and latitude of the radar origin is complex and difficult. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a radar calibration method and a calibration terminal to solve the problem of complex radar coordinate calibration operation and difficulty in calibration in the prior art.

[0005] A first aspect of an embodiment of the present invention provides a radar calibration method, including:

[0006] Acquire the longitude and latitude of the first target point and the coordinates of the first target point in the radar coordinate system, and acquire the longitude and latitude of the second target point and the coordinates of the second target point in the radar coordinate system;

[0007] Determine the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system;

[0008] According to the coordinates of the origin of the radar coordinate system in the UTM coordinate system, the longitude and latitude of the origin of the radar coordinate system and the target angle between the y-axis of the radar coordinate system and the true north direction are determined.

[0009] A second aspect of an embodiment of the present invention provides a calibration terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the radar calibration method provided in the first aspect of the embodiment of the present invention are implemented.

[0010] The embodiment of the present invention provides a radar calibration method and a calibration terminal, the method comprising: obtaining the longitude and latitude of a first target point and the coordinates of the first target point in a radar coordinate system, obtaining the longitude and latitude of a second target point and the coordinates of the second target point in the radar coordinate system; determining the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point and the coordinates of the second target point in the radar coordinate system; determining the longitude and latitude of the origin of the radar coordinate system and the target angle between the y-axis of the radar coordinate system and the true north direction according to the coordinates of the origin of the radar coordinate system in the UTM coordinate system. The embodiment of the present invention can realize the calibration of the radar coordinate system by coordinate transformation only according to the longitude and latitude of the two target points and the coordinates in the radar coordinate system, and the method is simple and effective. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0012] Figure 1 It is a schematic diagram of an implementation flow of a radar calibration method provided by an embodiment of the present invention;

[0013] Figure 2 is a schematic diagram of a radar coordinate system and a UTM coordinate system provided by an embodiment of the present invention;

[0014] Figure 3 is a schematic diagram of a radar calibration device provided by an embodiment of the present invention;

[0015] Figure 4 is a schematic diagram of a calibration terminal provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0016] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0017] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0018] refer to Figure 1 , an embodiment of the present invention provides a radar calibration method, comprising:

[0019] S101: Acquire the longitude and latitude of a first target point and the coordinates of the first target point in a radar coordinate system, and acquire the longitude and latitude of a second target point and the coordinates of the second target point in the radar coordinate system;

[0020] S102: determining the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system;

[0021] S103: Determine the longitude and latitude of the origin of the radar coordinate system and the target angle between the y-axis of the radar coordinate system and the true north direction according to the coordinates of the origin of the radar coordinate system in the UTM coordinate system.

[0022] UTM (Universal Transverse Mercator Grid System) is a plane rectangular coordinate system that can be directly converted to longitude and latitude. The embodiment of the present invention determines the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the longitude and latitude of two target points within the radar detection range and the coordinates in the radar coordinate system, and then determines the longitude and latitude of the origin of the radar coordinate system and the target angle between the y-axis of the radar coordinate system and the true north direction through coordinate conversion with the help of the coordinates of the origin of the radar coordinate system in the UTM coordinate system. The method is simple and effective to operate with high accuracy.

[0023] In some embodiments, S102 may include:

[0024] S1021: determining a first angle between a first vector and the positive direction of the X-axis of the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system; wherein the starting point of the first vector is the first target point, and the end point of the first vector is the origin of the radar coordinate system;

[0025] S1022: Determine the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the first angle, the longitude and latitude of the first target point, and the coordinates of the first target point in the radar coordinate system.

[0026] refer to Figure 2 , the first target point is A, the second target point is B, and the origin of the radar coordinate system is O. In the embodiment of the present invention, a first angle ∠XAO between the first vector AO and the positive direction of the X-axis of the UTM coordinate system is determined, and the coordinate conversion is realized by means of the first angle ∠XAO to obtain the coordinates of the origin O of the radar coordinate system in the UTM coordinate system.

[0027] In some embodiments, S1021 may include:

[0028] 1. Determine a second angle between the first vector and the second vector according to the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system;

[0029] 2. Determine a third angle between the second vector and the positive direction of the X-axis of the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system;

[0030] 3. Determine the first angle based on the second angle and the third angle; wherein the starting point of the second vector is the first target point, and the end point of the second vector is the second target point.

[0031] refer to Figure 2 , the first angle ∠XAO is the sum of the second angle ∠OAB and the third angle ∠BAX. Therefore, the embodiment of the present invention determines the second angle ∠OAB and the third angle ∠BAX according to the first target point A, the second target point B and the origin O of the radar coordinate system, respectively, and then obtains the first angle ∠XAO according to the second angle ∠OAB and the third angle ∠BAX, which is simple to calculate.

[0032] In some embodiments, determining the second angle between the first vector and the second vector according to the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system may include:

[0033] (1) determining a first distance between the second target point and the origin of the radar coordinate system, a length of the first vector, and a length of the second vector according to the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system;

[0034] (2) Determine a second angle based on the first distance, the length of the first vector, and the length of the second vector.

[0035] refer to Figure 2 , the coordinates of the first target point A and the second target point B in the radar coordinate system can be directly calculated according to the coordinates of the two points to get the distance of AO (the length of the first vector AO), the distance of OB and the distance of AB (the length of the second vector AB), and then the second angle ∠OAB can be calculated by the cosine theorem.

[0036] In some embodiments, the calculation formula of the second angle may be:

[0037]

[0038] m=(x B -x A )*(-y A )-(-x A )*(yB -y A )

[0039] Among them, R A is the length of the first vector, R B is the first distance, R is the length of the second vector, x A ,y A x is the horizontal and vertical coordinates of the first target point in the radar coordinate system; B ,y B are the horizontal and vertical coordinates of the second target point in the radar coordinate system.

[0040] Among them, reference Figure 2 , the first distance The length of the first vector AO The length of the second vector AB

[0041] m is the product of the first vector AO and the second vector AB. When m>0, the second angle between the two vectors is less than π. According to the cosine theorem,

[0042] When m≤0, the angle ∠OAB between the two vectors is not less than π. According to the cosine theorem,

[0043] The second angle ∠OAB is obtained from the above calculation.

[0044] In some embodiments, determining the third angle between the second vector and the positive direction of the X-axis of the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system may include:

[0045] (1) performing coordinate conversion on the longitude and latitude of the first target point to obtain the coordinates of the first target point in the UTM coordinate system; performing coordinate conversion on the longitude and latitude of the second target point to obtain the coordinates of the second target point in the UTM coordinate system;

[0046] (2) determining a second distance between the first target point and the second target point according to the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system;

[0047] (3) calculating a third angle using the first formula according to the coordinates of the first target point in the UTM coordinate system, the coordinates of the second target point in the UTM coordinate system, and the second distance;

[0048] The first formula can be

[0049]

[0050] Among them, ∠BAX is the third angle, X A is the horizontal coordinate of the first target point in the UTM coordinate system, Y A X is the vertical coordinate of the first target point in the UTM coordinate system; B is the horizontal coordinate of the second target point in the UTM coordinate system, Y B is the ordinate of the second target point in the UTM coordinate system; R is the second distance.

[0051] refer to Figure 2 , the third angle ∠BAX is the angle between the second vector AB and the positive X-axis of the UTM coordinate system. In the UTM coordinate system, the third angle can be calculated based on the coordinates of point A (the first target point) and point B (the second target point) in the UTM coordinate system and the distance between points AB.

[0052] Therefore, in the embodiment of the present invention, the longitude and latitude of point A and point B are known, and the longitude and latitude of point A and point B are converted to obtain the coordinates (X A , Y A ) and the coordinates of point B in the UTM coordinate system (X B , Y B ). At the same time, the distance between points A and B can be directly calculated by knowing the coordinates of points A and B in the radar coordinate system. Then the third angle ∠BAX can be directly calculated.

[0053] In some embodiments, S1022 may include:

[0054] 1. Convert the longitude and latitude of the first target point to obtain the coordinates of the first target point in the UTM coordinate system;

[0055] 2. Calculate a third distance between the first target point and the origin of the radar coordinate system according to the coordinates of the first target point in the radar coordinate system;

[0056] 3. According to the coordinates of the first target point in the UTM coordinate system, the third distance and the first angle, determine the coordinates of the origin of the radar coordinate system in the UTM coordinate system.

[0057] In some embodiments, determining the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the coordinates of the first target point in the UTM coordinate system, the third distance, and the first angle may include:

[0058] (1) According to the coordinates of the first target point in the UTM coordinate system, the third distance and the first angle, the coordinates of the origin of the radar coordinate system in the UTM coordinate system are calculated by the second formula;

[0059] The second formula can be

[0060] X O =X A +cos(∠XAO)*R A

[0061] Y O =Y A +cos(∠XAO)*R A

[0062] Among them, X O Y is the horizontal coordinate of the origin of the radar coordinate system in the UTM coordinate system. O X is the ordinate of the origin of the radar coordinate system in the UTM coordinate system; A is the horizontal coordinate of the first target point in the UTM coordinate system, Y A is the ordinate of the first target point in the UTM coordinate system; ∠XAO is the first angle, R A The third distance.

[0063] refer to Figure 2 , given the longitude and latitude of the first target point A, the coordinates of the first target point A in the UTM coordinate system can be directly converted. According to the relative position relationship between the origin O of the radar coordinate system and the first target point A in the UTM coordinate system, and taking the coordinates of the first target point A in the UTM coordinate system as a reference, combined with the first angle ∠XAO, the coordinates of the origin O of the radar coordinate system in the UTM coordinate system can be directly converted.

[0064] In some embodiments, S103 may include:

[0065] S1031: performing coordinate conversion on the coordinate of the origin of the radar coordinate system in the UTM coordinate system to obtain the longitude and latitude of the origin of the radar coordinate system;

[0066] S1032: performing coordinate conversion on the longitude and latitude of the first target point to obtain the coordinates of the first target point in the UTM coordinate system;

[0067] S1033: Determine a target angle between the y-axis of the radar coordinate system and the true north direction according to the coordinates of the first target point in the UTM coordinate system, the coordinates of the first target point in the radar coordinate system, and the coordinates of the origin of the radar coordinate system in the UTM coordinate system.

[0068] In some embodiments, S1033 may include:

[0069] 1. According to the coordinates of the first target point in the UTM coordinate system, the coordinates of the first target point in the radar coordinate system, and the coordinates of the origin of the radar coordinate system in the UTM coordinate system, the target angle between the y-axis of the radar coordinate system and the true north direction is calculated by the third formula;

[0070] The third formula can be

[0071]

[0072] k = x A *(Y A -Y O )-y A *(X A -X O )

[0073] Where θ is the target angle between the y-axis of the radar coordinate system and the true north direction; X A is the horizontal coordinate of the first target point in the UTM coordinate system, Y A is the vertical coordinate of the first target point in the UTM coordinate system, X O Y is the horizontal coordinate of the origin of the radar coordinate system in the UTM coordinate system. O is the ordinate of the origin of the radar coordinate system in the UTM coordinate system, x A is the horizontal coordinate of the first target point in the radar coordinate system, y A is the ordinate of the first target point in the radar coordinate system, and k is the angle coefficient.

[0074] refer to Figure 2 , the coordinates of the origin O of the radar coordinate system in the UTM coordinate system are known, and the UTM coordinate system is used as the transmission parameter. According to the coordinates of the first target point A in the radar coordinate system and the longitude and latitude of the first target point A, the target angle between the y-axis of the radar coordinate system and the true north direction can be directly calculated according to the above formula, and the calculation process is simple.

[0075] In the embodiment of the present invention, only four parameters need to be measured: the longitude and latitude of the first target point, the longitude and latitude of the second target point, the coordinates of the first target point in the radar coordinate system, and the coordinates of the second target point in the radar coordinate system, and then calibration can be performed according to the coordinate transformation. The input parameters are small, and the method for obtaining the above four parameters in the prior art is simple and relatively accurate. The coordinate transformation process will not introduce unnecessary errors. Therefore, the calibration result is accurate and suitable for practical applications.

[0076] In some embodiments, the longitude and latitude of the first target point and the longitude and latitude of the second target point can be measured by RTK (Real-time kinematic, real-time differential positioning) equipment, and the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system can be directly obtained by radar. The method for obtaining the above parameters is simple and the parameters are accurate.

[0077] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0078] Corresponding to the above method embodiment, refer to Figure 3 , an embodiment of the present invention further provides a radar calibration device, comprising:

[0079] The parameter acquisition module 21 is used to acquire the longitude and latitude of the first target point and the coordinates of the first target point in the radar coordinate system, and acquire the longitude and latitude of the second target point and the coordinates of the second target point in the radar coordinate system;

[0080] The coordinate origin conversion module 22 determines the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system;

[0081] The calibration result output module 23 is used to determine the longitude and latitude of the origin of the radar coordinate system and the target angle between the y-axis of the radar coordinate system and the true north direction according to the coordinates of the origin of the radar coordinate system in the UTM coordinate system.

[0082] In some embodiments, the coordinate origin conversion module 22 may include:

[0083] A first angle determination unit 221 is used to determine a first angle between the first vector and the positive direction of the X-axis of the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system; wherein the starting point of the first vector is the first target point, and the end point of the first vector is the origin of the radar coordinate system;

[0084] The first coordinate conversion unit 222 is used to determine the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the first angle, the longitude and latitude of the first target point, and the coordinates of the first target point in the radar coordinate system.

[0085] In some embodiments, the first angle determining unit 221 may include:

[0086] A second angle determination subunit 2211 is used to determine a second angle between the first vector and the second vector according to the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system;

[0087] The third angle determination subunit 2212 is used to determine a third angle between the second vector and the positive direction of the X-axis of the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system;

[0088] The angle output subunit 2213 is used to determine the first angle according to the second angle and the third angle; wherein the starting point of the second vector is the first target point, and the end point of the second vector is the second target point.

[0089] In some embodiments, the second angle determining subunit 2211 may be specifically used for:

[0090] 1. Determine a first distance between the second target point and the origin of the radar coordinate system, a length of the first vector, and a length of the second vector according to the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system;

[0091] 2. Determine the second angle based on the first distance, the length of the first vector and the length of the second vector.

[0092] In some embodiments, the third angle determining subunit 2212 may be specifically used for:

[0093] 1. Convert the longitude and latitude of the first target point to obtain the coordinates of the first target point in the UTM coordinate system; convert the longitude and latitude of the second target point to obtain the coordinates of the second target point in the UTM coordinate system;

[0094] 2. Determine a second distance between the first target point and the second target point according to the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system;

[0095] 3. According to the coordinates of the first target point in the UTM coordinate system, the coordinates of the second target point in the UTM coordinate system and the second distance, the third angle is calculated by the first formula;

[0096] The first formula can be

[0097]

[0098] Among them, ∠BAX is the third angle, X A is the horizontal coordinate of the first target point in the UTM coordinate system, Y A X is the vertical coordinate of the first target point in the UTM coordinate system; B is the horizontal coordinate of the second target point in the UTM coordinate system, Y B is the ordinate of the second target point in the UTM coordinate system; R is the second distance.

[0099] In some embodiments, the first coordinate conversion unit 222 may include:

[0100] The first conversion subunit 2221 is used to perform coordinate conversion on the longitude and latitude of the first target point to obtain the coordinates of the first target point in the UTM coordinate system;

[0101] The third distance calculation subunit 2222 is used to calculate the third distance between the first target point and the origin of the radar coordinate system according to the coordinates of the first target point in the radar coordinate system;

[0102] The coordinate determination subunit 2223 is used to determine the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the coordinates of the first target point in the UTM coordinate system, the third distance and the first angle.

[0103] In some embodiments, the coordinate determination subunit 2223 may be specifically used for:

[0104] 1. According to the coordinates of the first target point in the UTM coordinate system, the third distance and the first angle, the coordinates of the origin of the radar coordinate system in the UTM coordinate system are calculated by the second formula;

[0105] The second formula can be

[0106] X O =X A +cos(∠XAO)*R A

[0107] Y O =Y A +cos(∠XAO)*R A

[0108] Among them, X O Y is the horizontal coordinate of the origin of the radar coordinate system in the UTM coordinate system. O X is the ordinate of the origin of the radar coordinate system in the UTM coordinate system; A is the horizontal coordinate of the first target point in the UTM coordinate system, Y A is the ordinate of the first target point in the UTM coordinate system; ∠XAO is the first angle, R A The third distance.

[0109] In some embodiments, the calibration result output module 23 may include:

[0110] A first calibration output unit 231 is used to perform coordinate conversion on the coordinates of the origin of the radar coordinate system in the UTM coordinate system to obtain the longitude and latitude of the origin of the radar coordinate system;

[0111] The second coordinate conversion unit 232 is used to perform coordinate conversion on the longitude and latitude of the first target point to obtain the coordinates of the first target point in the UTM coordinate system;

[0112] The second calibration output unit 233 is used to determine the target angle between the y-axis of the radar coordinate system and the true north direction according to the coordinates of the first target point in the UTM coordinate system, the coordinates of the first target point in the radar coordinate system, and the coordinates of the origin of the radar coordinate system in the UTM coordinate system.

[0113] In some embodiments, the second calibration output unit 233 may be specifically used for:

[0114] 1. According to the coordinates of the first target point in the UTM coordinate system, the coordinates of the first target point in the radar coordinate system, and the coordinates of the origin of the radar coordinate system in the UTM coordinate system, the target angle between the y-axis of the radar coordinate system and the true north direction is calculated by the third formula;

[0115] The third formula can be

[0116]

[0117] k = x A *(Y A -Y O )-y A *(X A -X O )

[0118] Where θ is the target angle between the y-axis of the radar coordinate system and the true north direction; X A is the horizontal coordinate of the first target point in the UTM coordinate system, Y A is the vertical coordinate of the first target point in the UTM coordinate system, X O Y is the horizontal coordinate of the origin of the radar coordinate system in the UTM coordinate system. O is the ordinate of the origin of the radar coordinate system in the UTM coordinate system, x A is the horizontal coordinate of the first target point in the radar coordinate system, y A is the ordinate of the first target point in the radar coordinate system, and k is the angle coefficient.

[0119] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the calibration terminal can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned device can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0120] Figure 4 FIG. 1 is a schematic block diagram of a calibration terminal provided by an embodiment of the present invention. Figure 4 As shown, the calibration terminal 4 of this embodiment includes: one or more processors 40, a memory 41, and a computer program 42 stored in the memory 41 and executable on the processor 40. When the processor 40 executes the computer program 42, the steps in the above-mentioned radar calibration method embodiments are implemented, such as Figure 1 Alternatively, when the processor 40 executes the computer program 42, the functions of each module / unit in the above radar calibration device embodiment are realized, for example Figure 3 The functions of modules 21 to 23 are shown.

[0121] Exemplarily, the computer program 42 may be divided into one or more modules / units, one or more modules / units are stored in the memory 41, and are executed by the processor 40 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the calibration terminal 4. For example, the computer program 42 may be divided into a parameter acquisition module 21, a coordinate origin conversion module 22, and a calibration result output module 23.

[0122] The parameter acquisition module 21 is used to acquire the longitude and latitude of the first target point and the coordinates of the first target point in the radar coordinate system, and acquire the longitude and latitude of the second target point and the coordinates of the second target point in the radar coordinate system;

[0123] The coordinate origin conversion module 22 determines the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system;

[0124] The calibration result output module 23 is used to determine the longitude and latitude of the origin of the radar coordinate system and the target angle between the y-axis of the radar coordinate system and the true north direction according to the coordinates of the origin of the radar coordinate system in the UTM coordinate system.

[0125] Other modules or units are not described in detail here.

[0126] The calibration terminal 4 includes but is not limited to a processor 40 and a memory 41. Those skilled in the art will appreciate that Figure 4 It is only an example of a calibration terminal and does not constitute a limitation on the calibration terminal 4. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the calibration terminal 4 may also include an input device, an output device, a network access device, a bus, etc.

[0127] The processor 40 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0128] The memory 41 may be an internal storage unit of the calibration terminal, such as a hard disk or memory of the calibration terminal. The memory 41 may also be an external storage device of the calibration terminal, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the calibration terminal. Furthermore, the memory 41 may also include both an internal storage unit and an external storage device of the calibration terminal. The memory 41 is used to store the computer program 42 and other programs and data required by the calibration terminal. The memory 41 may also be used to temporarily store data that has been output or is to be output.

[0129] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0130] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0131] In the embodiments provided in the present application, it should be understood that the disclosed calibration terminal and method can be implemented in other ways. For example, the calibration terminal embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0132] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0133] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0134] If the integrated module / 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 computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0135] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A radar calibration method, characterized in that: include: Acquire the longitude and latitude of a first target point and the coordinates of the first target point in a radar coordinate system, and acquire the longitude and latitude of a second target point and the coordinates of the second target point in the radar coordinate system; Determine the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system; Performing coordinate conversion on the coordinates of the origin of the radar coordinate system in the UTM coordinate system to obtain the longitude and latitude of the origin of the radar coordinate system; Performing coordinate conversion on the longitude and latitude of the first target point to obtain the coordinates of the first target point in the UTM coordinate system; Determine a target angle between the y-axis of the radar coordinate system and the true north direction according to the coordinates of the first target point in the UTM coordinate system, the coordinates of the first target point in the radar coordinate system, and the coordinates of the origin of the radar coordinate system in the UTM coordinate system.

2. The radar calibration method according to claim 1, characterized in that: Determining the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system includes: Determine a first angle between a first vector and the positive direction of the X-axis of the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system; wherein the starting point of the first vector is the first target point, and the end point of the first vector is the origin of the radar coordinate system; The coordinates of the origin of the radar coordinate system in the UTM coordinate system are determined according to the first angle, the longitude and latitude of the first target point, and the coordinates of the first target point in the radar coordinate system.

3. The radar calibration method according to claim 2, characterized in that: The determining, according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system, a first angle between the first vector and the positive direction of the X-axis of the UTM coordinate system includes: Determine a second angle between the first vector and the second vector according to the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system; Determine a third angle between the second vector and the positive direction of the X-axis of the UTM coordinate system according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system; Determine the first angle according to the second angle and the third angle; The starting point of the second vector is the first target point, and the end point of the second vector is the second target point.

4. The radar calibration method according to claim 3, characterized in that: The determining, according to the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system, a second angle between the first vector and the second vector includes: Determine, according to the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system, a first distance between the second target point and the origin of the radar coordinate system, a length of the first vector, and a length of the second vector; The second angle is determined according to the first distance, the length of the first vector, and the length of the second vector.

5. The radar calibration method according to claim 3, characterized in that: The determining, according to the longitude and latitude of the first target point, the coordinates of the first target point in the radar coordinate system, the longitude and latitude of the second target point, and the coordinates of the second target point in the radar coordinate system, a third angle between the second vector and the positive direction of the X-axis of the UTM coordinate system includes: Perform coordinate conversion on the longitude and latitude of the first target point to obtain the coordinates of the first target point in the UTM coordinate system; perform coordinate conversion on the longitude and latitude of the second target point to obtain the coordinates of the second target point in the UTM coordinate system; Determine a second distance between the first target point and the second target point according to the coordinates of the first target point in the radar coordinate system and the coordinates of the second target point in the radar coordinate system; The third angle is calculated by a first formula according to the coordinates of the first target point in the UTM coordinate system, the coordinates of the second target point in the UTM coordinate system and the second distance; The first formula is Wherein, ∠BAX is the third angle, X A is the horizontal coordinate of the first target point in the UTM coordinate system, Y A is the ordinate of the first target point in the UTM coordinate system; B is the horizontal coordinate of the second target point in the UTM coordinate system, Y B is the vertical coordinate of the second target point in the UTM coordinate system; R is the second distance.

6. The radar calibration method according to claim 2, characterized in that: Determining the coordinates of the origin of the radar coordinate system in the UTM coordinate system according to the first angle, the longitude and latitude of the first target point, and the coordinates of the first target point in the radar coordinate system includes: Performing coordinate conversion on the longitude and latitude of the first target point to obtain the coordinates of the first target point in the UTM coordinate system; Calculating a third distance between the first target point and the origin of the radar coordinate system according to the coordinates of the first target point in the radar coordinate system; The coordinates of the origin of the radar coordinate system in the UTM coordinate system are determined according to the coordinates of the first target point in the UTM coordinate system, the third distance and the first angle.

7. The radar calibration method according to claim 6, characterized in that: The determining, according to the coordinates of the first target point in the UTM coordinate system, the third distance and the first angle, the coordinates of the origin of the radar coordinate system in the UTM coordinate system includes: The coordinates of the origin of the radar coordinate system in the UTM coordinate system are calculated by a second formula according to the coordinates of the first target point in the UTM coordinate system, the third distance and the first angle; The second formula is X O =X A +cos(∠XAO)*R A AND O =And A +cos(∠XAO)*R A Among them, X O is the horizontal coordinate of the origin of the radar coordinate system in the UTM coordinate system, Y O X is the ordinate of the origin of the radar coordinate system in the UTM coordinate system; A is the horizontal coordinate of the first target point in the UTM coordinate system, Y A is the ordinate of the first target point in the UTM coordinate system; ∠XAO is the first angle, R A is the third distance.

8. The radar calibration method according to claim 1, characterized in that: The determining, according to the coordinates of the first target point in the UTM coordinate system, the coordinates of the first target point in the radar coordinate system, and the coordinates of the origin of the radar coordinate system in the UTM coordinate system, a target angle between the y-axis of the radar coordinate system and the true north direction, comprises: A target angle between the y-axis of the radar coordinate system and the true north direction is calculated by a third formula according to the coordinates of the first target point in the UTM coordinate system, the coordinates of the first target point in the radar coordinate system, and the coordinates of the origin of the radar coordinate system in the UTM coordinate system; The third formula is k=x A *(AND A -AND O )-and A *(X A -X O ) Wherein, θ is the target angle between the y-axis of the radar coordinate system and the true north direction; X A is the horizontal coordinate of the first target point in the UTM coordinate system, Y A is the ordinate of the first target point in the UTM coordinate system, X O is the horizontal coordinate of the origin of the radar coordinate system in the UTM coordinate system, Y O is the ordinate of the origin of the radar coordinate system in the UTM coordinate system, x A is the horizontal coordinate of the first target point in the radar coordinate system, y A is the ordinate of the first target point in the radar coordinate system, and k is the angle coefficient.

9. A calibration terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the radar calibration method according to any one of claims 1 to 8 are implemented.

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