A radar electrical axis and mechanical axis calibration device and method

Abstract

The present invention discloses a device and method for calibrating the electric axis and mechanical axis of a radar. By setting a simulated target, using a radar system to track the simulated target, and using an optical camera to record the angle of the radar, the azimuth error value and the pitch error value of the radar electric axis and the mechanical axis are calculated in combination with the angle of the radar's own feedback. The present invention has the advantages of high calibration accuracy, low calibration cost, high calibration test efficiency, simple process and reliable method.

Description

Technical Field

[0001] The present invention relates to the field of aerospace, and in particular to a calibration device and method for the electric axis and mechanical axis of a radar based on an optical camera, which can be applied to the field of calibration of the electric axis and mechanical axis of a radar. Background Art

[0002] Currently, spaceborne mechanically scanned radars are typically mounted on a satellite platform to provide target measurement information to the satellite. Mechanically scanned radars typically utilize a two-dimensional drive mechanism to propel the radar antenna for search, tracking, and measurement. Due to installation errors between the radar antenna and the two-dimensional drive mechanism, there is an error between the mechanical axis of the two-dimensional drive mechanism and the electrical axis of the radar measurement. Therefore, precise calibration of the error angle between the radar's mechanical and electrical axes is crucial to ensuring that spaceborne mechanical radars provide accurate and reliable target measurement information to the satellite. Summary of the Invention

[0003] The purpose of the present invention is to provide a device and method that can accurately calibrate the error angle between the mechanical axis and the electrical axis of the radar, thereby ensuring that the space-borne mechanical radar provides accurate and reliable target measurement information to the satellite.

[0004] To achieve the above-mentioned object, the present invention proposes a calibration device for radar electrical axis and mechanical axis, comprising: a radar system, a calibration system and a test system;

[0005] The radar system includes a radar antenna to be calibrated, the radar antenna being capable of receiving a simulated echo emitted by the test system;

[0006] The test system includes a radar test device and a simulated target horn antenna. Under the control of the radar test device, the simulated target horn antenna transmits a simulated echo that can be received by the radar antenna.

[0007] The calibration system includes an optical camera;

[0008] Among them, the optical camera records the position angle information of the radar antenna when it can stably receive simulated echoes, and the pitch angle and azimuth angle of the radar electric axis are calculated; combined with the azimuth angle and pitch angle of the radar mechanical axis fed back by the radar system itself, the error value between the radar electric axis and the mechanical axis is calculated.

[0009] Preferably, the radar system includes a radar receiving front-end component and a radar information processing back-end component; the radar receiving front-end component includes the radar antenna and a radar driving component for driving the radar antenna, and the radar antenna is installed on the radar driving component; the radar information processing back-end component includes a microwave information processor and a driving controller, the microwave information processor is connected to the radar antenna, and the driving controller can drive and control the radar driving component.

[0010] Preferably, the radar driving component includes a radar two-dimensional driving mechanism and a radar bracket. The radar antenna is arranged on the radar two-dimensional driving mechanism and moves in azimuth and pitch directions under the drive of the radar two-dimensional driving mechanism. The radar bracket provides support for the radar two-dimensional driving mechanism and the radar antenna.

[0011] Preferably, the test system also includes a signal simulation source and a simulated target bracket supporting the simulated target horn antenna; the radar test equipment is connected to the signal simulation source, and under the control of the radar test equipment, the signal simulation source transmits a simulated target signal to the simulated target horn antenna, thereby causing the simulated target horn antenna to transmit the simulated echo that can be received by the radar antenna.

[0012] Preferably, the signal simulation source is also connected to a microwave information processor, and the microwave information processor provides a reference clock and a synchronization pulse for the signal simulation source; the signal simulation source can generate a coherent echo signal.

[0013] Preferably, the radar test equipment is also connected to the radar system and can control the radar system; wherein, the radar test equipment is connected to the drive controller via a connecting cable, and the radar test equipment sends instructions to the drive controller, thereby controlling the radar two-dimensional drive mechanism to drive the movement of the radar antenna.

[0014] Preferably, the calibration system also includes multiple targets, a calibration platform and a reference ruler; the calibration platform provides a placement platform for the radar system; the reference ruler provides a length reference for the optical camera; the targets include single-point targets and coded targets. By arranging multiple single-point targets and coded targets, the setting position and device environment of the simulated target horn antenna and radar antenna can be distinguished under the recording of the optical camera.

[0015] A method for calibrating a radar electrical axis and a mechanical axis, and a device for calibrating a radar electrical axis and a mechanical axis, comprising the following steps:

[0016] S1. Assemble the calibration device of the radar electrical axis and the mechanical axis, make the antenna surface of the simulated target horn antenna perpendicular to the ground, and set the antenna surfaces of the radar antenna and the simulated target horn antenna opposite to each other;

[0017] S2. Paste multiple single-point targets on the antenna surfaces of the radar antenna and the simulated target horn antenna, and evenly arrange multiple coded targets around the calibration platform, the reference ruler, and the simulated target bracket;

[0018] S3. Use an optical camera to take photos around the radar system and the calibration system to record the installation position and installation environment of the radar antenna and the simulated target horn antenna;

[0019] S4. Establish a rectangular coordinate system for the radar system, and establish an azimuth axis and a pitch axis;

[0020] S5. The radar test equipment sets target information of the signal simulation source and drives the signal simulation source to output a simulated target signal to the simulated target horn antenna, and the simulated target horn antenna emits a simulated echo;

[0021] S6. The radar test equipment controls the radar system to search and capture the simulated echo. After the radar system stably tracks the simulated echo, the azimuth of the radar mechanical axis fed back by the radar system is recorded. and pitch angle

[0022] S7. After the radar system stably tracks the simulated echo, it uses an optical camera to record the position and angle information of the radar antenna at this time from multiple angles.

[0023] S8. Calculate the azimuth angle α of the radar electric axis based on the position angle information of the radar antenna recorded in the photo taken by the optical camera in S7. r and pitch angle β r ;

[0024] S9, calculating the azimuth of the radar mechanical axis Azimuth angle α to the radar electric axis r The difference between the two is used to calculate the pitch angle of the radar mechanical axis. Elevation angle β with respect to the radar electric axis r The difference between the radar electrical axis and the mechanical axis is used to obtain the azimuth error and elevation error.

[0025] Preferably, the step S4 further comprises the following steps:

[0026] S41. The radar test device sends a command to the drive controller, causing the drive controller to control the radar two-dimensional drive mechanism to drive the radar antenna to slowly move from -α to α along the azimuth direction, while using an optical camera to record the process of the radar antenna; where α is a non-zero value between 0° and 180°;

[0027] S42. The radar test equipment sends a command to the drive controller, causing the drive controller to control the radar two-dimensional drive mechanism to drive the radar antenna to slowly move along the pitch direction from -β to β, while using an optical camera to record the process of the radar antenna; where β is a non-zero value between 0° and 180°;

[0028] S43, based on the photos taken by the optical camera in S31 and S32, respectively fit the azimuth axis and the pitch axis, and find the intersection of the two axes to determine the origin; finally, establish the radar system rectangular coordinate system by using the right-hand rule;

[0029] S44. Fitting an XOZ plane and an XOY plane in the rectangular coordinate system of the radar system.

[0030] Preferably, the step S8 further comprises the following steps:

[0031] S81. Fitting a normal line of the radar antenna in a rectangular coordinate system of the radar system based on the position angle information of the radar antenna recorded in the photo taken by the optical camera in S7;

[0032] S82. Calculate the angle between the normal line of the radar antenna array and the XOZ plane using the law of cosines. The calculated value is the azimuth angle α of the radar electric axis. r ;

[0033] S83. Calculate the angle between the normal line of the radar antenna array and the XOY plane using the law of cosines. The calculated value is the pitch angle β of the radar electric axis. r .

[0034] To sum up, the calibration device and method of the radar electric axis and mechanical axis of the present invention use an optical camera to calibrate the radar electric axis and mechanical axis, with high calibration accuracy and low calibration cost, and has the advantages of high calibration test efficiency, simple process and reliable method. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a calibration device for radar electrical axis and mechanical axis according to the present invention;

[0036] Figure 2 This is a photo of the device taken by an optical camera after the target is attached in an embodiment of the present invention;

[0037] Figure 3 is a rectangular coordinate system of the radar system established in an embodiment of the present invention;

[0038] Figure 4 are the XOY plane and XOZ plane fitted in the embodiment of the present invention;

[0039] Figure 5 The photographing process of the optical camera in the embodiment of the present invention;

[0040] Figure 6 Schematic diagram of the normal line of the radar antenna array in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the embodiment of the present invention Figures 1 to 6 , the technical solutions, structural features, objectives achieved and effects in the embodiments of the present invention are described in detail.

[0042] It should be noted that the drawings are in a very simplified form and use non-precise proportions. They are only used to conveniently and clearly assist in explaining the embodiments of the present invention, and are not used to limit the conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0043] It should be noted that, in the present invention, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only the elements explicitly listed, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0044] A calibration device for radar electrical axis and mechanical axis, such as Figure 1 As shown, the system includes a radar system, a calibration system, and a test system. The radar system comprises a radar receiving front-end component and a radar information processing back-end component. The radar receiving front-end component includes a radar antenna 1 to be calibrated and a radar driving component that drives the radar antenna 1. The radar antenna 1 is mounted on the radar driving component. The radar information processing back-end component includes a microwave information processor 5 and a driving controller 4. The microwave information processor 5 is connected to the radar antenna 1 and is used for channel self-calibration to ensure the amplitude and phase consistency of the radar system's channels. The driving controller 4 can drive and control the radar driving component.

[0045] The radar driving component includes a radar two-dimensional driving mechanism 2 and a radar bracket 3; the radar antenna 1 is arranged on the radar two-dimensional driving mechanism 2 and moves in azimuth and pitch directions under the drive of the radar two-dimensional driving mechanism 2; the radar bracket 3 provides support for the radar two-dimensional driving mechanism 2 and the radar antenna 1.

[0046] The test system includes a radar test device 6, a signal simulation source 7, a simulated target horn antenna 10 and a simulated target bracket 9 supporting the simulated target horn antenna 10; the radar test device 6 is connected to the radar system and the signal simulation source 7, and is used to control the radar system and the signal simulation source 7. Under the control of the radar test device 6, the signal simulation source 7 can transmit a simulated target signal to the simulated target horn antenna 10; the simulated target horn antenna 10 is connected to the signal simulation source 7, and can transmit a simulated echo after receiving the simulated target signal sent by the signal simulation source 7; the antenna surface of the simulated target horn antenna 10 is arranged opposite to the antenna surface of the radar antenna 1, so that the simulated echo emitted by the simulated target horn antenna 10 is within the receiving range of the radar antenna 1.

[0047] Furthermore, the radar test device 6 is connected to the drive controller 4 of the radar system via a connecting cable. The radar test device 6 can send instructions to the drive controller 4 to control the radar two-dimensional drive mechanism 2 to drive the movement of the radar antenna 1.

[0048] The signal simulation source 7 is also connected to the microwave information processor 5, and the microwave information processor 5 can provide a reference clock and a synchronization pulse for the signal simulation source 7; the signal simulation source 7 generates a coherent echo signal based on the reference clock and the synchronization pulse; the use of the coherent echo signal can reduce the loss when the radar receives the echo and performs signal processing.

[0049] The calibration system includes multiple targets, a calibration platform 8, a reference ruler 11, and an optical camera. The optical camera can capture the position and angle information of the radar antenna 1. The optical camera's recordings can establish a rectangular coordinate system for the radar system. The images captured by the optical camera also serve as the basis for calculating the azimuth and elevation angles of the radar's electric axis. The targets include multiple single-point targets and multiple coded targets. By attaching multiple single-point targets to the radar antenna 1 and the simulated target horn antenna 10, and evenly distributing multiple coded targets around the calibration platform 8, the reference ruler 11, and the simulated target bracket 9, the locations and installation environments of the simulated target horn antenna 10 and the radar antenna 1 can be distinguished under the recordings of the optical camera. The calibration platform 8 provides a platform for the radar system, which is installed on the calibration platform 8. The reference ruler 11 is also placed on the calibration platform 8 and provides a length reference for the optical camera. The reference ruler 11 is provided with multiple measurement points. If the length of a target needs to be measured in the image captured by the optical camera, the measurement points on the reference ruler 11 can be used to calculate the length.

[0050] A method for calibrating the radar electrical axis and mechanical axis requires the use of the above-mentioned radar electrical axis and mechanical axis calibration device, comprising the following steps:

[0051] S1. Assemble the components according to the above device; make the antenna surface of the simulated target horn antenna 10 perpendicular to the ground, and set the radar antenna 1 and the antenna surface of the simulated target horn antenna 10 relative to each other;

[0052] S2. A plurality of single-point targets are attached to the antenna surfaces of the radar antenna 1 and the simulated target horn antenna 10, and a plurality of coded targets are evenly arranged around the calibration platform 8, the reference ruler 11, and the simulated target bracket 9, so as to distinguish the installation position and device environment of the simulated target horn antenna 10 and the radar antenna 1;

[0053] S3. Use an optical camera to take photos around the radar system and the calibration system to record the installation position and device environment of the radar antenna 1 and the simulated target horn antenna 10, such as Figure 2 As shown;

[0054] S4. Establishing a rectangular coordinate system for the radar system, specifically including the following steps:

[0055] S41. The entire device is powered on, and the radar test device 6 sends a command to the drive controller 4, causing the drive controller 4 to control the radar two-dimensional drive mechanism 2 to drive the radar antenna 1 to slowly move along the azimuth from -α to α, while using an optical camera to record the process of the radar antenna 1. Where α is 90°, and can also take other non-zero values ​​of 0° to 180° as needed;

[0056] S42. The radar test device 6 sends a command to the drive controller 4, causing the drive controller 4 to control the radar two-dimensional drive mechanism 2 to drive the radar antenna 1 to slowly move along the pitch direction from -β to β, while using an optical camera to record the process of the radar antenna 1; wherein β is 90°, and can also take other non-zero values ​​of 0° to 180° as needed;

[0057] The radar antenna 1 moves slowly in order to record the process using an optical camera. In this embodiment, a photo is taken and recorded every time the movement is about 5°. Therefore, according to the shooting parameters of the optical camera, it is only necessary to ensure that the movement process of the radar antenna 1 can be clearly captured by the optical camera.

[0058] S43. According to the photos taken by the optical cameras in S31 and S32, fit the azimuth axis (i.e., Y axis) and the pitch axis (i.e., Z axis) respectively, and find the intersection of the two axes, which is the origin; finally, establish the rectangular coordinate system of the radar system by the right-hand rule, as follows: Figure 3 As shown;

[0059] S44, fitting the XOZ plane and the XOY plane in the rectangular coordinate system of the radar system, such as Figure 4 shown.

[0060] S5. The radar test device 6 sets the target information of the signal simulation source 7 and drives the signal simulation source 7 to output a simulated target signal to the simulated target horn antenna 10. The simulated target horn antenna 10 emits a simulated echo according to the simulated target signal.

[0061] In this process, the microwave information processor 5 is connected to the signal simulation source 7 via a connecting cable. The microwave information processor 5 provides a reference clock and a synchronization pulse to the signal simulation source 7, so that the signal simulation source 7 generates a coherent echo signal.

[0062] S6, the radar test equipment 6 controls the radar system to search and capture the simulated echo, and after the radar system stably tracks the simulated echo, records the azimuth of the radar mechanical axis fed back by the radar system at this time and pitch angle

[0063] Specifically, the radar test device 6 sends a command to the drive controller 4, so that the drive controller 4 controls the radar two-dimensional drive mechanism 2 to drive the radar antenna 1 to move. The radar antenna 1 simultaneously searches for the simulated echo emitted by the simulated target horn antenna 10; after the radar antenna 1 is able to stably receive the simulated echo, the azimuth of the radar mechanical axis fed back by the radar system at this time is recorded. and pitch angle

[0064] Since the microwave information processor 5 is connected to the radar antenna 1, the amplitude and phase consistency of the channels of the radar system can be guaranteed, so that the radar can stably track the target.

[0065] S7, after the radar system stably tracks the simulated echo, use the optical camera to shoot from multiple angles to record the position angle information of the radar antenna 1 at this time, such as Figure 5 As shown in the figure, the positions of the simulated target horn antenna 10 and the radar antenna 1 are shown, the white straight line is the position of the reference ruler 11, the black shadows within the white polygon are multiple shooting positions of the optical camera, and the other white single points are multiple coded targets arranged to distinguish the environment.

[0066] S8. Calculate the azimuth angle α of the radar electric axis r and pitch angle β r ;

[0067] S81. According to the position angle information of the radar antenna 1 recorded in the photo taken by the optical camera in S7, the array normal of the radar antenna 1 is fitted in the rectangular coordinate system of the radar system, such as Figure 6 As shown;

[0068] S82. Use the cosine theorem to find the angle between the normal line of the radar antenna array and the XOZ plane. The calculated value is the azimuth angle α of the radar electric axis. r ;

[0069] S83. Use the cosine theorem to find the angle between the normal line of the radar antenna array and the XOY plane. The calculated value is the pitch angle β of the radar electric axis. r .

[0070] In the S8 process, the reference ruler 11 provides a length reference for the optical camera, thereby facilitating the calculation of the angle: there are measuring points on the reference ruler 11. After the optical camera takes a photo, the length of the target to be calculated can be calculated by combining the measuring points on the reference ruler 11 with the target to be calculated in the photo, and then the angle can be calculated using the cosine theorem.

[0071] S9. Calculate the error between the radar electrical axis and the mechanical axis;

[0072] According to the azimuth of the radar mechanical axis obtained in step S6 and pitch angle and the azimuth angle α of the radar electric axis obtained in step S8 r and pitch angle β r , calculate the error value between the radar electrical axis and the mechanical axis.

[0073] Specifically, the azimuth error between the radar electrical axis and the mechanical axis is: The pitch angle error between the radar electrical axis and the mechanical axis is:

[0074] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description is not intended to limit the present invention. After reading the above description, various modifications and substitutions of the present invention will become apparent to those skilled in the art. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A calibration device for radar electrical axis and mechanical axis, characterized in that: include: radar systems, calibration systems, and test systems; The radar system comprises a radar antenna (1) to be calibrated, wherein the radar antenna (1) is capable of receiving a simulated echo emitted by a test system; The test system includes a radar test device (6) and a simulated target horn antenna (10). Under the control of the radar test device (6), the simulated target horn antenna (10) emits a simulated echo that can be received by the radar antenna (1); The calibration system includes an optical camera; The optical camera records the position angle information of the radar antenna (1) when it is capable of stably receiving the simulated echo, and the pitch angle and azimuth angle of the radar electric axis are calculated; the azimuth angle and pitch angle of the radar mechanical axis fed back by the radar system itself are combined to calculate the error value between the radar electric axis and the mechanical axis; The calibration system further comprises a plurality of targets, a calibration platform (8) and a reference ruler (11); the calibration platform (8) provides a placement platform for the radar system; the reference ruler (11) provides a length reference for the optical camera; the targets include single-point targets and coded targets, and by arranging a plurality of the single-point targets and coded targets, the setting positions and device environments of the simulated target horn antenna (10) and the radar antenna (1) can be distinguished under the recording of the optical camera.

2. The radar electrical axis and mechanical axis calibration device according to claim 1, characterized in that: The radar system comprises a radar receiving front-end component and a radar information processing back-end component; the radar receiving front-end component comprises the radar antenna (1) and also comprises a radar driving component for driving the radar antenna (1), wherein the radar antenna (1) is mounted on the radar driving component; the radar information processing back-end component comprises a microwave information processor (5) and a driving controller (4), wherein the microwave information processor (5) is connected to the radar antenna (1), and the driving controller (4) is capable of driving and controlling the radar driving component.

3. The radar electrical axis and mechanical axis calibration device according to claim 2, characterized in that: The radar driving component comprises a radar two-dimensional driving mechanism (2) and a radar bracket (3); the radar antenna (1) is arranged on the radar two-dimensional driving mechanism (2) and moves in azimuth and elevation directions under the drive of the radar two-dimensional driving mechanism (2); and the radar bracket (3) provides support for the radar two-dimensional driving mechanism (2) and the radar antenna (1).

4. The radar electrical axis and mechanical axis calibration device according to claim 3, characterized in that: The test system further comprises a signal simulation source (7) and a simulated target bracket (9) supporting the simulated target horn antenna (10); the radar test equipment (6) is connected to the signal simulation source (7), and under the control of the radar test equipment (6), the signal simulation source (7) transmits a simulated target signal to the simulated target horn antenna (10), thereby causing the simulated target horn antenna (10) to transmit the simulated echo that can be received by the radar antenna (1).

5. The radar electrical axis and mechanical axis calibration device according to claim 4, characterized in that: The signal simulation source (7) is also connected to the microwave information processor (5), and the microwave information processor (5) provides a reference clock and a synchronization pulse for the signal simulation source (7); the signal simulation source (7) can generate a coherent echo signal.

6. The radar electrical axis and mechanical axis calibration device according to claim 4, characterized in that: The radar test equipment (6) is also connected to the radar system and is capable of controlling the radar system; The radar test device (6) is connected to the drive controller (4) via a connecting cable, and the radar test device (6) sends instructions to the drive controller (4), thereby controlling the radar two-dimensional drive mechanism (2) to drive the movement of the radar antenna (1).

7. A method for calibrating a radar electric axis and a mechanical axis, using the device for calibrating a radar electric axis and a mechanical axis according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1, assembling the calibration device of the radar electrical axis and the mechanical axis, making the antenna surface of the simulated target horn antenna (10) perpendicular to the ground, and arranging the antenna surfaces of the radar antenna (1) and the simulated target horn antenna (10) relative to each other; S2, affixing a plurality of single-point targets on the antenna surfaces of the radar antenna (1) and the simulated target horn antenna (10), and evenly distributing a plurality of coded targets around the calibration platform (8), the reference ruler (11), and the simulated target bracket (9); S3, using an optical camera to take photos around the radar system and the calibration system, thereby recording the installation positions and installation environments of the radar antenna (1) and the simulated target horn antenna (10); S4. Establish a rectangular coordinate system for the radar system, and establish an azimuth axis and a pitch axis; S5, the radar test device (6) sets the target information of the signal simulation source (7), and drives the signal simulation source (7) to output the simulated target signal to the simulated target horn antenna (10), and the simulated target horn antenna (10) emits a simulated echo; S6. The radar test equipment (6) controls the radar system to search and capture the simulated echo. After the radar system stably tracks the simulated echo, the azimuth of the radar mechanical axis fed back by the radar system is recorded. and pitch angle S7, after the radar system stably tracks the simulated echo, the optical camera is used to shoot and record the position angle information of the radar antenna (1) at this time from multiple angles; S8. Calculate the azimuth angle α of the radar electric axis based on the position angle information of the radar antenna (1) recorded in the photo taken by the optical camera in S7. r and pitch angle β r ; S9, calculating the azimuth of the radar mechanical axis Azimuth angle α to the radar electric axis r The difference between the two is used to calculate the pitch angle of the radar mechanical axis. Elevation angle β with respect to the radar electric axis r The difference between the radar electric axis and the mechanical axis is used to obtain the azimuth error and the pitch angle error. The step S4 further comprises the following steps: S41, the radar test device (6) sends an instruction to the drive controller (4), so that the drive controller (4) controls the radar two-dimensional drive mechanism (2) to drive the radar antenna (1) to slowly move from -α to α along the azimuth direction, and simultaneously uses an optical camera to record the process of the radar antenna (1); wherein α is a non-zero value between 0° and 180°; S42, the radar test device (6) sends an instruction to the drive controller (4), so that the drive controller (4) controls the radar two-dimensional drive mechanism (2) to drive the radar antenna (1) to slowly move from -β to β along the pitch direction, and simultaneously uses an optical camera to record the process of the radar antenna (1); wherein β is a non-zero value between 0° and 180°; S43, based on the photos taken by the optical camera in S31 and S32, respectively fit the azimuth axis and the pitch axis, and find the intersection of the two axes to determine the origin; finally, establish the radar system rectangular coordinate system by using the right-hand rule; S44. Fitting an XOZ plane and an XOY plane in the rectangular coordinate system of the radar system.

8. The method for calibrating the radar electrical axis and mechanical axis according to claim 7, wherein: described S8 further comprises the following steps: S81, fitting the array normal of the radar antenna (1) in the radar system rectangular coordinate system according to the position angle information of the radar antenna (1) recorded in the photo taken by the optical camera in S7; S82. Calculate the angle between the normal line of the radar antenna array and the XOZ plane using the law of cosines. The calculated value is the azimuth angle α of the radar electric axis. r ; S83. Calculate the angle between the normal line of the radar antenna array and the XOY plane using the law of cosines. The calculated value is the pitch angle β of the radar electric axis. r .

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