Calibration method, system, storage medium and electronic device for a detection device

Abstract

The application discloses a kind of calibration method, system, storage medium and electronic device of detection equipment, the calibration method of detection equipment includes: detecting the relative position information corresponding to each detection equipment in the multiple detection equipment to be calibrated, wherein, relative position information is used to indicate the relative relationship between each detection equipment and the reference position corresponding to calibration target object, calibration target object is used to reflect the signal of each detection equipment, and the reference position is the position of the origin directly opposite calibration target object;According to relative position information, the calibration angle information of each detection equipment is determined, the detection equipment and calibration angle information with corresponding relationship are obtained, and the reference angle is the angle of the normal line of the reference detection equipment on the reference position directly opposite calibration target object;According to the detection equipment and calibration angle information with corresponding relationship, multiple detection equipment is calibrated simultaneously, using the above technical solution, the calibration efficiency of detection equipment is lower in related art, etc.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of radar, in particular, to a calibration method and system of a detection device, a storage medium and an electronic device. BACKGROUND

[0002] At present, the application prospect of detection devices such as radars (for example, millimeter wave radars) in the field of unmanned aerial vehicles is flourishing. The radar can not only help the unmanned aerial vehicle to perceive the surrounding environment and discover and identify objects, but also can guide the unmanned aerial vehicle to avoid obstacles and prevent collision in time through the perception of parameters such as distance, angle and speed. The antenna is the window for the radar to transmit and receive electromagnetic waves, and most of the characteristics of the radar need to be realized through the antenna array deployed on the radar. In the process of industrial production of the detection device such as the radar, the antenna calibration operation will be generally performed before leaving the factory. In theory, the phase curve of the antenna deployed on the radar should be a straight line. However, due to the problems in the design and production process of the internal board of the radar, it is inevitable to cause the deviation of the signal phase and amplitude of the antenna array, and the antenna phase curve may also be seriously distorted due to the influence of antenna processing. Therefore, the calibration of the antenna transmitting and receiving channel is needed.

[0003] The traditional calibration method generally needs to collect data separately, is easy to produce human error, and can only calibrate a single radar device at a time, which is low in work efficiency and poor in operation consistency.

[0004] In view of the problem of low calibration efficiency of the detection device in the related art, an effective solution has not been proposed.

[0005] SUMMARY

[0006] Embodiments of the present application provide a calibration method and system of a detection device, a storage medium and an electronic device to at least solve the problem of low calibration efficiency of the detection device in the related art.

[0007] According to an embodiment of the present application, a calibration method of a detection device is provided, comprising:

[0008] detecting the relative position information corresponding to each detection device in a plurality of detection devices to be calibrated, wherein the relative position information is used to indicate the relative relationship between each detection device and the reference position corresponding to a calibration target, the calibration target is used to reflect the signal of each detection device, and the reference position is the position of the origin directly opposite to the calibration target;

[0009] Based on the relative position information, the calibration angle information of each of the detection devices is determined to obtain the detection devices and calibration angle information with corresponding relationships. The calibration angle information is used to indicate the deviation of the angle of the normal of each detection device facing the calibration target relative to the reference angle. The reference angle is the angle of the normal of the reference detection device at the reference position facing the calibration target.

[0010] Multiple detection devices are simultaneously calibrated based on the corresponding detection devices and calibration angle information, wherein the calibration angle information is used to compensate for the angular relationship between the detection device and the calibration target during the calibration process of the corresponding detection device.

[0011] In one exemplary embodiment, determining the calibration angle information of each of the detection devices based on the relative position information includes at least one of the following:

[0012] The pitch angle information of each of the detection devices is determined based on the relative position information, wherein the calibration angle information includes the pitch angle information, which is used to indicate the deviation of the angle of the normal of each detection device toward the calibration target relative to the reference angle in the pitch direction;

[0013] The azimuth angle information of each of the detection devices is determined based on the relative position information, wherein the calibration angle information includes the azimuth angle information, which is used to indicate the azimuth deviation of the angle of the normal of each detection device toward the calibration target relative to the reference angle.

[0014] In an exemplary embodiment, the step of simultaneously calibrating multiple detection devices based on the corresponding detection devices and calibration angle information includes:

[0015] Simultaneously, antenna calibration data sets from multiple detection devices are acquired to obtain multiple antenna calibration data sets;

[0016] A corresponding calibration matrix is ​​generated based on the corresponding antenna calibration data set and the corresponding calibration angle information, and the calibration matrix is ​​written into the corresponding detection device to obtain multiple calibration detection devices;

[0017] Angle consistency checks were performed on multiple of the aforementioned calibration and detection devices.

[0018] In an exemplary embodiment, generating a corresponding calibration matrix based on the corresponding antenna calibration data set and the corresponding calibration angle information includes:

[0019] Pitch angle information is added to the pitch calibration data set to obtain a first set, and / or azimuth angle information is added to the azimuth calibration data set to obtain a second set. The corresponding antenna calibration data set includes the pitch calibration data set and / or the azimuth calibration data set. The pitch calibration data set includes calibration data obtained in the pitch direction from the detection device, and the azimuth calibration data set includes calibration data obtained in the azimuth direction from the detection device. The corresponding calibration angle information includes the pitch angle information and / or the azimuth angle information. The pitch angle information is used to indicate the deviation in the pitch direction of the angle between the normal of the detection device and the calibration target relative to a reference angle. The azimuth angle information is used to indicate the deviation in the azimuth direction of the angle between the normal of the detection device and the calibration target relative to a reference angle.

[0020] Input the first set and / or the second set into the antenna calibration algorithm;

[0021] Obtain the corresponding calibration matrix output by the antenna calibration algorithm.

[0022] In one exemplary embodiment, the detection of the relative position information corresponding to each of the plurality of detection devices to be calibrated includes:

[0023] The relative distance information and relative direction information corresponding to each of the detection devices are detected as the relative position information, wherein the relative distance information is used to indicate the distance between each of the detection devices and the reference position, and the relative direction information is used to indicate the direction of each of the detection devices relative to the reference position.

[0024] In an exemplary embodiment, after simultaneously calibrating multiple detection devices based on the corresponding detection devices and calibration angle information, the method further includes:

[0025] The measurement fluctuation range corresponding to each of the detection devices is obtained based on the calibration results of each detection device.

[0026] Compare the measured fluctuation range with the target fluctuation range;

[0027] If the measured fluctuation range falls within the target fluctuation range, it is determined that the detection device corresponding to the measured fluctuation range has been successfully calibrated.

[0028] If the measured fluctuation range does not fall within the target fluctuation range, the detection device corresponding to the measured fluctuation range shall be recalibrated.

[0029] According to another embodiment of this application, a calibration system for a detection device is provided, comprising: a turntable matrix, a calibration target, and a controller, wherein...

[0030] The turntable matrix is ​​provided with multiple turntables, each turntable is used to place the detection device to be calibrated, the calibration target corresponds to the reference position on the turntable matrix, the reference position is the position directly opposite the origin of the calibration target, and the angle between the normal of the reference detection device at the reference position and the calibration target is the reference angle.

[0031] The calibration target is used to reflect the signal from the detection device placed on the turntable;

[0032] The controller is configured to detect the relative position information of each of the multiple detection devices placed on the turntable matrix, wherein the relative position information indicates the relative relationship between each detection device and the reference position; determine the calibration angle information of each detection device based on the relative position information to obtain corresponding detection devices and calibration angle information, wherein the calibration angle information indicates the deviation of the angle of the normal of each detection device relative to the calibration target object from the reference angle; and simultaneously calibrate the multiple detection devices by controlling the turntable on which the detection devices are placed based on the corresponding detection devices and calibration angle information, wherein the calibration angle information is used to compensate for the angular relationship between the detection device and the calibration target object during the calibration process of the corresponding detection device.

[0033] In one exemplary embodiment, the system further includes: a storage space, wherein,

[0034] The storage space is used to store turntable identifiers and turntable angle information with corresponding relationships, wherein the turntable angle information is used to indicate the deviation of the angle between the normal of the detection device placed on the turntable corresponding to each turntable identifier and the calibration target object, relative to the reference angle.

[0035] The controller is further configured to identify the target turntable identifier of the target turntable on the turntable matrix where the detection device is placed as the relative position information; and to obtain the turntable angle information corresponding to the target turntable identifier from the corresponding turntable identifiers and turntable angle information as the calibration angle information corresponding to the detection device placed on the target turntable.

[0036] According to yet another embodiment of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, and the computer program is configured to perform the steps in any of the above method embodiments when it is run.

[0037] According to yet another embodiment of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0038] This application first detects the relative position information of each of the multiple detectors to be calibrated; secondly, it determines the calibration angle information of each detector based on the relative position information, thus obtaining a correspondence between the detectors and the calibration angle information; finally, it simultaneously calibrates the multiple detectors based on the corresponding detectors and calibration angle information. In other words, by determining the positional relationship between the detector and the reference position, which indicates the relative relationship between each detector and the reference position corresponding to the calibration target, and by considering the transformation of the positional relationship during calibration, it achieves simultaneous calibration of multiple detectors. This not only reduces the errors that may be caused by human intervention when calibrating multiple detectors, but also enables simultaneous calibration of multiple detectors in a single operation. Therefore, it can solve the problem of low calibration efficiency of detectors, thereby improving the calibration efficiency of detectors. Attached Figure Description

[0039] Figure 1 This is a hardware structure block diagram of a terminal device for a calibration method of a detection device according to an embodiment of this application;

[0040] Figure 2 This is a flowchart of a calibration method for a detection device according to an embodiment of this application;

[0041] Figure 3 This is a schematic diagram of an antenna calibration process according to an optional embodiment of this application;

[0042] Figure 4 This is a schematic diagram of a process for acquiring an antenna calibration data set of a detection device according to an optional embodiment of this application;

[0043] Figure 5 This is a schematic diagram illustrating the process of acquiring a calibration matrix using a detection device according to an optional embodiment of this application;

[0044] Figure 6 This is a schematic diagram of a detection device angle consistency check process according to an optional embodiment of this application;

[0045] Figure 7 This is a schematic diagram illustrating the recalibration determination process of a detection device according to an optional embodiment of this application;

[0046] Figure 8This is a schematic diagram of an antenna calibration process for a multi-detection device according to an optional embodiment of this application;

[0047] Figure 9 This is a schematic diagram of a calibration system for a detection device according to an embodiment of this application. Figure 1 ;

[0048] Figure 10 This is a schematic diagram of a calibration system for a detection device according to an embodiment of this application. Figure 2 ;

[0049] Figure 11 This is a structural block diagram of a calibration device for a detection device according to an embodiment of this application. Detailed Implementation

[0050] The embodiments of this application will be described in detail below with reference to the accompanying drawings and examples.

[0051] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0052] The methods and embodiments provided in this application can be executed on a server or mobile terminal capable of controlling devices with detection capabilities. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a terminal device for a calibration method of a detection device according to an embodiment of this application. For example... Figure 1 As shown, a computer terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. In one exemplary embodiment, the computer terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the computer terminal described above. For example, the computer terminal may also include components that are more complex than those described above. Figure 1 The more or fewer components shown, or having the same Figure 1 Equivalent functions or ratios shown Figure 1 The functions shown have more different configurations.

[0053] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the message push sending method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to a computer terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0054] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider for the computer terminal. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0055] This embodiment provides a calibration method for a detection device. Figure 2 This is a flowchart of a calibration method for a detection device according to an embodiment of this application, such as... Figure 2 As shown, the process includes the following steps:

[0056] Step S202: Detect the relative position information of each of the multiple detection devices to be calibrated, wherein the relative position information is used to indicate the relative relationship between each detection device and the reference position corresponding to the calibration target, the calibration target is used to reflect the signal of each detection device, and the reference position is the position directly opposite the origin of the calibration target;

[0057] Step S204: Determine the calibration angle information of each of the detection devices according to the relative position information to obtain the detection devices and calibration angle information with corresponding relationship. The calibration angle information is used to indicate the deviation of the angle of the normal of each detection device facing the calibration target relative to the reference angle. The reference angle is the angle of the normal of the reference detection device at the reference position facing the calibration target.

[0058] Step S206: Simultaneously calibrate multiple detection devices according to the corresponding detection devices and calibration angle information, wherein the calibration angle information is used to compensate for the angular relationship between the detection device and the calibration target during the corresponding detection device calibration process.

[0059] The above steps first detect the relative position information of each of the multiple detectors to be calibrated; secondly, based on the relative position information, the calibration angle information of each detector is determined, resulting in a correspondence between the detectors and the calibration angle information; finally, multiple detectors are calibrated simultaneously based on the corresponding detectors and calibration angle information. In other words, by using the relative position information indicating the relative relationship between each detector and the reference position corresponding to the calibration target, the positional relationship between the detector and the reference position is determined. During calibration, by considering the transformation of the positional relationship, multiple detectors can be calibrated simultaneously. This not only reduces errors that may arise from human intervention when calibrating multiple detectors but also enables simultaneous calibration of multiple detectors in a single operation. Therefore, it can solve the problem of low calibration efficiency of detectors, thereby improving the calibration efficiency of detectors.

[0060] Optionally, in this embodiment, the calibration method of the above-mentioned detection device can be applied to a server or mobile terminal with the function of calibrating the detection device, such as a PC (Personal Computer), tablet, etc.

[0061] In the technical solution provided in step S202 above, the detection device may be, but is not limited to, an electronic device that uses electromagnetic waves to detect targets. It may be used, but is not limited to, for target detection. For example, a radar may emit electromagnetic waves to illuminate a target and receive its echo, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), azimuth, and altitude. The detection device may include, but is not limited to, pulse radar, continuous wave radar, conical scanning radar, altimeter radar, two-coordinate radar, over-the-horizon radar, microwave radar, millimeter-wave radar, and lidar, etc.

[0062] Optionally, in this embodiment, the aforementioned calibration target is used to calibrate the detection device by reflecting the signal of each detection device. It can be, but is not limited to, a reflector of different specifications made of metal sheet according to different uses, such as a corner reflector, etc.

[0063] Optionally, in this embodiment, the aforementioned relative position information is used to indicate the relative relationship between the detection device and the reference position corresponding to the calibration target. The relative position information may include, but is not limited to, the horizontal relative position between the detection device and the reference position, and the vertical (perpendicular to the horizontal) relative position between the detection device and the reference position. The relative position information may be stored and used in the form of three-dimensional coordinates, but is not limited to.

[0064] Optionally, in this embodiment, the aforementioned reference position is the position directly opposite the origin of the calibration target. The reference position can be, but is not limited to, predetermined before calibrating the detection device. For example, a three-dimensional coordinate system can be established using the position of the calibration target as the origin (0, 0, 0), and then the position directly opposite the origin of the calibration target can be determined as the reference position. In this case, the coordinates of the calibration target are (x, 0, z), where x and z can be, but are not limited to, real numbers.

[0065] Optionally, in this embodiment, the signal from the aforementioned detection device may be, but is not limited to, a signal sent by the detection device. For example, the detection device may emit a signal, which is reflected when it reaches the calibration target. When the detection device receives the reflected signal, it may calculate the relative distance based on, but is not limited to, the time difference between the reflected and received signals. The signal from the detection device may be, but is not limited to, a signal that can be reflected by the calibration target, such as electromagnetic waves.

[0066] In one exemplary embodiment, the relative position information corresponding to each of the plurality of detection devices to be calibrated may be detected in the following manner, but is not limited to: detecting the relative distance information and relative direction information corresponding to each of the detection devices as the relative position information, wherein the relative distance information is used to indicate the distance between each of the detection devices and the reference position, and the relative direction information is used to indicate the direction of each of the detection devices relative to the reference position.

[0067] Optionally, in this embodiment, the relative position information may be, but is not limited to, the positional relationship between the detection device and the reference position. It may be, but is not limited to, a predetermined value. For example, the positional information of the reference position and the detection device may be predetermined, and the relative positional information between the reference position and the detection device may be obtained through measurement or other means. Alternatively, the positional information of the reference position may be predetermined, and the detection device may be placed at a fixed distance from the reference position, where the fixed value is the relative positional information between the reference position and the detection device.

[0068] Optionally, in this embodiment, the relative distance information is used to indicate the distance between each detection device and the reference position, which may include, but is not limited to, the horizontal distance between the detection device and the reference position in the horizontal plane and the vertical distance in the vertical plane (a plane perpendicular to the horizontal plane). The relative distance information may be used, but is not limited to, to calculate the distance between the detection device and the reference position based on the relative direction information.

[0069] Optionally, in this embodiment, the relative direction information is used to indicate the direction of each detection device relative to the reference position. This may include, but is not limited to, the angle between the detection device and the reference position and the horizontal direction (i.e., the horizontal angle) and the angle with the vertical direction (i.e., the vertical angle). The relative direction information may be stored and used in terms of angles, but is not limited to.

[0070] In the technical solution provided in step S204 above, the relative position information is used to determine the calibration angle information of each detection device. After obtaining the relative relationship between each detection device and the reference position corresponding to the calibration target, that is, after obtaining the relative position information, the deviation between the standard angle (i.e., the reference angle) in the calibration process of the detection device can be determined. Thus, the detection device deployed at any position can be accurately calibrated by compensating for the angle deviation during the calibration process.

[0071] Optionally, in this embodiment, the aforementioned reference detection device refers to a detection device placed at a reference position. It can be an actual detection device to be calibrated, or it can be not actually placed. Its parameters serve as theoretical values ​​to guide the calibration process of detection devices to be calibrated placed at other positions.

[0072] Optionally, in this embodiment, the aforementioned reference angle is the angle at which the normal of the reference detection device at the reference position is directly opposite the calibration target. This angle may, but is not limited to, be predetermined. The reference position is the position where the detection device is placed directly opposite the calibration target during the calibration of a single detection device. The reference angle is the angle at which the normal of the detection device is placed directly opposite the calibration target at the reference position during the calibration of a single detection device. During the simultaneous calibration of multiple detection devices, if the detection device to be calibrated is also placed at the reference position according to the reference angle, then the angle that this detection device needs to compensate for during the calibration process is 0°. The angle that detection devices at other positions need to compensate for is the deviation of the angle at which the normal is directly opposite the calibration target from the reference angle, i.e., the aforementioned calibration angle information.

[0073] In one exemplary embodiment, the calibration angle information of each of the detection devices may be determined, but is not limited to, in at least one of the following ways, based on the relative position information: determining the pitch angle information of each of the detection devices based on the relative position information, wherein the calibration angle information includes the pitch angle information used to indicate the deviation of the angle of the normal of each detection device facing the calibration target relative to a reference angle in the pitch direction; and determining the azimuth angle information of each of the detection devices based on the relative position information, wherein the calibration angle information includes the azimuth angle information used to indicate the deviation of the angle of the normal of each detection device facing the calibration target relative to a reference angle in the azimuth direction.

[0074] Optionally, in this embodiment, the aforementioned calibration angle information may include, but is not limited to, pitch angle information and azimuth angle information, which may be determined, but is not limited to, by the relative position information between the detection device and the reference position. Multiple detection devices may have, but are not limited to, corresponding calibration angle information. The calibration angle information may be used, but is not limited to, to indicate the angular deviation between the detection device and the reference position. The pitch angle information is the deviation of the angle of the normal of each detection device relative to the calibration target relative to the reference angle in the pitch direction, and the azimuth angle information is the deviation of the angle of the normal of each detection device relative to the calibration target relative to the reference angle in the azimuth direction. For example, the calibration angle information may be used, but is not limited to, to indicate the horizontal offset between the detection device and the reference position.

[0075] In the technical solution provided in step S206 above, multiple sets of corresponding detection devices and calibration angle information enable simultaneous calibration of multiple detection devices. In other words, by using the calibration angle information corresponding to each detection device to compensate for the angular relationship between the detection device and the calibration target during the calibration process of the corresponding detection device, the calibration process of multiple detection devices can be processed in parallel, thereby improving calibration efficiency.

[0076] In an exemplary embodiment, multiple detection devices can be calibrated simultaneously using, but not limited to, the following methods, based on the corresponding detection devices and calibration angle information: simultaneously acquiring antenna calibration data sets of multiple detection devices to obtain multiple antenna calibration data sets; generating corresponding calibration matrices based on the corresponding antenna calibration data sets and the corresponding calibration angle information, and writing the calibration matrices into the corresponding detection devices to obtain multiple calibrated detection devices; and performing angle consistency checks on the multiple calibrated detection devices.

[0077] Optionally, in this embodiment, the process of collecting detection data, generating and writing calibration matrix and angle consistency check are performed for each detection device. In the process of generating calibration matrix, the calibration matrix of detection device placed at any position is accurately generated by compensating the angle with calibration angle information.

[0078] In one optional implementation, a method is provided for acquiring an antenna calibration data set from multiple detection devices. Figure 3 This is a schematic diagram of an antenna calibration process according to an optional embodiment of this application, such as... Figure 3 As shown, the detection device is equipped with multiple antennas for transmitting and receiving signals, namely a receiving antenna array (Rx1 to Rxi) and a transmitting antenna array (Tx1 to Txi). Assume the interval between the two channels on the detection device is M, and the phase difference between any channel and the reference channel is... At this moment, the horizontal angle between the target and the radar transmitting antenna is A. Then, the received phase value for any channel can be expressed as: This calculation process can calibrate the errors between the transmitting and receiving antennas, thereby compensating for the deployment parameters of the antenna array.

[0079] In an exemplary embodiment, the corresponding calibration matrix can be generated, but is not limited to, in the following manner, based on the corresponding antenna calibration data set and the corresponding calibration angle information: adding elevation angle information to the elevation calibration data set to obtain a first set, and / or adding azimuth angle information to the azimuth calibration data set to obtain a second set, wherein the corresponding antenna calibration data set includes the elevation calibration data set and / or the azimuth calibration data set, the elevation calibration data set includes calibration data obtained in the elevation direction of the detection device, the azimuth calibration data set includes calibration data obtained in the azimuth direction of the detection device, and the corresponding calibration angle information includes the elevation angle information and / or the azimuth angle information, wherein the elevation angle information is used to indicate the deviation in the elevation direction of the angle of the normal of the detection device facing the calibration target relative to the reference angle, and the azimuth angle information is used to indicate the deviation in the azimuth direction of the angle of the normal of the detection device facing the calibration target relative to the reference angle; inputting the first set and / or the second set into an antenna calibration algorithm; and obtaining the corresponding calibration matrix output by the antenna calibration algorithm.

[0080] Optionally, in this embodiment, the first set may be, but is not limited to, obtained by adding pitch angle information to the pitch calibration data set. In other words, the first set may include pitch angle information and pitch calibration data.

[0081] Optionally, in this embodiment, the second set may be, but is not limited to, obtained by adding azimuth angle information to the azimuth calibration data set. In other words, the second set may include, but is not limited to, azimuth angle information and azimuth calibration data.

[0082] In one alternative implementation, a process for acquiring an antenna calibration data set is provided. Taking the acquisition of the antenna calibration data set of a single detection device among multiple detection devices as an example, the method for acquiring the antenna calibration data set of multiple detection devices is similar and will not be described in detail here. Figure 4 This is a schematic diagram illustrating a process for acquiring an antenna calibration data set of a detection device according to an optional embodiment of this application, such as... Figure 4 As shown, taking radar as the detection device and corner reflector as the calibration target as an example, the radar is placed on a turntable that can rotate horizontally and in pitch. The turntable can be controlled to rotate to the maximum or minimum value of horizontal rotation, and the calibration parameter data of the radar is read and written to the AZ.txt file. The radar is then controlled to rotate in the opposite direction by a preset rotation step size, and the calibration parameter data at this time is obtained and written to the AZ.txt file. This process continues until the turntable rotates to the minimum or maximum value of horizontal rotation, and the calibration parameter data at this time is obtained and written to the AZ.txt file (i.e., the azimuth calibration data set), thus completing the acquisition of the radar's horizontal calibration data.

[0083] After acquiring the calibration data in the previous direction, the turntable angle is zeroed. The turntable can be controlled to rotate to the maximum or minimum value of the pitch direction rotation, but is not limited to this. The radar calibration parameter data is read and written to the EL.txt file. The radar is then controlled to rotate in the opposite direction by a preset rotation step size. The calibration parameter data at this time is acquired and written to the EL.txt file. This process continues until the reverse turntable rotates to the minimum or maximum value of the pitch direction rotation. The calibration parameter data at this time is acquired and written to the EL.txt file (pitch calibration data set), thus completing the acquisition of the radar pitch direction calibration matrix.

[0084] Optionally, in this embodiment, the antenna calibration algorithm described above is used to calculate the antenna calibration matrix. The calculated calibration matrix may, but is not limited to, be written into the detection device. The detection device may, but is not limited to, use the calibration matrix to achieve accurate target detection.

[0085] In one alternative implementation, a method for a detection device to obtain a calibration matrix is ​​provided. Taking the acquisition of a calibration matrix for a single detection device among multiple detection devices as an example, the method for acquiring a calibration matrix for multiple detection devices is similar and will not be described in detail here. Figure 5 This is a schematic diagram illustrating the process of acquiring a calibration matrix using a detection device according to an optional embodiment of this application, as shown below. Figure 5As shown, the azimuth file AZ.txt and the elevation file EL.txt are input into the antenna calibration algorithm script, which outputs the antenna pattern. The antenna pattern is used to generate the calib.log antenna calibration matrix file that the radar can recognize. The antenna calibration matrix file is then written to the radar device to enable the radar to obtain the calibration matrix.

[0086] In one alternative implementation, a method for checking the angle consistency of detection devices is provided. Taking the acquisition of a calibration matrix for a single detection device among multiple detection devices as an example, the method for checking the angle consistency of multiple detection devices is similar and will not be described in detail here. Figure 6 This is a schematic diagram illustrating the process of checking the angle consistency of a detection device according to an optional embodiment of this application, as shown below. Figure 6 As shown, the process of acquiring detection data in the horizontal direction is as follows: The turntable rotates horizontally to its maximum horizontal rotation angle, reads the radar data at the current angle, and writes it to the AZ_test_data.txt file. Moving by the set step size, the turntable rotates to the current angle (current angle = previous angle - step angle), waits for ts (dwell time), reads the radar data at the current angle, writes it to the AZ_test_data.txt file, and checks if it has rotated to the minimum angle. If not, it continues to move by the set step size. If so, the turntable angle is reset to zero.

[0087] The process then proceeds to acquire detection data in the pitch direction: the turntable is rotated to its maximum pitch angle, the radar data at the current angle is read, and written to the EL_test_data.txt file. Moving by a set step size, the turntable rotates to the current angle (current angle = previous angle - step angle), waits for ts (dwell time), reads the radar data at the current angle, writes it to the EL_test_data.txt file, and checks if the angle has reached its minimum value. If not, it continues moving by the set step size. If so, a consistency detection result.excel file is generated based on the obtained AZ_test_data.txt and EL_test_data.txt files.

[0088] Input the consistency test results .excel file into the Test code to calculate the error between the true value of the turntable angle and the radar measurement angle, and then output the angle measurement error curve to evaluate the radar angle measurement performance.

[0089] In an exemplary embodiment, after calibrating multiple detection devices simultaneously based on the corresponding detection devices and calibration angle information, it is possible, but not limited to, to determine whether the detection devices need to be recalibrated in the following ways: obtaining the measurement fluctuation range corresponding to each detection device based on the calibration result of each detection device; comparing the measurement fluctuation range with the target fluctuation range; if the measurement fluctuation range falls within the target fluctuation range, determining that the detection device corresponding to the measurement fluctuation range has been successfully calibrated; if the measurement fluctuation range does not fall within the target fluctuation range, recalibrating the detection device corresponding to the measurement fluctuation range.

[0090] Optionally, in this embodiment, the calibration result of the detection device may be used, but is not limited to, to indicate the detection performance of the detection device, and may be used, but is not limited to, to re-detect the calibration target by using the detection device, and to determine the calibration result of the detection device based on the detection result.

[0091] Optionally, in this embodiment, the aforementioned measurement fluctuation range may be used, but is not limited to, to indicate the fluctuation of the detection performance of the calibrated detection device in multiple detection operations. It may be obtained, but is not limited to, based on the calibration results of the detection device. For example, after the detection device completes calibration, its detection performance is tested, and the error between its detection result (i.e., calibration result) and the actual detection value is recorded. Multiple errors may be plotted as fluctuation curves to record the fluctuation range of the detection error of the calibrated detection device in multiple operations.

[0092] Optionally, in this embodiment, the target fluctuation range may be, but is not limited to, a reasonable range of deviation between the calibration result and the actual detection result after the detection device has completed the detection work. It may be, but is not limited to, achieved by setting a fluctuation threshold in advance. For example, a first threshold is predetermined to indicate the upper limit of the target fluctuation range, and a second threshold is predetermined to indicate the lower limit of the target fluctuation range. When the deviation (measurement fluctuation range) between the calibration result and the actual detection result is greater than or equal to the second threshold and less than or equal to the first threshold, it can be considered to fall within the target fluctuation range.

[0093] In one optional implementation, a method for determining the recalibration of a detection device is provided. Taking the recalibration determination of a single detection device among multiple detection devices as an example, the method for determining the recalibration of multiple detection devices is similar and will not be described in detail here. Figure 7 This is a schematic diagram illustrating the recalibration determination process of a detection device according to an optional embodiment of this application, as shown below. Figure 7As shown, taking the detection device as radar and the calibration target as a corner reflector as an example, the process is as follows: The difference between the true value of the turntable angle and the radar measured angle can be calculated using code programs, but is not limited to, and the measurement fluctuation range can be determined. The maximum value MAX of the measurement fluctuation range is extracted and compared with the target value (the target fluctuation range is less than the target value). Based on the comparison results, the next operation of the radar is determined, that is, to perform secondary calibration or complete the calibration.

[0094] In one alternative implementation, a process for calibrating the antennas of multiple detection devices is provided. Figure 8 This is a schematic diagram of an antenna calibration process for a multi-detection device according to an optional embodiment of this application, such as... Figure 8 As shown, taking a radar as the detection device and a corner reflector as the calibration target, the radar is placed on a turntable capable of horizontal and vertical rotation. The process is as follows: The radar connection is detected via an application (APP). When the APP identifies the corresponding radar device, communication is established. The radar's serial number is read and bound to the port of the control terminal (APP). The rotation angle of the turntable is set via the APP, and then the turntable is connected via TCP (Transmission Control Protocol), while the radar is connected via serial port or CAN (Controller Area Network). An initial calibration parameter file for radar calibration is generated, and basic information about the radar and its deployed antennas is obtained, along with the turntable angle initialization (to zero). Antenna calibration is performed synchronously on the radar via multiple channels, a calibration matrix is ​​generated and written to the radar, and an angle consistency check is performed. Based on the consistency check results, corresponding operations are performed on the radar.

[0095] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0096] This embodiment also provides a calibration system for a detection device. Figure 9 This is a schematic diagram of a calibration system for a detection device according to an embodiment of this application. Figure 1 .like Figure 9As shown, the system includes: a turntable matrix 902, a calibration target 904, and a controller 906, wherein,

[0097] The turntable matrix 902 is provided with multiple turntables (11 to nn), each turntable is used to place the detection device to be calibrated, the calibration target corresponds to the reference position (mm) on the turntable matrix, the reference position is the position directly opposite the origin of the calibration target 904, and the angle between the normal of the reference detection device at the reference position and the calibration target 904 is the reference angle.

[0098] The calibration target 904 is used to reflect the signal of the detection device placed on the turntable;

[0099] The controller 906 is configured to detect the relative position information of each of the multiple detection devices placed on the turntable matrix 902, wherein the relative position information indicates the relative relationship between each detection device and the reference position; determine the calibration angle information of each detection device based on the relative position information to obtain corresponding detection devices and calibration angle information, wherein the calibration angle information indicates the deviation of the angle of the normal of each detection device relative to the calibration target object from the reference angle; and simultaneously calibrate the multiple detection devices by controlling the turntable on which the detection devices are placed based on the corresponding detection devices and calibration angle information, wherein the calibration angle information is used to compensate for the angular relationship between the detection device and the calibration target object during the calibration process of the corresponding detection device.

[0100] The system described above first detects the relative position information of each of the multiple detectors to be calibrated; then, it determines the calibration angle information of each detector based on the relative position information, resulting in a correspondence between the detectors and their calibration angles; finally, it simultaneously calibrates multiple detectors based on this correspondence. In other words, by using the relative position information indicating the relationship between each detector and the reference position corresponding to the calibration target, the system determines the positional relationship between the detector and the reference position. During calibration, by considering the transformation of this positional relationship, it enables simultaneous calibration of multiple detectors. This not only reduces potential errors caused by human intervention when calibrating multiple detectors but also allows for simultaneous calibration of multiple detectors in a single operation. Therefore, it solves the problem of low calibration efficiency for detectors, thereby improving the overall calibration efficiency.

[0101] In one exemplary embodiment, Figure 10 This is a schematic diagram of a calibration system for a detection device according to an embodiment of this application. Figure 2 .like Figure 10As shown, the above system may also include, but is not limited to, storage space 1002, wherein,

[0102] The storage space 1002 is used to store turntable identifiers and turntable angle information with corresponding relationships, wherein the turntable angle information is used to indicate the deviation of the angle between the normal of the detection device placed on the turntable corresponding to each turntable identifier and the calibration target relative to the reference angle.

[0103] The controller 906 is further configured to identify the target turntable identifier of the target turntable on the turntable matrix where the detection device is placed as the relative position information; and to obtain the turntable angle information corresponding to the target turntable identifier from the corresponding turntable identifiers and turntable angle information as the calibration angle information corresponding to the detection device placed on the target turntable.

[0104] In one exemplary embodiment, the controller is further configured to: determine pitch angle information for each of the detection devices based on the relative position information, wherein the calibration angle information includes the pitch angle information, which indicates the deviation in the pitch direction of the angle of the normal of each detection device relative to the calibration target relative to a reference angle; and determine azimuth angle information for each of the detection devices based on the relative position information, wherein the calibration angle information includes the azimuth angle information, which indicates the deviation in the azimuth direction of the angle of the normal of each detection device relative to the calibration target relative to a reference angle.

[0105] In an exemplary embodiment, the controller is further configured to: simultaneously acquire antenna calibration data sets of multiple detection devices to obtain multiple antenna calibration data sets; generate a corresponding calibration matrix based on the corresponding antenna calibration data set and the corresponding calibration angle information, and write the calibration matrix into the corresponding detection device to obtain multiple calibrated detection devices; and perform an angle consistency check on the multiple calibrated detection devices.

[0106] In an exemplary embodiment, the controller is further configured to: add pitch angle information to a pitch calibration data set to obtain a first set, and / or add azimuth angle information to an azimuth calibration data set to obtain a second set, wherein the corresponding antenna calibration data set includes the pitch calibration data set and / or the azimuth calibration data set, the pitch calibration data set includes calibration data obtained in the pitch direction of the detection device, the azimuth calibration data set includes calibration data obtained in the azimuth direction of the detection device, the corresponding calibration angle information includes the pitch angle information and / or the azimuth angle information, the pitch angle information is used to indicate the deviation in the pitch direction of the angle of the normal of the detection device facing the calibration target relative to a reference angle, and the azimuth angle information is used to indicate the deviation in the azimuth direction of the angle of the normal of the detection device facing the calibration target relative to a reference angle; input the first set and / or the second set into an antenna calibration algorithm; and obtain the corresponding calibration matrix output by the antenna calibration algorithm.

[0107] In an exemplary embodiment, the controller is further configured to: detect relative distance information and relative direction information corresponding to each of the detection devices as the relative position information, wherein the relative distance information is used to indicate the distance between each of the detection devices and the reference position, and the relative direction information is used to indicate the direction of each of the detection devices relative to the reference position.

[0108] In an exemplary embodiment, the controller is further configured to: obtain the measurement fluctuation range corresponding to each of the detection devices based on the calibration result of each of the detection devices; compare the measurement fluctuation range with a target fluctuation range; if the measurement fluctuation range falls within the target fluctuation range, determine that the detection device corresponding to the measurement fluctuation range has been successfully calibrated; and if the measurement fluctuation range does not fall within the target fluctuation range, recalibrate the detection device corresponding to the measurement fluctuation range.

[0109] This embodiment also provides a calibration device for a detection device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0110] Figure 11 This is a structural block diagram of the calibration device for the detection equipment according to an embodiment of this application, such as... Figure 11 As shown, the device includes:

[0111] The detection module 1102 is used to detect the relative position information of each of the multiple detection devices to be calibrated, wherein the relative position information is used to indicate the relative relationship between each of the detection devices and the reference position corresponding to the calibration target, the calibration target is used to reflect the signal of each of the detection devices, and the reference position is the position directly opposite the origin of the calibration target;

[0112] The first determining module 1104 is used to determine the calibration angle information of each of the detection devices according to the relative position information, so as to obtain the detection devices and calibration angle information with corresponding relationship. The calibration angle information is used to indicate the deviation of the angle of the normal of each detection device facing the calibration target relative to the reference angle. The reference angle is the angle of the normal of the reference detection device at the reference position facing the calibration target.

[0113] The first calibration module 1106 is used to simultaneously calibrate multiple detection devices according to the corresponding detection devices and calibration angle information, wherein the calibration angle information is used to compensate for the angular relationship between the detection device and the calibration target during the calibration process of the corresponding detection device.

[0114] The aforementioned device first detects the relative position information of each of the multiple detectors to be calibrated; secondly, it determines the calibration angle information of each detector based on the relative position information, resulting in a correspondence between the detectors and the calibration angle information; finally, it simultaneously calibrates multiple detectors based on the corresponding detectors and calibration angle information. In other words, by using the relative position information indicating the relative relationship between each detector and the reference position corresponding to the calibration target, the positional relationship between the detector and the reference position is determined. During calibration, by considering the transformation of the positional relationship, simultaneous calibration of multiple detectors is achieved. This not only reduces errors that may arise from human intervention when calibrating multiple detectors but also enables simultaneous calibration of multiple detectors in a single operation. Therefore, it solves the problem of low calibration efficiency for detectors, thereby improving the overall calibration efficiency of detectors.

[0115] In one exemplary embodiment, the determining module includes:

[0116] The first determining unit is configured to determine the pitch angle information of each of the detection devices based on the relative position information, wherein the calibration angle information includes the pitch angle information, and the pitch angle information is used to indicate the deviation of the angle of the normal of each detection device facing the calibration target relative to the reference angle in the pitch direction;

[0117] The second determining unit is used to determine the azimuth angle information of each of the detection devices based on the relative position information, wherein the calibration angle information includes the azimuth angle information, which is used to indicate the deviation of the angle of the normal of each detection device toward the calibration target relative to the reference angle in the azimuth direction.

[0118] In one exemplary embodiment, the first calibration module includes:

[0119] The acquisition unit is used to simultaneously acquire antenna calibration data sets of multiple detection devices to obtain multiple antenna calibration data sets.

[0120] The generation unit is used to generate a corresponding calibration matrix based on the corresponding antenna calibration data set and the corresponding calibration angle information, and write the calibration matrix into the corresponding detection device to obtain multiple calibration detection devices;

[0121] The inspection unit is used to perform angle consistency checks on multiple of the calibration detection devices.

[0122] In an exemplary embodiment, the generation unit is configured to: add elevation angle information to an elevation calibration data set to obtain a first set, and / or add azimuth angle information to an azimuth calibration data set to obtain a second set, wherein the corresponding antenna calibration data set includes the elevation calibration data set and / or the azimuth calibration data set, the elevation calibration data set includes calibration data obtained in the elevation direction of the detection device, the azimuth calibration data set includes calibration data obtained in the azimuth direction of the detection device, the corresponding calibration angle information includes the elevation angle information and / or the azimuth angle information, the elevation angle information is used to indicate the deviation in the elevation direction of the angle of the normal of the detection device facing the calibration target relative to a reference angle, and the azimuth angle information is used to indicate the deviation in the azimuth direction of the angle of the normal of the detection device facing the calibration target relative to a reference angle; input the first set and / or the second set into an antenna calibration algorithm; and obtain the corresponding calibration matrix output by the antenna calibration algorithm.

[0123] In one exemplary embodiment, the detection module further includes:

[0124] A detection unit is configured to detect the relative distance information and relative direction information corresponding to each of the detection devices as the relative position information, wherein the relative distance information is used to indicate the distance between each of the detection devices and the reference position, and the relative direction information is used to indicate the direction of each of the detection devices relative to the reference position.

[0125] In one exemplary embodiment, the apparatus further includes:

[0126] The acquisition module is used to acquire the measurement fluctuation range corresponding to each detection device based on the calibration result of each detection device after the multiple detection devices are calibrated simultaneously according to the corresponding detection devices and calibration angle information.

[0127] The comparison module is used to compare the measured fluctuation range with the target fluctuation range;

[0128] The second determining module is used to determine that the detection device corresponding to the measurement fluctuation range has been successfully calibrated when the measurement fluctuation range falls within the target fluctuation range.

[0129] The second calibration module is used to recalibrate the detection device corresponding to the measurement fluctuation range when the measurement fluctuation range does not fall within the target fluctuation range.

[0130] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0131] Embodiments of this application also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when run.

[0132] In this embodiment, the computer-readable storage medium described above may be configured to store a computer program for performing the following steps:

[0133] S1, Detect the relative position information of each of the multiple detection devices to be calibrated, wherein the relative position information is used to indicate the relative relationship between each of the detection devices and the reference position corresponding to the calibration target, the calibration target is used to reflect the signal of each of the detection devices, and the reference position is the position directly opposite the origin of the calibration target;

[0134] S2, determine the calibration angle information of each of the detection devices according to the relative position information, and obtain the detection devices and calibration angle information with corresponding relationship, wherein the calibration angle information is used to indicate the deviation of the angle of the normal of each detection device facing the calibration target relative to the reference angle, and the reference angle is the angle of the normal of the reference detection device at the reference position facing the calibration target.

[0135] S3, calibrate multiple detection devices simultaneously based on the corresponding detection devices and calibration angle information, wherein the calibration angle information is used to compensate for the angular relationship between the detection device and the calibration target during the corresponding detection device calibration process.

[0136] The computer-readable storage medium is also configured to store a computer program for performing the following steps:

[0137] S1, Detect the relative position information of each of the multiple detection devices to be calibrated, wherein the relative position information is used to indicate the relative relationship between each of the detection devices and the reference position corresponding to the calibration target, the calibration target is used to reflect the signal of each of the detection devices, and the reference position is the position directly opposite the origin of the calibration target;

[0138] S2, determine the calibration angle information of each of the detection devices according to the relative position information, and obtain the detection devices and calibration angle information with corresponding relationship, wherein the calibration angle information is used to indicate the deviation of the angle of the normal of each detection device facing the calibration target relative to the reference angle, and the reference angle is the angle of the normal of the reference detection device at the reference position facing the calibration target.

[0139] S3, calibrate multiple detection devices simultaneously based on the corresponding detection devices and calibration angle information, wherein the calibration angle information is used to compensate for the angular relationship between the detection device and the calibration target during the corresponding detection device calibration process.

[0140] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0141] Embodiments of this application also provide an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0142] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0143] In one exemplary embodiment, the processor described above may be configured to perform the following steps via a computer program:

[0144] S1, Detect the relative position information of each of the multiple detection devices to be calibrated, wherein the relative position information is used to indicate the relative relationship between each of the detection devices and the reference position corresponding to the calibration target, the calibration target is used to reflect the signal of each of the detection devices, and the reference position is the position directly opposite the origin of the calibration target;

[0145] S2, determine the calibration angle information of each of the detection devices according to the relative position information, and obtain the detection devices and calibration angle information with corresponding relationship, wherein the calibration angle information is used to indicate the deviation of the angle of the normal of each detection device facing the calibration target relative to the reference angle, and the reference angle is the angle of the normal of the reference detection device at the reference position facing the calibration target.

[0146] S3, calibrate multiple detection devices simultaneously based on the corresponding detection devices and calibration angle information, wherein the calibration angle information is used to compensate for the angular relationship between the detection device and the calibration target during the corresponding detection device calibration process.

[0147] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0148] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0149] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A calibration method for a detection device, characterized in that, include: The relative position information of each of the multiple detection devices to be calibrated is detected, wherein the relative position information is used to indicate the relative relationship between each of the detection devices and the reference position corresponding to the calibration target, the calibration target is used to reflect the signal of each of the detection devices, and the reference position is the position directly opposite the origin of the calibration target; Based on the relative position information, the calibration angle information of each of the detection devices is determined to obtain the detection devices and calibration angle information with corresponding relationships. The calibration angle information is used to indicate the deviation of the angle of the normal of each detection device facing the calibration target relative to the reference angle. The reference angle is the angle of the normal of the reference detection device at the reference position facing the calibration target. Multiple detection devices are simultaneously calibrated based on the corresponding detection devices and calibration angle information, wherein the calibration angle information is used to compensate for the angular relationship between the detection device and the calibration target during the calibration process of the corresponding detection device.

2. The method according to claim 1, characterized in that, Determining the calibration angle information of each of the detection devices based on the relative position information includes at least one of the following: The pitch angle information of each of the detection devices is determined based on the relative position information, wherein the calibration angle information includes the pitch angle information, which is used to indicate the deviation of the angle of the normal of each detection device toward the calibration target relative to the reference angle in the pitch direction; The azimuth angle information of each of the detection devices is determined based on the relative position information, wherein the calibration angle information includes the azimuth angle information, which is used to indicate the azimuth deviation of the angle of the normal of each detection device toward the calibration target relative to the reference angle.

3. The method according to claim 1, characterized in that, The simultaneous calibration of multiple detection devices based on the corresponding detection devices and calibration angle information includes: Simultaneously, antenna calibration data sets from multiple detection devices are acquired to obtain multiple antenna calibration data sets; A corresponding calibration matrix is ​​generated based on the corresponding antenna calibration data set and the corresponding calibration angle information, and the calibration matrix is ​​written into the corresponding detection device to obtain multiple calibration detection devices; Angle consistency checks were performed on multiple of the aforementioned calibration and detection devices.

4. The method according to claim 3, characterized in that, The step of generating a corresponding calibration matrix based on the corresponding antenna calibration data set and the corresponding calibration angle information includes: Pitch angle information is added to the pitch calibration data set to obtain a first set, and / or azimuth angle information is added to the azimuth calibration data set to obtain a second set. The corresponding antenna calibration data set includes the pitch calibration data set and / or the azimuth calibration data set. The pitch calibration data set includes calibration data obtained in the pitch direction from the detection device, and the azimuth calibration data set includes calibration data obtained in the azimuth direction from the detection device. The corresponding calibration angle information includes the pitch angle information and / or the azimuth angle information. The pitch angle information is used to indicate the deviation in the pitch direction of the angle between the normal of the detection device and the calibration target relative to a reference angle. The azimuth angle information is used to indicate the deviation in the azimuth direction of the angle between the normal of the detection device and the calibration target relative to a reference angle. Input the first set and / or the second set into the antenna calibration algorithm; Obtain the corresponding calibration matrix output by the antenna calibration algorithm.

5. The method according to claim 1, characterized in that, The relative position information corresponding to each of the multiple detection devices to be calibrated includes: The relative distance information and relative direction information corresponding to each of the detection devices are detected as the relative position information, wherein the relative distance information is used to indicate the distance between each of the detection devices and the reference position, and the relative direction information is used to indicate the direction of each of the detection devices relative to the reference position.

6. The method according to claim 1, characterized in that, After simultaneously calibrating multiple detection devices based on the corresponding detection devices and calibration angle information, the method further includes: The measurement fluctuation range corresponding to each of the detection devices is obtained based on the calibration results of each detection device. Compare the measured fluctuation range with the target fluctuation range; If the measured fluctuation range falls within the target fluctuation range, it is determined that the detection device corresponding to the measured fluctuation range has been successfully calibrated. If the measured fluctuation range does not fall within the target fluctuation range, the detection device corresponding to the measured fluctuation range shall be recalibrated.

7. A calibration system for a detection device, characterized in that, include: Turntable matrix, calibrating target and controller, wherein, The turntable matrix is ​​provided with multiple turntables, each turntable is used to place the detection device to be calibrated, the calibration target corresponds to the reference position on the turntable matrix, the reference position is the position directly opposite the origin of the calibration target, and the angle between the normal of the reference detection device at the reference position and the calibration target is the reference angle. The calibration target is used to reflect the signal from the detection device placed on the turntable; The controller is configured to detect the relative position information of each of the multiple detection devices placed on the turntable matrix, wherein the relative position information indicates the relative relationship between each detection device and the reference position; determine the calibration angle information of each detection device based on the relative position information to obtain corresponding detection devices and calibration angle information, wherein the calibration angle information indicates the deviation of the angle of the normal of each detection device relative to the calibration target object from the reference angle; and simultaneously calibrate the multiple detection devices by controlling the turntable on which the detection devices are placed based on the corresponding detection devices and calibration angle information, wherein the calibration angle information is used to compensate for the angular relationship between the detection device and the calibration target object during the calibration process of the corresponding detection device.

8. The system according to claim 7, characterized in that, The system also includes: storage space, wherein, The storage space is used to store turntable identifiers and turntable angle information with corresponding relationships, wherein the turntable angle information is used to indicate the deviation of the angle between the normal of the detection device placed on the turntable corresponding to each turntable identifier and the calibration target object, relative to the reference angle. The controller is further configured to identify the target turntable identifier of the target turntable on the turntable matrix where the detection device is placed as the relative position information; and to obtain the turntable angle information corresponding to the target turntable identifier from the corresponding turntable identifiers and turntable angle information as the calibration angle information corresponding to the detection device placed on the target turntable.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method described in any one of claims 1 to 6.

10. An electronic device 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, it implements the steps of the method described in any one of claims 1 to 6.

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