Angle testing method and device of radar equipment, storage medium and electronic device

Abstract

The application discloses a kind of angle test method and device of radar equipment, storage medium and electronic device, the method comprises: receiving angle test request, wherein the angle test request is used to request the angle test of target radar equipment to be tested;In response to the angle test request, the target quantity of target antenna unit deployed in the target radar equipment is detected, and the target phase center of each target antenna unit is detected;According to the target quantity, the target phase center and target mapping relationship determine the target calibration center of the target radar equipment, wherein the target mapping relationship is established in advance according to the wavefront flat characteristic possessed by the phase center average phase pattern of radar equipment;The target radar equipment is tested using the target calibration center, and the above technical solution solves the problem that the angle test performance of target radar equipment is low in related art.

Description

Technical Field

[0001] This application relates to the field of radar, and more specifically, to an angle testing method and apparatus for radar equipment, a storage medium, and electronic devices. Background Technology

[0002] With the development of automotive technology, improving vehicle driving safety has become a topic of concern for those in the automotive industry. For vehicle safety, the most important criterion is the positional relationship between two vehicles, especially during high-speed driving. Millimeter-wave radar, as a type of radar with angle measurement capabilities, is widely used in automobiles to measure the relative positional relationship between the vehicle and other objects during driving.

[0003] Currently, the calibration center for testing vehicle-mounted radar antennas in anechoic chambers is located at the physical center of the antenna array. The angle measurement performance deviates to some extent from the angle measurement performance when the antenna phase center is used. Therefore, it is necessary to determine the accurate calibration center of the radar antenna to solve the angle measurement error caused by the physical center and improve the angle measurement performance.

[0004] No effective solutions have yet been proposed for issues such as the angle testing performance of target radar equipment in related technologies. Summary of the Invention

[0005] This application provides an angle testing method and apparatus for radar equipment, a storage medium, and an electronic device to at least solve problems such as the angle testing performance of target radar equipment in related technologies.

[0006] According to one embodiment of this application, an angle testing method for a radar device is provided, comprising: receiving an angle testing request, wherein the angle testing request is used to request an angle test on a target radar device to be tested; responding to the angle testing request, detecting the number of targets in the target antenna elements deployed in the target radar device, and detecting the target phase center of each target antenna element; determining a target calibration center of the target radar device based on the number of targets, the target phase center, and a target mapping relationship, wherein the target mapping relationship is pre-established based on the wavefront flatness characteristic of the average phase pattern of the phase center of the radar device; and performing an angle test on the target radar device using the target calibration center.

[0007] Optionally, determining the target calibration center of the target radar device based on the number of targets, the target phase center, and the target mapping relationship includes: obtaining the target phase coordinates corresponding to each coordinate dimension from the target phase center, wherein the target coordinate system used to establish the target mapping relationship is constructed in multiple coordinate dimensions, and the target mapping relationship includes coordinate dimensions and phase functions with corresponding relationships; inputting the target phase coordinates and the number of targets into the phase function corresponding to each coordinate dimension to obtain multiple sets of coordinate dimensions and target calibration coordinates with corresponding relationships as the target calibration center.

[0008] Optionally, the step of inputting the target phase coordinates and the number of targets into the phase function corresponding to each coordinate dimension to obtain multiple sets of corresponding coordinate dimensions and target calibration coordinates as the target calibration center includes: substituting the number of targets and the phase azimuth coordinates into the azimuth phase function to obtain calibration azimuth coordinates, and substituting the number of targets and the phase elevation coordinates into the elevation phase function to obtain calibration elevation coordinates. The target coordinate system is a two-dimensional coordinate system established in the azimuth and elevation directions of the radar equipment. The target phase coordinates include the phase azimuth coordinates and the phase elevation coordinates, and the target calibration coordinates include the calibration azimuth coordinates and the calibration elevation coordinates.

[0009] Optionally, the step of substituting the target quantity and phase azimuth coordinates into the azimuth phase function to obtain the calibration azimuth coordinates, and substituting the target quantity and phase pitch coordinates into the pitch phase function to obtain the calibration pitch coordinates, includes:

[0010] The calibration azimuth coordinates are calculated using the following formula:

[0011]

[0012] The calibration pitch coordinates are calculated using the following formula:

[0013]

[0014] Wherein, X is the calibration azimuth coordinate, X Rn The X is the phase azimuth coordinate of the receiving antenna. Ti Y is the phase azimuth coordinate of the transmitting antenna, and Y is the calibration elevation coordinate. Rn The phase elevation coordinate of the receiving antenna, the Y... TiLet M be the phase elevation coordinate of the transmitting antenna, M be the number of transmitting antennas, N be the number of receiving antennas, the target quantity include the number of transmitting antennas and the number of receiving antennas, and the target antenna element include the transmitting antenna and the receiving antenna.

[0015] Optionally, before determining the target calibration center of the target radar device based on the number of targets, the target phase center, and the target mapping relationship, the method further includes: establishing a two-dimensional coordinate system in the azimuth and elevation directions of the radar device to obtain a target coordinate system; creating calibration center coordinate parameters and phase center coordinate parameters for each target antenna element in the target coordinate system; constructing a first phase compensation formula using the calibration center coordinate parameters and the phase center coordinate parameters for each target antenna element, wherein the first phase compensation formula is used to characterize the relationship between the phase center coordinate parameters and the calibration center coordinate parameters and a first phase compensation value; the first phase compensation value is used to characterize the phase difference between a first phase pattern and a second phase pattern; the first phase pattern is the phase pattern of the target radar device obtained with the calibration center as the center; and the second phase pattern is the phase pattern of the target radar device obtained with the true phase center of the target radar device as the center; and solving the phase compensation formula when the first phase compensation value is zero to obtain a coordinate dimension and a phase function with a corresponding relationship, wherein the target mapping relationship includes the coordinate dimension and the phase function with a corresponding relationship.

[0016] Optionally, constructing the first phase compensation formula for the calibration center using the calibration center coordinate parameters and the phase center coordinate parameters of each target antenna element includes: constructing a second phase compensation formula for each target antenna element using the calibration center coordinate parameters and the phase center coordinate parameters of each target antenna element, wherein the second phase compensation formula is used to characterize the relationship between the phase center coordinate parameters and the second phase compensation value, the second phase compensation value is used to characterize the phase difference between the third phase pattern and the fourth phase pattern, the third phase pattern is the phase pattern of the target antenna element obtained with the calibration center as the center, and the fourth phase pattern is the phase pattern obtained with the target phase center of the target antenna element as the center; constructing the channel average phase formula for the calibration center using the second phase compensation formula; and transforming the channel average phase formula according to the wavefront flatness characteristic to obtain the first phase compensation formula.

[0017] Optionally, detecting the target phase center of each target antenna element includes: constructing a target coordinate system on the target radar device, wherein the target coordinate system is the coordinate system used to establish the target mapping relationship; and representing the target phase center of each target antenna element using phase coordinates in the target coordinate system.

[0018] According to another embodiment of this application, an angle testing apparatus for a radar device is also provided, comprising: a receiving module for receiving an angle testing request, wherein the angle testing request is used to request an angle test on a target radar device to be tested; a response module for responding to the angle testing request, detecting the number of targets in the target antenna elements deployed in the target radar device, and detecting the target phase center of each target antenna element; a determining module for determining a target calibration center of the target radar device based on the number of targets, the target phase center, and a target mapping relationship, wherein the target mapping relationship is pre-established based on the wavefront flatness characteristic of the average phase pattern of the phase center of the radar device; and a testing module for performing an angle test on the target radar device using the target calibration center.

[0019] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer-readable storage medium, and the computer program is configured to execute the angle testing method of the radar device described above when it is run.

[0020] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the angle testing method of the radar device through the computer program.

[0021] In this embodiment, an angle test request is received, wherein the angle test request is used to request an angle test on the target radar device to be tested; in response to the angle test request, the number of target antenna elements deployed in the target radar device is detected, and the target phase center of each target antenna element is detected; based on the number of targets, the target phase center, and the target mapping relationship, the target calibration center of the target radar device is determined, wherein the target mapping relationship is pre-established based on the wavefront flatness characteristic of the average phase pattern of the phase center of the radar device; the angle test of the target radar device is performed using the target calibration center, i.e., based on the wavefront flatness characteristic of the average phase pattern of the phase center of the radar device. This technology establishes a mapping relationship between the number of targets in antenna elements, the target phase center of each antenna element, and the target calibration center. When angle testing of a target radar device is required, by detecting the number of targets and the target phase center of the antennas deployed in the target radar device, the corresponding target calibration center can be determined based on the target mapping relationship. This avoids directly using the physical center of the target antennas deployed in the target radar device as the calibration center in related technologies, resulting in a more accurate target calibration center. Consequently, when using this target calibration center to perform angle testing on the target radar device, the performance of angle testing can be significantly improved. This technical solution solves the problem of low angle testing performance of target radar devices in related technologies, achieving the technical effect of improving the angle testing performance of target radar devices. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the hardware environment for an angle testing method for a radar device according to an embodiment of this application;

[0025] Figure 2 This is a flowchart of an angle testing method for a radar device according to an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of an optional target coordinate system according to an embodiment of this application;

[0027] Figure 4 This is a comparison of an optional phase pattern according to an embodiment of this application. Figure 1 ;

[0028] Figure 5 This is a comparison of an optional phase pattern according to an embodiment of this application. Figure 2 ;

[0029] Figure 6 This is a structural block diagram of an angle testing device for a radar equipment according to an embodiment of this application. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] The methods and embodiments provided in this application can be executed on a computer terminal, device terminal, or similar computing device. Taking running on a computer terminal as an example, Figure 1 This is a schematic diagram of the hardware environment for an angle testing method for a radar device according to an embodiment of this application. 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.

[0033] 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.

[0034] 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.

[0035] This embodiment provides an angle testing method for radar equipment, applied to the aforementioned computer terminal. Figure 2 This is a flowchart of an angle testing method for a radar device according to an embodiment of this application. The process includes the following steps:

[0036] Step S202: Receive angle test request, wherein the angle test request is used to request the target radar device to be tested to perform an angle test;

[0037] Step S204: In response to the angle test request, detect the number of targets in the target antenna units deployed in the target radar device, and detect the target phase center of each target antenna unit;

[0038] Step S206: Determine the target calibration center of the target radar device based on the number of targets, the target phase center, and the target mapping relationship, wherein the target mapping relationship is pre-established based on the wavefront flatness characteristic of the average phase pattern of the phase center of the radar device.

[0039] Step S208: Use the target calibration center to perform an angle test on the target radar device.

[0040] Through the above steps, based on the wavefront flatness characteristic of the average phase pattern of the radar equipment's phase center, a mapping relationship can be established between the number of targets in the antenna elements, the target phase center of each antenna element, and the target calibration center. Therefore, when angle testing of the target radar equipment under test is required, by detecting the number of targets and the target phase center of the target antennas deployed in the target radar equipment, the target calibration center corresponding to the number of targets and the target phase center can be determined according to the target mapping relationship. This avoids directly using the physical center of the target antennas deployed in the target radar equipment as the calibration center in related technologies, thus making the determined target calibration center more accurate. Consequently, when using this target calibration center to perform angle testing on the target radar equipment, the performance of angle testing of the target radar equipment can be improved. The above technical solution solves the problem of low angle testing performance of target radar equipment in related technologies, achieving the technical effect of improving the angle testing performance of target radar equipment.

[0041] In the technical solution provided in step S202 above, the target radar device is an electronic device that detects targets by emitting electromagnetic waves. The target radar may include, but is not limited to, millimeter-wave radar, microwave radar, lidar, etc., and this solution does not limit it.

[0042] Optionally, in this embodiment, the angle test is used to test the angle measurement performance of the target radar device, that is, to test the angle measurement performance of the target radar by using the target radar device to measure the angle of the target.

[0043] In the technical solution provided in step S204 above, the target antenna unit is used to realize the signal transmission and reception function of the target radar equipment, and the target antenna unit includes a transmitting antenna and a receiving antenna.

[0044] In the technical solution provided in step S206 above, the phase center average phase pattern is used to characterize the correspondence between the channel average phase value and azimuth angle of each antenna element obtained at the phase center (calibration center) of the target radar equipment. The phase center average phase pattern can be obtained through formula... The obtained, where ψ pT is the channel average phase value at the phase center P (calibration center) of the target radar equipment. i R is the phase center of the transmitting antenna of the target radar equipment. n M represents the phase center of the receiving antennas deployed on the target radar equipment, M represents the number of transmitting antennas, and N represents the number of receiving antennas.

[0045] Optionally, in this embodiment, the phase center average phase pattern has wavefront flatness to indicate that the phase center average phase pattern and the channel average phase pattern with the phase center of each antenna element have a matching degree greater than the target matching degree.

[0046] Optionally, in this embodiment, the wavefront flatness of the average phase pattern at the phase center can also be used to indicate that the phase fluctuation change in the average phase pattern at the phase center is less than the target change value within a certain azimuth angle range.

[0047] As an optional embodiment, determining the target calibration center of the target radar device based on the number of targets, the target phase center, and the target mapping relationship includes:

[0048] Obtain the target phase coordinates corresponding to each coordinate dimension from the target phase center, wherein the target coordinate system used to establish the target mapping relationship is constructed in multiple coordinate dimensions, and the target mapping relationship includes coordinate dimensions and phase functions with corresponding relationships;

[0049] The target phase coordinates and the number of targets are input into the phase function corresponding to each coordinate dimension to obtain multiple sets of corresponding coordinate dimensions and target calibration coordinates as the target calibration center.

[0050] Optionally, in this embodiment, the phase function is used to calculate the coordinate value of the target calibration center in the corresponding coordinate dimension (the target calibration coordinates mentioned above).

[0051] Optionally, in this embodiment, the target coordinate system is a coordinate system established corresponding to the target radar device. The origin of the target coordinate system can be any point in space. For example, the target phase center of any target antenna unit on the target radar device can be selected as the origin. Similarly, the orientation of the coordinate axis can also be arbitrarily selected. For example, the line connecting the target phase centers of multiple target antenna units can be used as the coordinate axis. This solution does not limit this.

[0052] Optionally, in this embodiment, the coordinate dimension of the target coordinate system can be a two-dimensional coordinate system or a three-dimensional coordinate system. For example, the coordinate dimension can be a three-dimensional coordinate dimension such as the X-axis, Y-axis, and Z-axis, or it can be a coordinate dimension such as the azimuth plane and the pitch plane. This solution does not limit this.

[0053] As an optional embodiment, the step of inputting the target phase coordinates and the number of targets into the phase function corresponding to each coordinate dimension to obtain multiple sets of corresponding coordinate dimensions and target calibration coordinates as the target calibration center includes:

[0054] The target quantity and phase azimuth coordinates are substituted into the azimuth phase function to obtain the calibration azimuth coordinates, and the target quantity and phase elevation coordinates are substituted into the elevation phase function to obtain the calibration elevation coordinates. The target coordinate system is a two-dimensional coordinate system established in the azimuth and elevation directions of the radar equipment. The target phase coordinates include the phase azimuth coordinates and the phase elevation coordinates. The target calibration coordinates include the calibration azimuth coordinates and the calibration elevation coordinates.

[0055] Optionally, in this embodiment, the number of targets may be the total number of target antenna units deployed on the target radar equipment, or it may be a first number of transmitting antennas and a second number of receiving units deployed on the target radar equipment, wherein the target antenna unit includes transmitting antennas and receiving antennas, and this solution does not limit this.

[0056] As an optional embodiment, the step of substituting the target quantity and phase azimuth coordinates into the azimuth phase function to obtain the calibration azimuth coordinates, and substituting the target quantity and phase pitch coordinates into the pitch phase function to obtain the calibration pitch coordinates, includes:

[0057] The calibration azimuth coordinates are calculated using the following formula:

[0058]

[0059] The calibration pitch coordinates are calculated using the following formula:

[0060]

[0061] Wherein, X is the calibration azimuth coordinate, X Rn The X is the phase azimuth coordinate of the receiving antenna. Ti Y is the phase azimuth coordinate of the transmitting antenna, and Y is the calibration elevation coordinate. Rn The phase elevation coordinate of the receiving antenna, the Y... Ti Let M be the phase elevation coordinate of the transmitting antenna, M be the number of transmitting antennas, N be the number of receiving antennas, the target quantity include the number of transmitting antennas and the number of receiving antennas, and the target antenna element include the transmitting antenna and the receiving antenna.

[0062] As an optional embodiment, before determining the target calibration center of the target radar device based on the number of targets, the target phase center, and the target mapping relationship, the method further includes:

[0063] A two-dimensional coordinate system is established in the azimuth and elevation directions of the radar equipment to obtain the target coordinate system. In the target coordinate system, calibration center coordinate parameters and phase center coordinate parameters of each target antenna element are created.

[0064] A first phase compensation formula is constructed using the calibration center coordinate parameters and the phase center coordinate parameters of each target antenna element. The first phase compensation formula is used to characterize the relationship between the phase center coordinate parameters, the calibration center coordinate parameters, and the first phase compensation value. The first phase compensation value is used to characterize the phase difference between the first phase pattern and the second phase pattern. The first phase pattern is the phase pattern of the target radar device obtained with the calibration center as the center, and the second phase pattern is the phase pattern of the target radar device obtained with the true phase center of the target radar device as the center.

[0065] When the first phase compensation value is zero, the phase compensation formula is solved to obtain the coordinate dimensions and phase functions with corresponding relationships, wherein the target mapping relationship includes the coordinate dimensions and phase functions with corresponding relationships.

[0066] Optionally, in this embodiment, the calibration center coordinate parameters may include, but are not limited to, calibration azimuth coordinates and calibration elevation coordinates, the working wavelength of the calibration center, azimuth angle, phase value, etc., and this solution does not limit them.

[0067] Optionally, in this embodiment, the phase center coordinate parameter is used to characterize the attributes of the target phase center of the target antenna element. The phase center coordinate parameter may include, but is not limited to, the values ​​of the phase azimuth coordinate and the phase elevation coordinate, the antenna type corresponding to the target phase center, the phase value, the operating wavelength, the azimuth angle, etc. This solution does not limit this.

[0068] Optionally, in this embodiment, when the first phase compensation value is zero, the difference between the first phase pattern and the second phase pattern is zero. Therefore, it can be determined that the assumed calibration center and the actual phase center of the target radar device coincide. Thus, the phase compensation formula with the first phase compensation value being zero is solved to obtain the phase function that can determine the coordinates of the calibration center.

[0069] As an optional embodiment, constructing a first phase compensation formula for the calibration center using the calibration center coordinate parameters and the phase center coordinate parameters of each target antenna element includes:

[0070] A second phase compensation formula for each target antenna element is constructed using the calibration center coordinate parameters and the phase center coordinate parameters of each target antenna element. The second phase compensation formula is used to characterize the relationship between the phase center coordinate parameters and the second phase compensation value. The second phase compensation value is used to characterize the phase difference between the third phase pattern and the fourth phase pattern. The third phase pattern is the phase pattern of the target antenna element obtained with the calibration center as the center, and the fourth phase pattern is the phase pattern obtained with the target phase center of the target antenna element as the center.

[0071] The channel average phase formula of the calibration center is constructed using the second phase compensation formula.

[0072] The channel average phase formula is transformed based on the wavefront flatness characteristic to obtain the first phase compensation formula.

[0073] Optionally, in this embodiment, the phase center coordinates include the coordinates (X, X, Y) of the target phase center of the transmitting antenna. Rn Y Rn ), the coordinates (X) of the target phase center of the receiving antenna. Tn Y Tn The calibration center coordinate parameters include the number of transmitting and receiving antennas in the target antenna unit, and the coordinates of point P in the target coordinate system are temporarily assumed as the calibration center. p Y p The coordinate parameters are the calibration center coordinates, where X is the azimuth coordinate and Y is the elevation coordinate. Therefore, the phase pattern ψ of the receiving antenna R1 is obtained with point P as the center. p，R1 The phase pattern ψ obtained with the phase center of the receiving antenna R1 R1 In contrast, there is a phase compensation value, which is calculated separately for the azimuth and elevation planes, and the expressions are shown in Formula 1 and Formula 2 respectively (the same applies to other antennas):

[0074] ψ R1方位补偿值 =2π(X) R1 -X p )·sinθ / λ formula (1)

[0075] ψ R1俯仰补偿值 =2π(T) R1 -Y p )·sinθ / λ formula (2)

[0076] In the formula X R1 X p Y R1 Yp Here, λ represents the position of the antenna element phase center and the calibration center, respectively; λ is the array's operating wavelength; and θ is the azimuth angle. Since the calibration center includes both elevation and azimuth coordinates, the compensation value is combined into a single expression. However, the calculation is still performed separately for elevation and azimuth. The combined compensation value calculation expression is shown in Formula 3, which is the second phase compensation formula mentioned above:

[0077] ψ R1补偿值 =2π[(X R1 -X p )+(Y R1 -Y p )]·sinθ / λ formula (3)

[0078] Therefore, the expression for the phase pattern of the receiving antenna R1, centered at point P, is obtained as follows:

[0079] ψ p，R1 =ψ R1 +ψ R1补偿值 Formula (4)

[0080] Similarly, the expression for the phase pattern of the remaining antennas centered at point P is:

[0081] ψ p，R2 =ψ R2 +ψ R2补偿值 Formula (5)

[0082] ψ p，R3 =ψ R3 +ψ R3补偿值 Formula (6)

[0083] ψ p，R4 =ψ R4 +ψ R4补偿值 Formula (7)

[0084] ψ p，T1 =ψ T1 +ψ T1补偿值 Formula (8)

[0085] ψ p，T2 =ψ T2 +ψ T2补偿值 Formula (9)

[0086] The expression for the channel average phase pattern at point P is:

[0087]

[0088] Expanding formula (10) yields formula (11):

[0089]

[0090] Substituting formula (3) into formula (11) yields the channel average phase formula, where M represents the number of transmitting antennas and N represents the number of receiving antennas. Because the average phase pattern obtained from the phase centers of each antenna has a flat characteristic, therefore ψ p Ignoring the phase pattern around the phase center of each antenna, we only consider the phase compensation portion. The final calibration center must also have a flat average phase pattern within a certain angular range. Therefore, the phase compensation portion at this point should have minimal phase fluctuation, expressed as:

[0091]

[0092] According to formulas (3) and (12), we get:

[0093] ψ p补偿值 =(N·2π(X) T1 -X p )·sinθ / λ+N·2π(X T2 -X p )·sinθ / λ+N·2π(X T3 -X p )·sinθ / λ+M·2π(X R1 -X p )·sinθ / λ+M·2π(X R2 -X p )·sinθ / λ+M·2π(X R3 -X p )·sinθ / λ+M·2π(X R4 -X p )·sinθ / λ+N·2π(Y T1 -Y p )·sinθ / λ+N·2π(Y T2 -Y p )#sinθ / λ+N·2π(Y T3 -Y p )·sinθ / λ+M·2π(Y R1 -Y p )·sinθ / λ+M·2π(Y R2 -Y p )·sinθ / λ+M·2π(Y R3 -Y p )·sinθ / λ+M·2π(Y R4 -Y p )·sinθ / λ) / MN=(2πsinθ / λ·(NX T1 +NX T2 +NX T3 +MXR1 +MX R2 +MX R3 +MX R4 -2MNX p +NY T1 +NY T2 +NY T3 +MY R1 +MY R2 +MY R3 +MY R4 -2MNY p Formula (13)

[0094] Considering the positional relationship between each antenna and point P, formula (13) needs to consider two cases. First, the positional relationship from point P is determined based on the antenna array layout. From the array layout, it can be seen that the calibration center of the MIMO array is within the range determined by the centers of all antenna channels. Therefore, only the positional relationship between the antenna and the calibration center point P needs to be considered. Figure 3 Taking the given array information as an example, if the X value at the antenna phase center is to the left of point P, the distance is considered positive; otherwise, the distance is considered negative. If the Y value at the antenna center is above point P, the distance is considered positive; otherwise, the distance is considered negative. Therefore, the position of point P needs to be considered to determine its relationship with the phase centers of each antenna. According to this rule, formula (13) is transformed into formula 14:

[0095]

[0096] From formula (14), it can be seen that when ψ p补偿值 As point P changes, the phase remains zero, resulting in a flat mean phase pattern at the calibration center P. In the specific array configuration, X... T1 X T2 X T3 X R1 X R2 X R3 and X R4 They all have specific numerical values, so as long as the expression When ψ is zero p补偿值 This can be zero, thus leading to the azimuth phase function (Formula 15) and the pitch phase function (Formula 16):

[0097]

[0098]

[0099] As an optional embodiment, detecting the target phase center of each of the target antenna elements includes:

[0100] A target coordinate system is constructed on the target radar equipment, wherein the target coordinate system is the coordinate system used to establish the target mapping relationship;

[0101] The target phase center of each target antenna element is represented by the phase coordinates in the target coordinate system.

[0102] Optionally, in this embodiment, the target coordinate system can be established with the phase center of any target antenna element as the origin and coordinate axes in any direction. Figure 3 This is a schematic diagram of an optional target coordinate system according to an embodiment of this application, such as... Figure 3 As shown, taking a three-transmitter, four-receiver antenna array as an example (R1-R4 are receiving antennas, T1-T3 are transmitting antennas): The target coordinate system is established by taking the phase center of transmitting antenna R1 as the origin and the direction along T2 as the positive direction. For example, in... Figure 3 The coordinates of the phase centers of each target can be X T1 =32.560006mm, X T2 =34.520378mm, X T3 =38.44036mm, X R1 =0mm, X R2 =5.8801mm, X R3 =11.7602mm, X R4 =21.559774mm, Y T1 =0mm, Y T2 =0mm, Y T3 = -5.88105mm, Y R1 =0mm, Y R2 =0mm, Y R3 =0mm, Y R4 =0mm, and by substituting it into formulas (15) and (16), we can obtain the coordinates of the calibration center as (21.670105, -0.980175).

[0103] Figure 4 This is a comparison of an optional phase pattern according to an embodiment of this application. Figure 1 ,like Figure 4 As shown in the figure, the channel-averaged phase pattern of the azimuth plane at the calibration center point and the channel-averaged phase pattern of the azimuth plane with each antenna phase center are displayed. The horizontal axis represents the azimuth angle, and the vertical axis represents the phase value. Figure 4 As shown, the calculated azimuth average phase pattern at the calibration center point P coincides with the azimuth average phase pattern of each antenna phase center. At this point, the azimuth average phase pattern of the calibration center satisfies the flatness characteristic within a certain angular range. Therefore, the angular measurement performance of the calibration center matches that of each antenna center.

[0104] Figure 5 This is a comparison of an optional phase pattern according to an embodiment of this application. Figure 2 ,like Figure 5 As shown in the figure, the average phase pattern of the channel on the elevation plane at the calibration center point, and the average phase pattern of the channel on the elevation plane with each antenna phase center as the reference point, are displayed. The horizontal axis represents the azimuth angle, and the vertical axis represents the phase value. Figure 5 As shown, the calculated channel-average phase pattern of the elevation plane at the calibration center point P coincides with the channel-average phase pattern of the elevation plane at each antenna phase center. At this time, because the main beam of the area array is relatively narrow, the flat portion of the elevation plane is concentrated around ±10°. Therefore, the angular measurement performance of the calibration center is consistent with that of each antenna center.

[0105] 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 and necessary general-purpose hardware platforms, and 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 of the various embodiments of this application.

[0106] Figure 6 This is a structural block diagram of an angle testing device for a radar equipment according to an embodiment of this application; as shown below. Figure 6 As shown, it includes: a receiving module 62, used to receive an angle test request, wherein the angle test request is used to request the target radar device to be tested to perform an angle test;

[0107] The response module 64 is used to respond to the angle test request, detect the number of targets in the target antenna units deployed in the target radar device, and detect the target phase center of each target antenna unit;

[0108] The determining module 66 is used to determine the target calibration center of the target radar device based on the number of targets, the target phase center, and the target mapping relationship, wherein the target mapping relationship is pre-established based on the wavefront flatness characteristic of the average phase pattern of the phase center of the radar device;

[0109] Test module 68 is used to perform angle tests on the target radar device using the target calibration center.

[0110] Through the above embodiments, based on the wavefront flatness characteristic of the average phase pattern of the phase center of the radar device, a mapping relationship can be established between the number of targets in the antenna elements, the target phase center of each antenna element, and the target calibration center. Therefore, when angle testing of the target radar device needs to be performed, by detecting the number of targets and the target phase center of the target antennas deployed in the target radar device, the target calibration center corresponding to the number of targets and the target phase center can be determined according to the target mapping relationship. This avoids directly using the physical center of the target antennas deployed in the target radar device as the calibration center in related technologies, thus making the determined target calibration center more accurate. Consequently, when using this target calibration center to perform angle testing on the target radar device, the angle testing performance of the target radar device can be improved. By adopting the above technical solution, the problem of low angle testing performance of target radar devices in related technologies is solved, achieving the technical effect of improving the angle testing performance of target radar devices.

[0111] Optionally, the determining module includes: an acquisition unit, configured to acquire the target phase coordinates corresponding to each coordinate dimension from the target phase center, wherein the target coordinate system used to establish the target mapping relationship is constructed in multiple coordinate dimensions, and the target mapping relationship includes coordinate dimensions and phase functions with corresponding relationships; and an input unit, configured to input the target phase coordinates and the number of targets into the phase function corresponding to each coordinate dimension to obtain multiple sets of coordinate dimensions and target calibration coordinates with corresponding relationships as the target calibration center.

[0112] Optionally, the input unit is configured to: substitute the target quantity and phase azimuth coordinates into the azimuth phase function to obtain the calibration azimuth coordinates, and substitute the target quantity and phase elevation coordinates into the elevation phase function to obtain the calibration elevation coordinates, wherein the target coordinate system is a two-dimensional coordinate system established in the azimuth and elevation directions of the radar device, the target phase coordinates include the phase azimuth coordinates and the phase elevation coordinates, and the target calibration coordinates include the calibration azimuth coordinates and the calibration elevation coordinates.

[0113] Optionally, the input unit is used for:

[0114] The calibration azimuth coordinates are calculated using the following formula:

[0115]

[0116] The calibration pitch coordinates are calculated using the following formula:

[0117]

[0118] Wherein, X is the calibration azimuth coordinate, X Rn The X is the phase azimuth coordinate of the receiving antenna. Ti Y is the phase azimuth coordinate of the transmitting antenna, and Y is the calibration elevation coordinate. Rn The phase elevation coordinate of the receiving antenna, the Y... Ti Let M be the phase elevation coordinate of the transmitting antenna, M be the number of transmitting antennas, N be the number of receiving antennas, the target quantity include the number of transmitting antennas and the number of receiving antennas, and the target antenna element include the transmitting antenna and the receiving antenna.

[0119] Optionally, the apparatus further includes: a creation module, configured to, before determining the target calibration center of the target radar device based on the number of targets, the target phase center, and the target mapping relationship, establish a two-dimensional coordinate system in the azimuth and elevation directions of the radar device to obtain a target coordinate system, and create calibration center coordinate parameters and phase center coordinate parameters for each target antenna element in the target coordinate system; and a construction module, configured to construct a first phase compensation formula using the calibration center coordinate parameters and the phase center coordinate parameters for each target antenna element, wherein the first phase compensation formula is used to characterize the relationship between the phase center coordinate parameters and the calibration center coordinate parameters and... The relationship between the first phase compensation values, wherein the first phase compensation value is used to characterize the phase difference between the first phase pattern and the second phase pattern, the first phase pattern is the phase pattern of the target radar device obtained with the calibration center as the center, and the second phase pattern is the phase pattern of the target radar device obtained with the true phase center of the target radar device as the center; the solution module is used to solve the phase compensation formula when the first phase compensation value is zero, to obtain the coordinate dimension and phase function with corresponding relationship, wherein the target mapping relationship includes the coordinate dimension and the phase function with corresponding relationship.

[0120] Optionally, the construction module includes: a first construction unit, configured to construct a second phase compensation formula for each target antenna element using the calibration center coordinate parameters and the phase center coordinate parameters of each target antenna element, wherein the second phase compensation formula characterizes the relationship between the phase center coordinate parameters and the second phase compensation value, and the second phase compensation value characterizes the phase difference between the third phase pattern and the fourth phase pattern, wherein the third phase pattern is the phase pattern of the target antenna element obtained with the calibration center as the center, and the fourth phase pattern is the phase pattern obtained with the target phase center of the target antenna element as the center; a second construction unit, configured to construct a channel average phase formula for the calibration center using the second phase compensation formula; and a first processing unit, configured to transform the channel average phase formula according to the wavefront flatness characteristic to obtain the first phase compensation formula.

[0121] Optionally, the detection module includes: a third construction unit, configured to construct a target coordinate system on the target radar device, wherein the target coordinate system is the coordinate system used to establish the target mapping relationship; and a second processing unit, configured to represent the target phase center of each target antenna element using phase coordinates in the target coordinate system.

[0122] Embodiments of this application also provide a storage medium including a stored program, wherein the program, when executed, performs the angle testing method of any of the aforementioned radar devices.

[0123] Optionally, in this embodiment, the storage medium may be configured to store program code for performing the following steps: receiving an angle test request, wherein the angle test request is used to request an angle test on the target radar device to be tested; responding to the angle test request, detecting the number of targets in the target antenna elements deployed in the target radar device, and detecting the target phase center of each target antenna element; determining the target calibration center of the target radar device based on the number of targets, the target phase center, and the target mapping relationship, wherein the target mapping relationship is pre-established based on the wavefront flatness characteristics of the average phase pattern of the phase center of the radar device; and performing an angle test on the target radar device using the target calibration center.

[0124] Embodiments of this application also provide an electronic device including a memory and a processor, the memory storing a computer program, the processor being configured to run the computer program to perform the steps in any of the above-described embodiments of the angle testing method for radar equipment.

[0125] Optionally, 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.

[0126] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program: receiving an angle test request, wherein the angle test request is used to request an angle test on the target radar device to be tested; responding to the angle test request, detecting the number of targets in the target antenna elements deployed in the target radar device, and detecting the target phase center of each target antenna element; determining the target calibration center of the target radar device based on the number of targets, the target phase center, and the target mapping relationship, wherein the target mapping relationship is pre-established based on the wavefront flatness characteristics of the average phase pattern of the phase center of the radar device; and performing an angle test on the target radar device using the target calibration center.

[0127] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0128] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0129] 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. Optionally, they can be implemented using computer-executable program code, thereby storing them 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.

[0130] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method of angle testing of a radar device, characterized by, The method comprises: receiving an angle test request, wherein the angle test request is used to request an angle test on a target radar device to be tested; in response to the angle test request, detecting a target number of target antenna units deployed in the target radar device, and detecting a target phase center of each target antenna unit; determining a target calibration center of the target radar device according to the target number, the target phase center, and a target mapping relationship, wherein the target mapping relationship is pre-established according to a wavefront flatness characteristic of a phase center average phase pattern of a radar device; performing an angle test on the target radar device using the target calibration center; before the determining of the target calibration center of the target radar device according to the target number, the target phase center, and the target mapping relationship, the method further comprises: establishing a two-dimensional coordinate system in an azimuth direction and an elevation direction of a radar device to obtain a target coordinate system, and creating a calibration center coordinate parameter and a phase center coordinate parameter of each target antenna unit in the target coordinate system; constructing a first phase compensation formula using the calibration center coordinate parameter and the phase center coordinate parameter of each target antenna unit, wherein the first phase compensation formula is used to represent a relationship between the phase center coordinate parameter and the calibration center coordinate parameter and a first phase compensation value, the first phase compensation value is used to represent a phase difference between a first phase pattern and a second phase pattern, the first phase pattern is a phase pattern of the target radar device with the calibration center as the center, and the second phase pattern is a phase pattern of the target radar device with a real phase center of the target radar device as the center; in a case where the first phase compensation value is zero, solving the phase compensation formula to obtain a coordinate dimension and a phase function having a corresponding relationship, wherein the target mapping relationship comprises the coordinate dimension and the phase function having the corresponding relationship.

2. The method of claim 1, wherein, The determining of the target calibration center of the target radar device according to the target number, the target phase center, and the target mapping relationship comprises: obtaining a target phase coordinate corresponding to each coordinate dimension from the target phase center, wherein a target coordinate system used for establishing the target mapping relationship is constructed under multiple coordinate dimensions, and the target mapping relationship comprises a coordinate dimension and a phase function having a corresponding relationship; inputting the target phase coordinate and the target number into the phase function corresponding to each coordinate dimension to obtain multiple groups of the coordinate dimension and a target calibration coordinate having the corresponding relationship as the target calibration center.

3. The method of claim 2, wherein, The inputting of the target phase coordinate and the target number into the phase function corresponding to each coordinate dimension to obtain multiple groups of the coordinate dimension and the target calibration coordinate having the corresponding relationship as the target calibration center comprises: The target quantity and phase azimuth direction coordinates are brought into an azimuth direction phase function to obtain calibrated azimuth direction coordinates, and the target quantity and phase elevation direction coordinates are brought into an elevation direction phase function to obtain calibrated elevation direction coordinates, wherein the target coordinate system is a two-dimensional coordinate system established in the azimuth direction and the elevation direction of the radar device, the target phase coordinates include the phase azimuth direction coordinates and the phase elevation direction coordinates, and the target calibrated coordinates include the calibrated azimuth direction coordinates and the calibrated elevation direction coordinates.

4. The method of claim 3, wherein, The target quantity and phase azimuth direction coordinates are brought into an azimuth direction phase function to obtain calibrated azimuth direction coordinates, and the target quantity and phase elevation direction coordinates are brought into an elevation direction phase function to obtain calibrated elevation direction coordinates, wherein the target coordinate system is a two-dimensional coordinate system established in the azimuth direction and the elevation direction of the radar device, the target phase coordinates include the phase azimuth direction coordinates and the phase elevation direction coordinates, and the target calibrated coordinates include the calibrated azimuth direction coordinates and the calibrated elevation direction coordinates. The calibrated azimuth direction coordinates are calculated by the following formula: ； The calibrated elevation direction coordinates are calculated by the following formula: ； Wherein, the calibration azimuth direction coordinate is X The calibration azimuth direction coordinate is X Rn The phase azimuth direction coordinate of the receiving antenna is X Ti The phase azimuth direction coordinate of the transmitting antenna is Y The calibration elevation direction coordinate is Y Rn The phase elevation direction coordinate of the receiving antenna is Y Ti The phase elevation direction coordinate of the transmitting antenna is M The number of the transmitting antennas is N The number of the receiving antennas is The target number of antennas includes the number of the transmitting antennas and the number of the receiving antennas, and the target antenna unit includes the transmitting antennas and the receiving antennas.

5. The method of claim 1, wherein, The first phase compensation formula of the calibration center is constructed using the calibration center coordinate parameter and the phase center coordinate parameter of each target antenna unit, wherein the first phase compensation formula is used to represent the relationship between the phase center coordinate parameter and a first phase compensation value, and the first phase compensation value is used to represent the phase difference between a first phase direction pattern and a second phase direction pattern, the first phase direction pattern being a phase direction pattern of the target antenna unit with the calibration center as the center, and the second phase direction pattern being a phase direction pattern with the target phase center of the target antenna unit as the center. The second phase compensation formula of each target antenna unit is constructed using the calibration center coordinate parameter and the phase center coordinate parameter of each target antenna unit, wherein the second phase compensation formula is used to represent the relationship between the phase center coordinate parameter and a second phase compensation value, and the second phase compensation value is used to represent the phase difference between a third phase direction pattern and a fourth phase direction pattern, the third phase direction pattern being a phase direction pattern of the target antenna unit with the calibration center as the center, and the fourth phase direction pattern being a phase direction pattern with the target phase center of the target antenna unit as the center. The channel average phase formula of the calibration center is constructed using the second phase compensation formula. The first phase compensation formula is obtained by transforming the channel average phase formula according to the wavefront flatness characteristic.

6. The method of claim 1, wherein, The target phase center of each target antenna unit is detected, wherein the target phase center of each target antenna unit is detected by the following method: A target coordinate system is constructed on the target radar device, wherein the target coordinate system is a coordinate system used to establish the target mapping relationship; The target phase center of each target antenna unit is represented by a phase coordinate in the target coordinate system.

7. An angle testing device for a radar device, characterized by The target phase center of each target antenna unit is detected by the following method: A receiving module is configured to receive an angle test request, wherein the angle test request is used to request angle test on a target radar device to be tested; A responding module is configured to respond to the angle test request, detect a target quantity of target antenna units deployed in the target radar device, and detect a target phase center of each target antenna unit; A determining module is configured to determine a target calibration center of the target radar device according to the target quantity, the target phase center, and a target mapping relationship, wherein the target mapping relationship is pre-established according to a wavefront flatness characteristic of a phase center average phase direction pattern of a radar device; A testing module is configured to use the target calibration center to perform angle test on the target radar device. The device further comprises a creating module configured to establish a two-dimensional coordinate system in the azimuth direction and the elevation direction of the radar device to obtain a target coordinate system before determining the target calibration center of the target radar device according to the target number, the target phase center and the target mapping relationship, and to create a calibration center coordinate parameter and a phase center coordinate parameter of each target antenna unit in the target coordinate system; a constructing module configured to construct a first phase compensation formula using the calibration center coordinate parameter and the phase center coordinate parameter of each target antenna unit, wherein the first phase compensation formula is used to represent the relationship between the phase center coordinate parameter and the calibration center coordinate parameter and a first phase compensation value, the first phase compensation value is used to represent the phase difference between a first phase pattern and a second phase pattern, the first phase pattern is a phase pattern of the target radar device with the calibration center as the center, and the second phase pattern is a phase pattern of the target radar device with the real phase center of the target radar device as the center; and a solving module configured to solve the phase compensation formula to obtain a coordinate dimension and a phase function with a corresponding relationship under the condition that the first phase compensation value is zero, wherein the target mapping relationship comprises the coordinate dimension and the phase function with the corresponding relationship.

8. A computer readable storage medium, characterized in that, The computer readable storage medium comprises a stored program, wherein the program performs the method of any one of claims 1 to 6 when executed. 9.An electronic device comprising a memory and a processor, the electronic device characterized by, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 6 by using the computer program.

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