A millimeter-wave antenna array calibration method based on point targets

Abstract

The present invention discloses a millimeter-wave antenna array calibration method based on point targets, comprising the following steps: 1. establishing a data acquisition system; 2. calculating the x-axis and y-axis offset distances of the point target relative to the center point of the radar scanning aperture using phase changes; 3. establishing a right triangle based on the radar scanning starting point on the x-axis, the projection point of the point target on the radar scanning plane, and the position of the point target; 4. calculating the distance from the point target to the radar scanning aperture using the phase formula and the Pythagorean theorem based on the obtained x-axis peak data phase change curve; 5. calculating calibration parameters based on the x-axis and y-axis offset distances of the point target relative to the center point of the radar scanning aperture and the distance to the radar scanning aperture; and 6. calibrating the data of the experimental target based on the calibration parameters. The present invention can achieve phase and frequency offset calibration of the millimeter-wave antenna array, thereby improving the calibration accuracy of the amplitude and phase of each channel of the millimeter-wave antenna array.

Description

Technical Field

[0001] The present invention belongs to the technical field of millimeter wave radar signal processing, and in particular relates to a millimeter wave antenna array calibration method based on point targets. Background Art

[0002] In actual millimeter-wave radar imaging systems, the amplitude and phase of the antenna array may be mismatched due to the layout of the antenna array on the millimeter-wave radar, RF delay, and other reasons, resulting in measurement errors in the antenna array. In particular, phase mismatch can cause image artifacts and distance offsets during image reconstruction. Therefore, calibration is an important step in the millimeter-wave radar imaging process to reduce the impact of channel changes and improve image reconstruction quality.

[0003] Currently, millimeter-wave antenna array calibration methods include hardware channel calibration, external reference calibration, target imaging calibration, and antenna mutual coupling calibration. Hardware channel calibration is costly and difficult to control for accuracy. External reference calibration is susceptible to interference from external factors, affecting calibration accuracy. Target imaging calibration requires a complex algorithm, and its accuracy is affected by system parameters and the calibration algorithm. Antenna mutual coupling calibration results in large calibration errors due to the uncertainty of the antenna coupling signal. Summary of the Invention

[0004] In order to address the shortcomings of the above-mentioned prior art, the present invention proposes a millimeter-wave antenna array calibration method based on a point target, in order to realize the phase and frequency offset calibration of the millimeter-wave antenna array, thereby improving the calibration accuracy of the amplitude and phase of each channel of the millimeter-wave antenna array.

[0005] In order to achieve the above-mentioned object, the present invention adopts the following technical solutions:

[0006] The present invention provides a method for calibrating a millimeter wave antenna array based on a point target, which comprises the following steps:

[0007] Step 1: Establish a data acquisition system, including: a host computer, a millimeter-wave radar, a data acquisition card, and a dual-axis mechanical scanning frame, wherein the millimeter-wave radar and the data acquisition card constitute a data acquisition module and are placed on the horizontal axis of the dual-axis mechanical scanning frame;

[0008] Step 2: Establish a three-dimensional coordinate system for the millimeter-wave radar, with the position of the millimeter-wave radar as the origin o, the horizontal scanning direction of the millimeter-wave radar as the x-axis, the vertical scanning direction of the millimeter-wave radar as the y-axis, and the front of the millimeter-wave radar as the z-axis;

[0009] The xoy plane is used as the radar scanning plane, and a radar scanning aperture is set on the radar scanning plane. The lengths of the radar scanning aperture along the horizontal direction of the x-axis and the vertical direction of the y-axis are x0 and y0 respectively, and the center point of the radar scanning aperture is

[0010] Step 3: Place the point target in front of the radar scanning aperture, and set the x-axis and y-axis coordinates of the point target within the range of the radar scanning aperture x∈[0,x0],y∈[0,y0];

[0011] Step 4: Calculate the x-axis offset distance Δx and y-axis offset distance Δy of the point target relative to the center point of the radar scanning aperture based on the phase change;

[0012] Step 5: Use the phase formula and the Pythagorean theorem to calculate the distance Z from the point target to the radar scanning aperture;

[0013] Step 6: Calculate the calibration parameters of the millimeter wave antenna array, including the complex gain factor calData and the channel delay delayOffset;

[0014] Step 7: Performing data calibration on the experimental target according to the calibration parameters of the millimeter wave antenna array;

[0015] Step 7.1: Utilize the radar scanning apertures arranged along the xoy plane of all the transmitting and receiving antennas of the antenna array to collect data of the experimental target, obtain the echo data of the experimental target, perform data cropping and dimensionality processing, thereby obtaining the raw data rawData, and calculate the data after complex gain calibration: rawDatacal = calData.*rawData; where .* represents dot product;

[0016] Step 7.2: According to the radar sampling rate f s and the frequency slope K of the radar, obtain the fixed frequency difference Δf of the two sampling points, and calculate the data after beat frequency offset calibration: RawDatacal = rawDatacal.*δ; where δ represents the frequency offset factor, and δ = exp(-j2π×delayOffset×Δf).

[0017] The point target-based millimeter wave antenna array calibration method of the present invention is also characterized in that step 4 includes the following steps:

[0018] Step 4.1: Adjust the data acquisition module to the radar scanning aperture position, then fixing the x-axis of the dual-axis mechanical scanning frame, and controlling the host computer to control a group of transceiver antennas of the antenna array of the millimeter-wave radar in the data acquisition module to perform data acquisition along the y-axis scanning aperture length y0 on the point target, obtaining echo data containing y-axis position information of the point target, and performing Fourier transform, phase unwrapping and curve fitting to obtain a smooth y-axis peak data phase change curve, thereby determining the y-axis offset distance Δy of the point target relative to the center point of the radar scanning aperture from the lowest point in the y-axis peak data phase change curve;

[0019] Step 4.2: According to the y-axis offset distance Δy of the point target relative to the center point of the radar scanning aperture, adjust the data acquisition module to the center of the scanning aperture. Position, then fix the y-axis of the dual-axis mechanical scanning frame, use the transceiver antenna to scan the point target along the x-axis with an aperture length of x0 to collect data, obtain echo data containing the x-axis position information of the point target, and after Fourier transform, phase unwrapping and curve fitting, obtain a smooth x-axis peak data phase change curve, so as to determine the x-axis offset distance Δx of the point target relative to the center point of the radar scanning aperture by the lowest point in the x-axis peak data phase change curve.

[0020] The step 5 comprises the following steps:

[0021] Step 5.1: Create a right triangle by denoting the starting point of the radar scan on the x-axis as point A, the projection of the point target on the radar scanning plane as point B, and the position of the point target as point C. The line segment CA between points C and A serves as the hypotenuse of the right triangle.

[0022] Step 5.2: Calculate the starting point phase of the phase change curve based on the x-axis peak data |φ A |and the phase of the lowest point|φ B |, and obtain the phase change value Δφ corresponding to the difference between line segment CA and line segment CB = |φ B |-|φ A |, and substitute it into the phase formula The difference Δd between line segment CA and line segment CB is obtained, where λ represents the wavelength corresponding to the starting frequency of the millimeter wave radar.

[0023] Step 5.3: Let the length of line segment CA be CA=Z+Δd, the length of line segment CB be CB=Z, and the length of line segment BA be The distance Z from the point target to the radar scanning aperture is obtained by using the Pythagorean theorem.

[0024] The step 6 comprises the following steps:

[0025] Step 6.1: Based on the x-axis and y-axis offset distances Δx and Δy of the point target, adjust the data acquisition module to the (Δx, Δy) position of the scanning aperture, construct a new coordinate origin o′ at the (Δx, Δy) position, construct a new radar scanning plane with xo′y, and set a new radar scanning aperture on the new radar scanning plane. The lengths of the new radar scanning aperture along the horizontal direction of the x-axis and the vertical direction of the y-axis are x′0 and y′0, respectively, and x′0 = x0 and y′0 = y0;

[0026] The y-axis of the dual-axis mechanical scanning frame is fixed to the new radar scanning aperture. In terms of position, all the transmitting and receiving antennas of the millimeter wave antenna array are used to scan the point target along the x-axis with an aperture length of x′0 to collect data, and the echo data of the point target is obtained and processed as measurement data after dimension processing;

[0027] Step 6.2: Simulate the position of the point target based on its x-axis offset distance Δx, y-axis offset distance Δy, and distance Z to obtain simulated data with the same dimensions as the measured data.

[0028] Step 6.3: Demodulate the measured data and the simulated data to obtain calibration error signal data, and then perform Fourier transform on the calibration error signal data to obtain the peak data peakData of the calibration error signal of each channel in the antenna array and its sequence number k, calculate the complex gain factor calData=1. / peakData, and then calculate the peak value of the calibration error signal of each channel in the antenna array according to the sequence number k. Search in and get the corresponding channel delay delayOffset, so that calData and delayOffset constitute the calibration parameters of the millimeter wave antenna array; where . / represents dot division, f s represents the radar sampling rate, N represents the number of Fourier transform points, and K represents the frequency slope of the millimeter-wave radar.

[0029] An electronic device of the present invention includes a memory and a processor, and is characterized in that the memory is used to store a program that supports the processor to execute any of the millimeter wave antenna array calibration methods, and the processor is configured to execute the program stored in the memory.

[0030] The present invention provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program is characterized in that when the computer program is executed by a processor, the computer program executes any step of the millimeter wave antenna array calibration method.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The present invention is mainly used in millimeter-wave radar imaging systems, and uses calibration parameters to calibrate the phase and frequency offset of the data to be imaged, thereby reducing artifacts and distance offset problems in image reconstruction and improving image reconstruction quality.

[0033] 2. The present invention utilizes point targets for calibration, which can reduce interference caused by external factors, thereby improving calibration accuracy.

[0034] 3. The present invention is suitable for calibration of two-dimensional plane scanning. By scanning along the x-axis and y-axis of a dual-axis mechanical scanning frame, corresponding phase change curves at different positions are obtained, and the influence of random errors on phase changes during the measurement process is reduced by curve fitting, thereby obtaining the x-axis and y-axis offset distances of the point target relative to the center point of the radar scanning aperture, and using the phase formula and the Pythagorean theorem to solve the distance from the point target to the radar scanning aperture, thereby achieving precise positioning of the spatial position of the point target, thereby improving the calibration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of the data acquisition system of the present invention;

[0036] Figure 2 Schematic diagram of the three-dimensional coordinate system of the millimeter wave radar of the present invention;

[0037] Figure 3 is a graph showing the peak data phase change of the x-axis of the present invention;

[0038] Figure 4 The peak data phase change curve diagram of the y-axis of the present invention;

[0039] Figure 5 The right triangle diagram created for the present invention. DETAILED DESCRIPTION

[0040] In this embodiment, a millimeter wave antenna array calibration method based on a point target includes the following steps:

[0041] Step 1: Establish a data acquisition system, such as Figure 1 As shown, it includes: a host computer, a millimeter-wave radar, a data acquisition card, and a dual-axis mechanical scanning frame, wherein the millimeter-wave radar and the data acquisition card constitute a data acquisition module and are placed on the horizontal axis of the dual-axis mechanical scanning frame.

[0042] Step 2: With the location of the millimeter-wave radar as the origin o, the horizontal scanning direction of the millimeter-wave radar as the x-axis, the vertical scanning direction of the millimeter-wave radar as the y-axis, and the front of the millimeter-wave radar as the z-axis, establish the three-dimensional coordinate system of the millimeter-wave radar, as shown in the following example: Figure 2 shown.

[0043] The xoy plane is used as the radar scanning plane, and the radar scanning aperture is set on the radar scanning plane. The lengths of the radar scanning aperture along the horizontal direction of the x-axis and the vertical direction of the y-axis are x0 = 200 mm and y0 = 200 mm respectively, and the center point of the radar scanning aperture is (100, 100).

[0044] Step 3: Place the point target in front of the radar scanning aperture. The x-axis and y-axis coordinates of the point target are set within the range of the radar scanning aperture x∈[0,200], y∈[0,200]. Theoretically, the point target can be placed at any position in front of the radar scanning aperture. However, for the convenience of experimental operation and the accuracy of experimental results, try to place the point target in front of the center of the radar scanning aperture.

[0045] Step 4: Calculate the x-axis and y-axis offset distances of the point target relative to the center point of the radar scanning aperture based on the phase change;

[0046] Step 4.1: Adjust the data acquisition module to the (100,0) position of the radar scanning aperture, then fix the x-axis of the dual-axis mechanical scanning frame, and control the host computer to control a group of transceiver antennas of the millimeter-wave radar antenna array in the data acquisition module to scan the point target along the y-axis with an aperture length of 200mm to collect data, obtain echo data containing the y-axis position information of the point target, and perform Fourier transform, phase unwrapping and curve fitting. When calculating the phase based on the Fourier transformed data, when its value crosses positive and negative 180 degrees, it will jump to the boundary and recalculate according to its change trend. In this state, the phase is folded, so phase unwrapping is needed to convert the jumping phase into a non-jumping phase, and curve fitting is performed to reduce the influence of random errors on phase changes during the measurement process. Finally, a smooth y-axis peak data phase change curve is obtained, as shown in the figure. Figure 3 As shown, the y-axis offset distance Δy=1 mm of the point target relative to the center point of the radar scanning aperture is determined by the lowest point in the y-axis peak data phase change curve.

[0047] Step 4.2: According to the y-axis offset distance Δy of the point target relative to the center point of the radar scanning aperture, the data acquisition module is adjusted to the (0,101) position of the scanning aperture. The purpose of adjusting the data acquisition module is to eliminate the influence of the y-axis offset distance of the point target without changing the position of the point target, so that the point target and the millimeter-wave radar are on the same horizontal plane. Then, the y-axis of the dual-axis mechanical scanning frame is fixed, and the transceiver antenna is used to scan the point target along the x-axis with an aperture length of 200 mm to collect data. The echo data containing the x-axis position information of the point target is obtained, and Fourier transform, phase unwrapping and curve fitting are performed to obtain a smooth x-axis peak data phase change curve, as shown in Fig. Figure 4As shown, the x-axis offset distance Δx=17 mm of the point target relative to the center point of the radar scanning aperture is determined by the lowest point in the x-axis peak data phase change curve.

[0048] Step 5: Use the phase formula and the Pythagorean theorem to calculate the distance from the point target to the radar scanning aperture;

[0049] Step 5.1: Because the point target and the millimeter-wave radar are on the same horizontal plane during x-axis data acquisition, a right triangle can be established based on the radar's x-axis scanning starting point, the point target's projection point on the radar scanning plane, and the point target's position. The x-axis peak data phase change curve is used to solve the distance from the point target to the radar scanning aperture. The radar's x-axis scanning starting point is recorded as point A, the point target's projection point on the radar scanning plane is recorded as point B, and the point target's position is recorded as point C, thereby establishing a right triangle, as shown in the following example: Figure 5 As shown, the line segment CA between point C and point A is used as the hypotenuse of the right triangle.

[0050] Step 5.2: Determine the starting point phase of the phase change curve based on the x-axis peak data |φ A |=1.3 and the phase at the lowest point |φ B |=22.5, the phase change value corresponding to the difference between line segment CA and line segment CB is Δφ=21.2, which is substituted into the phase formula , the difference Δd between line segment CA and line segment CB is obtained as 6.6 mm; wherein λ=3.9 mm represents the wavelength corresponding to the starting frequency of the millimeter wave radar.

[0051] Step 5.3: Let the length of line segment CA be CA = Z + 6.6, the length of line segment CB be CB = Z, and the length of line segment BA be BA = 117. Use the Pythagorean theorem to solve for the distance from the point target to the radar scanning aperture: Z = 1034 mm.

[0052] Step 6: Solve the calibration parameters of the millimeter wave antenna array;

[0053] Step 6.1: According to the x-axis and y-axis offset distances Δx and Δy of the point target, adjust the data acquisition module to the (17,1) position of the scanning aperture, and construct a new coordinate origin o′ at the (17,1) position, and construct a new radar scanning plane with xo′y. The purpose of constructing the new radar scanning plane is to eliminate the influence of the x-axis and y-axis offset distances of the point target without changing the position of the point target, so that the point target and the center point of the new radar scanning plane are on a horizontal straight line, and set a new radar scanning aperture on the new radar scanning plane. The lengths of the new radar scanning aperture along the horizontal direction of the x-axis and the vertical direction of the y-axis are x′0 = 200 mm and y′0 = 200 mm, respectively, and x′0 = x0, y′0 = y0.

[0054] Fix the y-axis of the dual-axis mechanical scanning frame to the new radar scanning aperture In terms of position, all the transmitting and receiving antennas of the millimeter wave antenna array are used to scan the point target along the x-axis with an aperture length of x′0=200mm to collect data, obtain the echo data of the point target and perform dimensional processing as measurement data.

[0055] Step 6.2: Based on the x-axis offset distance Δx, y-axis offset distance Δy, and distance Z of the point target, simulate the position of the point target by establishing a reference backscatter signal model to obtain simulated data with the same dimensions as the measured data.

[0056] Step 6.3: Demodulate the measured data and the simulated data to obtain calibration error signal data, and then perform Fourier transform on the calibration error signal data to obtain the peak data peakData of the calibration error signal of each channel in the antenna array and its sequence number k, calculate the complex gain factor calData=1. / peakData, and then calculate the peak value of the calibration error signal of each channel in the antenna array according to the sequence number k. Search in and get the corresponding channel delay delayOffset, so that calData and delayOffset constitute the calibration parameters of the millimeter wave antenna array; where . / represents dot division, f s represents the radar sampling rate, N represents the number of Fourier transform points, and K represents the frequency slope of the radar.

[0057] Step 7: Calibrate the experimental target data according to the calibration parameters of the millimeter wave antenna array;

[0058] Step 7.1: Use all the transmitting and receiving antennas of the antenna array to collect data on the experimental target through the radar scanning aperture set along the xoy plane, obtain the echo data of the experimental target and perform data clipping and dimensionality processing. The purpose of data clipping is to discard invalid data and reduce the interference of invalid data on the experimental results. The purpose of dimensionality processing is to obtain data of the same dimension as calData, thereby obtaining the original data rawData. Multiplying calData with the original data can realize the calibration of the channel gain, and calculate the data after complex gain calibration rawDatacal = calData.*rawData; where .* represents dot product.

[0059] Step 7.2: According to the radar sampling rate f s and the frequency slope K of the radar, obtain the fixed frequency difference Δf of the two sampling points, and calculate the data after beat frequency offset calibration: RawDatacal = rawDatacal.*δ; where δ represents the frequency offset factor, and δ = exp(-j2π×delayOffset×Δf).

[0060] In this embodiment, an electronic device includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the above method, and the processor is configured to execute the program stored in the memory.

[0061] In this embodiment, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are executed.

Claims

1. A millimeter wave antenna array calibration method based on point targets, characterized in that: The steps include: Step 1: Establish a data acquisition system, including: a host computer, a millimeter-wave radar, a data acquisition card, and a dual-axis mechanical scanning frame, wherein the millimeter-wave radar and the data acquisition card constitute a data acquisition module and are placed on the horizontal axis of the dual-axis mechanical scanning frame; Step 2: Establish a three-dimensional coordinate system for the millimeter-wave radar, with the position of the millimeter-wave radar as the origin o, the horizontal scanning direction of the millimeter-wave radar as the x-axis, the vertical scanning direction of the millimeter-wave radar as the y-axis, and the front of the millimeter-wave radar as the z-axis; The xoy plane is used as the radar scanning plane, and a radar scanning aperture is set on the radar scanning plane. The lengths of the radar scanning aperture along the horizontal direction of the x-axis and the vertical direction of the y-axis are respectively 、 , the center point of the radar scanning aperture is ; Step 3: Place the point target in front of the radar scanning aperture. The x-axis and y-axis coordinates of the point target are set in the radar scanning aperture. within the scope of Step 4: Calculate the x-axis offset distance of the point target relative to the center of the radar scanning aperture based on the phase change , y-axis offset distance ; Step 5: Use the phase formula and the Pythagorean theorem to calculate the distance Z from the point target's position to the projection point on the radar scanning plane; Step 6: Calculate the calibration parameters of the millimeter wave antenna array, including the complex gain factor calData and the channel delay delayOffset; Step 7: Performing data calibration on the experimental target according to the calibration parameters of the millimeter wave antenna array; Step 7.1: Use all the transmitting and receiving antennas of the antenna array along the radar scanning aperture set in the xoy plane to collect data of the experimental target, obtain the echo data of the experimental target and perform data clipping and dimension processing to obtain the raw data rawData, and calculate the data after complex gain calibration ;in, represents dot product; Step 7.2: According to the radar sampling rate And the frequency slope K of the radar, get the fixed frequency difference between the two sampling points f, and calculate the data after beat frequency offset calibration ;in, represents the frequency shift factor, and .

2. The millimeter wave antenna array calibration method based on point targets according to claim 1, characterized in that: The step 4 comprises the following steps: Step 4.1: Adjust the data acquisition module to the radar scanning aperture Position, then fix the x-axis of the dual-axis mechanical scanning frame, and the host computer controls a group of transceiver antennas of the millimeter wave radar antenna array in the data acquisition module to scan the point target along the y-axis with an aperture length of The data is collected to obtain the echo data containing the y-axis position information of the point target, and after Fourier transform, phase unwrapping and curve fitting, a smooth y-axis peak data phase change curve is obtained, and the y-axis offset distance of the point target relative to the center point of the radar scanning aperture is determined by the lowest point in the y-axis peak data phase change curve. ; Step 4.2: Based on the y-axis offset distance of the point target relative to the center point of the radar scanning aperture , adjust the data acquisition module to the scanning aperture Position, then fix the y-axis of the dual-axis mechanical scanning frame, and use the transceiver antenna to scan the point target along the x-axis with an aperture length of The data is collected to obtain the echo data containing the x-axis position information of the point target, and after Fourier transform, phase unwrapping and curve fitting, a smooth x-axis peak data phase change curve is obtained, so that the x-axis offset distance of the point target relative to the center point of the radar scanning aperture is determined by the lowest point in the x-axis peak data phase change curve. .

3. The millimeter wave antenna array calibration method based on point targets according to claim 2, characterized in that: The step 5 comprises the following steps: Step 5.1: Create a right triangle by denoting the starting point of the radar scan on the x-axis as point A, the projection of the point target on the radar scanning plane as point B, and the position of the point target as point C. The line segment CA between points C and A serves as the hypotenuse of the right triangle. Step 5.2: According to the starting point phase of the phase change curve of the x-axis peak data Phase with the lowest point , get the phase change value corresponding to the difference between line segment CA and line segment CB , and substitute it into the phase formula , we get the difference between line segment CA and line segment CB ;in, Indicates the wavelength corresponding to the starting frequency of the millimeter wave radar; Step 5.3: Let the length of line segment CA be , the length of line segment CB is , the length of line segment BA is , use the Pythagorean theorem to solve the distance Z from the position of the point target to the projection point on the radar scanning plane.

4. The millimeter wave antenna array calibration method based on point targets according to claim 3, characterized in that: The step 6 comprises the following steps: Step 6.1: According to the x-axis and y-axis offset distance of the point target 、 , adjust the data acquisition module to the scanning aperture location, and Position to construct a new coordinate origin ,by Construct a new radar scanning plane and set a new radar scanning aperture on the new radar scanning plane. The lengths of the new radar scanning aperture along the horizontal direction of the x-axis and the vertical direction of the y-axis are respectively 、 ,and , ; The y-axis of the dual-axis mechanical scanning frame is fixed to the new radar scanning aperture. At the same time, all the transmitting and receiving antennas of the millimeter wave antenna array are used to scan the point target along the x-axis. The aperture length is Data collection, the echo data of the point target is obtained and dimensionally processed as measurement data; Step 6.2: Offset the distance along the x-axis of the point target , y-axis offset distance and distance Z, simulate the position of the point target and obtain simulation data with the same dimension as the measured data; Step 6.3: Demodulate the measured data and the simulated data to obtain the calibration error signal data, and then perform Fourier transform on the calibration error signal data to obtain the peak data peakData and its sequence number k of the calibration error signal of each channel in the antenna array, and calculate the complex gain factor , and then according to the sequence number k in the channel delay range Search in and get the corresponding channel delay delayOffset, so that calData and delayOffset constitute the calibration parameters of the millimeter wave antenna array; where, Indicates dot division, represents the radar sampling rate, represents the number of points of Fourier transform, Indicates the frequency slope of the millimeter wave radar.

5. An electronic device comprising a memory and a processor, characterized in that: The memory is used to store a program that supports the processor to execute the millimeter wave antenna array calibration method described in any one of claims 1 to 4, and the processor is configured to execute the program stored in the memory.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the millimeter wave antenna array calibration method according to any one of claims 1 to 4 are executed.

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