A radar array calibration method and system based on a superstation

Abstract

The application belongs to the field of radar calibration, and particularly relates to a radar array surface calibration method and system based on a super station instrument. The position information of the array surface can be more accurately determined by adopting the combination of shooting and fixed-point positioning, the problem of low accuracy in determining the position information in a single form can be effectively avoided by the combination of the two, and in addition, the position information of all the reflecting pieces on the radar array surface does not need to be determined in the processing of the scheme by the fixed-point positioning method, so that the processing efficiency of the scheme is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of radar calibration, and particularly relates to a radar array calibration method and system based on an ultrastation. Background Technology

[0002] Currently, large and ultra-large radars are being used in an increasingly wide range of applications. With technological advancements and increasing demands, radar antennas are also trending towards larger and ultra-large sizes. Due to transportation limitations, large radars typically require antennas to be divided into multiple transportable units. These units are then assembled after the radar reaches the deployment site. After assembly, the orientation of the overall array normal needs to be calibrated, and the relative deformation of the assembled antenna units needs to be measured and adjusted.

[0003] Current calibration methods generally employ total stations or theodolites with orientation capabilities, using methods such as triangulation to calibrate the array's orientation. While this method can measure array deformation, its accuracy is relatively low due to instrument limitations, and it is also time-consuming. To achieve high-precision and rapid measurement of array deformation, a photogrammetric system is needed. However, photogrammetric systems lack northward information and can only measure array deformation. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a radar array calibration method and system based on an ultrastation.

[0005] The technical solution of this invention to solve the above-mentioned technical problems is as follows: A radar array calibration method based on an ultrastation, comprising:

[0006] Acquire images containing radar array surfaces, which are equipped with multiple photogrammetric target spheres and reflective patches.

[0007] Determine the center coordinates of each photogrammetric target sphere in a preset coordinate system;

[0008] Based on the coordinates of all sphere centers and the image containing the radar array, the coordinates of each reflective patch on the radar array are determined in a preset coordinate system. The coordinates of all reflective patches are fitted to obtain the array normal and array unevenness of the radar array, thus completing the radar array calibration.

[0009] The beneficial effects of this invention are: by combining imaging and fixed-point positioning, the position information of the array can be determined more accurately, and the combination of the two methods can effectively avoid the problem of low accuracy when determining position information in a single form. In addition, the fixed-point positioning method eliminates the need to determine the position information of all reflectors on the radar array during the processing, thereby greatly improving the processing efficiency of the solution.

[0010] Based on the above technical solution, the present invention can be further improved as follows.

[0011] Furthermore, multiple photogrammetry target spheres are deployed at the edge of the radar array.

[0012] Furthermore, the multiple reflective patches are arranged in an array on the radar array surface.

[0013] Furthermore, it also includes a spherical prism, the radius of which is equal to the radius of the photogrammetric target sphere. The spherical prism has a groove, and the center of the sphere is located on the concave surface of the groove. The process of determining the center coordinates of each photogrammetric target sphere in a preset coordinate system using an over-station is as follows:

[0014] A laser is emitted from the laser emitting device in the superstation to the spherical prism, and the azimuth, elevation, and distance values ​​of the superstation corresponding to the spherical prism are recorded. The azimuth, elevation, and distance values ​​corresponding to the spherical prism are then mapped onto the preset coordinate system to obtain the center coordinates of the photogrammetric target sphere in the preset coordinate system.

[0015] Furthermore, based on the coordinates of all sphere centers and the imagery containing the radar array, the process of determining the coordinates of each reflective patch on the radar array in a preset coordinate system is as follows:

[0016] The relative positional relationship between all reflective patches and the photogrammetric target ball is determined based on multiple sets of images. The coordinates of the reflective patch are determined based on the center coordinates of the photogrammetric target ball and the relative positional relationship between any reflective patch and the photogrammetric target ball, until the coordinates of all reflective patches are determined.

[0017] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: A radar array calibration system based on an ultrastation, comprising:

[0018] The acquisition module is used to acquire images containing radar arrays, wherein multiple photogrammetric target spheres and reflective patches are deployed on the radar arrays;

[0019] The determination module is used to: determine the center coordinates of each photogrammetric target sphere in a preset coordinate system;

[0020] The calibration module is used to: determine the coordinates of each reflective patch on the radar array in a preset coordinate system based on the coordinates of all sphere centers and the image containing the radar array, fit the coordinates of all reflective patches to obtain the array normal and array unevenness of the radar array, and complete the radar array calibration.

[0021] The beneficial effects of this invention are: by combining imaging and fixed-point positioning, the position information of the array can be determined more accurately, and the combination of the two methods can effectively avoid the problem of low accuracy when determining position information in a single form. In addition, the fixed-point positioning method eliminates the need to determine the position information of all reflectors on the radar array during the processing, thereby greatly improving the processing efficiency of the solution.

[0022] Furthermore, multiple photogrammetry target spheres are deployed at the edge of the radar array.

[0023] Furthermore, the multiple reflective patches are arranged in an array on the radar array surface.

[0024] Furthermore, it also includes a spherical prism, the radius of which is equal to the radius of the photogrammetric target sphere. The spherical prism has a groove, and the center of the sphere is located on the concave surface of the groove. The process of determining the center coordinates of each photogrammetric target sphere in a preset coordinate system using an over-station is as follows:

[0025] A laser is emitted from the laser emitting device in the superstation to the spherical prism, and the azimuth, elevation, and distance values ​​of the superstation corresponding to the spherical prism are recorded. The azimuth, elevation, and distance values ​​corresponding to the spherical prism are then mapped onto the preset coordinate system to obtain the center coordinates of the photogrammetric target sphere in the preset coordinate system.

[0026] Furthermore, based on the coordinates of all sphere centers and the imagery containing the radar array, the process of determining the coordinates of each reflective patch on the radar array in a preset coordinate system is as follows:

[0027] The relative positional relationship between all reflective patches and the photogrammetric target ball is determined based on multiple sets of images. The coordinates of the reflective patch are determined based on the center coordinates of the photogrammetric target ball and the relative positional relationship between any reflective patch and the photogrammetric target ball, until the coordinates of all reflective patches are determined. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating an embodiment of a radar array calibration method based on an ultrastation according to the present invention.

[0029] Figure 2 This is a structural framework diagram provided for an embodiment of a radar array calibration system based on an ultrastation according to the present invention;

[0030] Figure 3 This is an overall layout diagram provided for an embodiment of a radar array calibration method based on an ultrastation according to the present invention;

[0031] Figure 4This is a schematic diagram of the shape of a spherical prism provided in an embodiment of a radar array calibration method based on an ultrastation according to the present invention.

[0032] Figure 5 This is a schematic diagram of the shape of a photogrammetric target sphere provided in an embodiment of a radar array calibration method based on an ultrastation according to the present invention.

[0033] Figure 6 This is a schematic diagram of the common point mounting base provided in an embodiment of a radar array calibration method based on an ultrastation according to the present invention.

[0034] Figure 7 This is a schematic diagram of the position of common points on the radar array surface provided in an embodiment of a radar array surface calibration method based on an ultrastation according to the present invention.

[0035] Figure 8 This is a schematic diagram showing the photogrammetric patch placement position provided in an embodiment of a radar array calibration method based on an ultrastation according to the present invention.

[0036] Figure 9 This is a schematic diagram of the photogrammetric shooting position provided in an embodiment of a radar array calibration method based on an ultrastation according to the present invention.

[0037] Figure 10 This is a schematic diagram of the placement and measurement process of the superstation, which is provided in an embodiment of a radar array calibration method based on a superstation according to the present invention.

[0038] Figure 11 This is a schematic diagram of a single point measurement using an ultrastation, provided in an embodiment of a radar array calibration method based on an ultrastation according to the present invention.

[0039] Figure 12 This is a schematic diagram illustrating the process of calculating the coordinates of a single point measured by an ultrastation, as provided in an embodiment of a radar array calibration method based on an ultrastation according to the present invention.

[0040] The attached diagram lists the components represented by each number as follows:

[0041] 1. Overstation, 2. Photogrammetry, 3. Spherical prism, 4. Photogrammetry target ball, 5. Common point mounting groove, 6. Reflective patch, 7. Post-processing software. Detailed Implementation

[0042] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0043] like Figure 1 As shown, a radar array calibration method based on superstation 1 includes:

[0044] Acquire images containing radar array surfaces, wherein multiple photogrammetry target spheres 4 and reflective patches 6 are deployed on the radar array surfaces;

[0045] Determine the center coordinates of each photogrammetric target sphere 4 in the preset coordinate system;

[0046] Based on the coordinates of all sphere centers and the image containing the radar array, the coordinates of each reflective patch 6 on the radar array are determined in a preset coordinate system. The coordinates of all reflective patches 6 are fitted to obtain the array normal and array unevenness of the radar array, thus completing the radar array calibration.

[0047] In some possible implementations, the position information of the array can be determined more accurately by combining imaging and fixed-point positioning. The combination of the two methods can effectively avoid the problem of low accuracy when determining the position information by a single method. In addition, the fixed-point positioning method eliminates the need to determine the position information of all reflectors on the radar array during the processing, thereby greatly improving the processing efficiency of the solution.

[0048] It should be noted that, as Figure 3 As shown, the devices or equipment involved in this solution include: a superstation 1, a photogrammetry instrument 2, a spherical prism 3, a photogrammetry target sphere 4, a common point mounting base, a photogrammetry reflective patch 6, and post-processing software 7. The common point mounting base, also called a common point mounting base groove 5, is used for the security photogrammetry target sphere 4 or the spherical prism 3. When image capture is required, the security photogrammetry target sphere 4 is installed in this groove. Its function is to mark specific points; the groove can be understood as a reference point, used to determine the relative position between the reference point and the reflective patch 6. When fine positioning is required, the spherical prism 3 is placed in this groove. The laser emitted by the superstation 1 is reflected back to the superstation 1 after hitting the spherical prism 3, thus positioning the spherical prism 3. Based on the different placement devices of the aforementioned common point mounting groove 5, two important parameters were obtained: one is the image captured with the photogrammetric target ball 4, and the other is the position information of each common point mounting groove 5. These two parameters allow the determination of the position information of all reflective patches 6 on the entire radar array. Fitting all the position information together completes the calibration of the radar array. For a detailed explanation of the processing procedure and the unfolding of the device or equipment, please refer to the following:

[0049] First, let's further explain the structures or devices mentioned above:

[0050] 1. Overstation 1

[0051] The superstation 1 consists of a base station and a rover station. The base station is equipped with a Beidou antenna, and the rover station is a device consisting of a total station and a Beidou antenna. The superstation 1 can use the Beidou antennas of the base station and the rover station to find true north and display the true north value of the direction pointed to by its lens in real time on the rover station. The spherical prism 3 is its supporting equipment. The superstation 1 can automatically find and align the center of the spherical prism 3 through its own laser tracking function. At the same time, it can measure the distance between the three-axis center of the superstation 1 and the center of the prism, as well as the angle between the line connecting the two and true north and the ground.

[0052] 2. Photogrammetric instrument 2

[0053] The main component of the photogrammetric instrument 2 is a high-precision camera, which takes pictures of the antenna from multiple angles to obtain photos of the antenna array at different shooting angles.

[0054] 3. Spherical prism

[0055] like Figure 4 As shown, the outer shell of the spherical prism 3 is a stainless steel structure with an outer diameter of about 2 / 3 sphere, and a reflective mirror is installed inside, which can focus the laser beam emitted by the superstation 1 to the center of the sphere.

[0056] 4. Photogrammetry target ball

[0057] like Figure 5 As shown, the photogrammetric target sphere 4 has a shell made of 1 / 2 sphere stainless steel and a radius that is exactly the same as that of the spherical prism 3. A circular reflective cursor for photogrammetry is installed at the hemispherical cross-section, and the center of the reflective cursor coincides with the center of the sphere.

[0058] 5. Common point mounting bracket groove 5

[0059] like Figure 6 As shown, the common point mounting base groove 5 is a metal cylindrical structure with a spherical groove designed on the top surface. The groove is magnetic and can attract the spherical prism 3 and the photogrammetry target ball 4. The radius of the groove is the same as that of the spherical prism 3 and the photogrammetry target ball 4.

[0060] 6. Reflective patch 6

[0061] The photogrammetric reflective patch 6 is a patch that can be pasted onto the antenna array surface. At the center of the patch is a circular reflective cursor, the size of which is the same as that on the photogrammetric target sphere. When the photogrammetric instrument takes a picture, it can reflect a strong beam of light, resulting in a better image quality.

[0062] 7. Post-processing software

[0063] Post-processing software 7 processes and fits the data measured by the superstation 1 and the photogrammetric instrument, and finally obtains the fitted surface normal and surface deformation.

[0064] Secondly, the process of implementing this solution using the aforementioned equipment or software will be described in detail:

[0065] It should be noted that in this example, the three common mounting recesses 5 are used as an example for detailed explanation:

[0066] like Figure 7 As shown, three common measurement points are set on the antenna array surface. The common point mounting brackets (grooves 5) are securely attached to these three locations. The common measurement points are preferably located near the three corners of the antenna array surface, with the distance between them being as far as possible. Figure 8 As shown, photogrammetric reflective patches 6 are pasted at intervals of 1 to 2 meters on the antenna array surface, and the reflective patches 6 should cover the entire antenna array surface.

[0067] After the above processing is completed, photogrammetry is performed. Three photogrammetry target balls 4 are placed in the common point mounting groove 5. The hemispherical surface of the photogrammetry target ball 4 needs to be basically parallel to the array surface. Because the common point mounting groove 5 is magnetic, the photogrammetry target balls 4 can be well attracted and adhered to it. Figure 9 As shown, a handheld photogrammetric camera takes multiple photos of the antenna array from multiple angles at multiple locations. After the photos are taken, they can be stored in the photogrammetric camera's storage device.

[0068] After the photography is completed, the superstation 1 is used for measurement. Three photogrammetric target balls 4 are removed from the common point mounting recess 5, and three spherical prisms 3 are placed, with the prisms 3 roughly facing the superstation 1 placed on the ground. The superstation 1 is set up at a suitable measurement location on the ground (note that this location can be selected manually or calculated), and the superstation 1 should be able to align with all the spherical prisms 3. The position information of the prisms is measured by emitting lasers. The superstation 1 first performs north finding, with the rover and base station working simultaneously (this north finding process is existing technology). After the north finding is completed, if... Figure 10 As shown, perform three automatic alignments, aligning with one spherical prism 3 each time. Record the azimuth A, elevation E, and distance L of the overstation 1 after each alignment. Figure 11As shown, P is the target point, which is any reflective patch 6 or common point mounting groove 5. M is the center of the three axes of the superstation 1. The azimuth angle A is the angle between the projection of the line connecting the spherical prism 3 and the center of the three axes of the superstation 1 onto the ground and true north. When the line coincides with true north, the angle is 0°. As it rotates eastward, the angle increases. For example, if the line is 5° east of north, then the azimuth angle is A = 5°. The range is 0°-359.99 (cyclic)°, with no negative values. The elevation angle E is the angle between the line connecting the spherical prism 3 and the center of the three axes of the superstation 1 and the ground. An acute angle is taken, and the range is 0°-90°. For example, if the line is 5° or 175° from the ground, then the elevation angle is E = 5°. The distance value is the distance between the spherical prism 3 and the center of the three axes of the superstation 1. For example, if the distance between the two points is 20m, then the distance value is L = 20m.

[0069] After the measurement with the superstation 1 is completed, data processing is performed. For example... Figure 12 As shown, a rectangular coordinate system is established with the center of the three axes of the superstation 1 as the origin, true north as the positive X-axis, east as the positive Y-axis, and the vertical upward direction as the positive Z-axis. This coordinate system is the true coordinate system in space and contains true north information. In the figure, P is the target point, i.e., any reflective patch 6, P' z Let P' be the Z-axis projection point corresponding to point P. x Let P' be the X-axis projection point corresponding to point P. y Given the Y-axis projection point corresponding to point P, and the known values ​​of A, E, and L of the mounting grooves 5 at the three common points, the coordinates (x, y, z) of the common transformation point can be obtained as: (Lcos(E)cos(A), Lcos(E)sin(A), Lsin(E)). After data processing, the relative spatial positions of all measurement points in the photogrammetric photograph can be determined, i.e., the coordinate values ​​of each measurement point, including the mounting grooves 5 at the three common points, in the photogrammetric coordinate system. A coordinate transformation is performed, using the values ​​of the mounting grooves 5 at the three common points in the superstation 1 coordinate system as a reference. The coordinates of other photogrammetric measurement points are then transformed to the superstation 1 coordinate system. This process is existing technology. That is, for example, if the coordinates of any reflective patch 6 are unknown, when it is necessary to solve for the reflective patch 6, the distance from the reflective patch 6 to the three common point mounting grooves 5 can be obtained through the image captured in photogrammetry. The spatial coordinates of the three common point mounting grooves 5 are known. Thus, the position coordinates of the reflective patch 6 can be obtained by solving three equations.

[0070] Finally, all measurement points are fitted to obtain information such as the orientation of the fitted array surface normal and true north, as well as the array surface flatness. Since the coordinate information of each measurement point on the array surface is known, the flatness and normal information of the entire array surface can be analyzed. The above process or calculation process is existing technology.

[0071] Preferably, in any of the above embodiments, a plurality of photogrammetry target spheres 4 are arranged at the edge of the radar array.

[0072] It should be noted that the edge refers to any position located at one of the four corners of the radar array or within a predetermined length range from the edge of the radar array.

[0073] Preferably, in any of the above embodiments, the plurality of reflective patches 6 are arranged in an array on the radar array surface.

[0074] It should be noted that the fixed interval can be set manually, depending on factors such as the actual size of the radar array or the accuracy of the photographic acquisition equipment. Typically, the interval is 1-2 meters in all directions.

[0075] Preferably, in any of the above embodiments, a spherical prism 3 is further included. The radius of the spherical prism 3 is equal to the radius of the photogrammetric target sphere 4. The spherical prism 3 has a groove, and the center of the sphere is located on the concave surface of the groove. The process of determining the center coordinates of each photogrammetric target sphere 4 in a preset coordinate system using an ultrastation is as follows:

[0076] The laser emitter in the superstation 1 emits a laser towards the spherical prism 3, and records the azimuth, elevation, and distance values ​​of the superstation corresponding to the spherical prism 3. The azimuth, elevation, and distance values ​​corresponding to the spherical prism 3 are then mapped onto the preset coordinate system to obtain the center coordinates of the photogrammetric target sphere 4 in the preset coordinate system.

[0077] Preferably, in any of the above embodiments, the process of determining the coordinates of each reflective patch 6 on the radar array surface in a preset coordinate system based on the coordinates of all sphere centers and the image containing the radar array surface is as follows:

[0078] The relative positional relationship between all reflective patches 6 and the photogrammetric target sphere 44 is determined based on multiple sets of images. The coordinates of the center of the photogrammetric target sphere and the relative positional relationship between any reflective patch 6 and the photogrammetric target sphere 4 are then determined, until the coordinates of all reflective patches 6 are determined.

[0079] like Figure 2 As shown, a radar array calibration system based on an overstation 1 includes:

[0080] The acquisition module 100 is used to: acquire images containing a radar array, wherein multiple photogrammetry target spheres 4 and reflective patches 6 are deployed on the radar array;

[0081] The determination module 200 is used to: determine the center coordinates of each photogrammetric target sphere 4 in a preset coordinate system;

[0082] The calibration module 300 is used to: determine the coordinates of each reflective patch 6 on the radar array in a preset coordinate system based on the coordinates of all the sphere centers and the image containing the radar array, fit the coordinates of all reflective patches 6 to obtain the array normal and array unevenness of the radar array, and complete the radar array calibration.

[0083] In some possible implementations, the position information of the array can be determined more accurately by combining imaging and fixed-point positioning. The combination of the two methods can effectively avoid the problem of low accuracy when determining the position information by a single method. In addition, the fixed-point positioning method eliminates the need to determine the position information of all reflectors on the radar array during the processing, thereby greatly improving the processing efficiency of the solution.

[0084] Preferably, in any of the above embodiments, a plurality of photogrammetry target spheres 4 are arranged at the edge of the radar array.

[0085] Preferably, in any of the above embodiments, the plurality of reflective patches 6 are arranged in an array on the radar array surface.

[0086] Preferably, in any of the above embodiments, a spherical prism 3 is further included. The radius of the spherical prism 3 is equal to the radius of the photogrammetric target sphere 4. The spherical prism 3 has a groove, and the center of the sphere is located on the concave surface of the groove. The process of determining the center coordinates of each photogrammetric target sphere 4 in a preset coordinate system using an ultrastation is as follows:

[0087] The laser emitter in the superstation 1 emits a laser towards the spherical prism 3, and records the azimuth, elevation, and distance values ​​of the superstation corresponding to the spherical prism 3. The azimuth, elevation, and distance values ​​corresponding to the spherical prism 3 are then mapped onto the preset coordinate system to obtain the center coordinates of the photogrammetric target sphere 4 in the preset coordinate system.

[0088] Preferably, in any of the above embodiments, the process of determining the coordinates of each reflective patch 6 on the radar array surface in a preset coordinate system based on the coordinates of all sphere centers and the image containing the radar array surface is as follows:

[0089] The relative positional relationship between all reflective patches 6 and the photogrammetric target sphere 44 is determined based on multiple sets of images. The coordinates of the center of the photogrammetric target sphere and the relative positional relationship between any reflective patch 6 and the photogrammetric target sphere 4 are then determined, until the coordinates of all reflective patches 6 are determined.

[0090] Readers should understand that in the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0091] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the method embodiments described above are merely illustrative. For instance, the division of steps is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple steps may be combined or integrated into another step, or some features may be ignored or not executed.

[0092] If the above methods are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0093] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A radar array calibration method based on an over-station, characterized in that, include: Acquire images containing radar array surfaces, which are equipped with multiple photogrammetric target spheres and reflective patches. Determine the center coordinates of each photogrammetric target sphere in a preset coordinate system; Based on the coordinates of all sphere centers and the image containing the radar array, the coordinates of each reflective patch on the radar array in the preset coordinate system are determined. The coordinates of all reflective patches are fitted to obtain the array normal and array unevenness of the radar array, thus completing the radar array calibration. It also includes a spherical prism, the radius of which is equal to the radius of the photogrammetric target sphere. The spherical prism has a groove, and the center of the sphere is located on the concave surface of the groove. The process of determining the center coordinates of each photogrammetric target sphere in a preset coordinate system using an ultrastation is as follows: A laser is emitted from the laser emitting device in the superstation to the spherical prism, and the azimuth, elevation, and distance values ​​of the superstation corresponding to the spherical prism are recorded. The azimuth, elevation, and distance values ​​corresponding to the spherical prism are then mapped onto the preset coordinate system to obtain the center coordinates of the photogrammetric target sphere in the preset coordinate system.

2. The radar array calibration method based on an ultrastation according to claim 1, characterized in that, Multiple photogrammetry target spheres are deployed at the edge of the radar array.

3. The radar array calibration method based on an ultrastation according to claim 1, characterized in that, The multiple reflective patches are arranged in an array on the radar array surface.

4. The radar array calibration method based on an ultrastation according to claim 1, characterized in that, The process of determining the coordinates of each reflective patch on the radar array in a preset coordinate system, based on the coordinates of all sphere centers and the image containing the radar array, is as follows: The relative positional relationship between all reflective patches and the photogrammetric target ball is determined based on multiple sets of images. The coordinates of the reflective patch are determined based on the center coordinates of the photogrammetric target ball and the relative positional relationship between any reflective patch and the photogrammetric target ball, until the coordinates of all reflective patches are determined.

5. A radar array calibration system based on an over-station, characterized in that, include: The acquisition module is used to acquire images containing radar arrays, wherein multiple photogrammetric target spheres and reflective patches are deployed on the radar arrays; The determination module is used to: determine the center coordinates of each photogrammetric target sphere in a preset coordinate system; The calibration module is used to: determine the coordinates of each reflective patch on the radar array in a preset coordinate system based on the coordinates of all sphere centers and the image containing the radar array, fit the coordinates of all reflective patches to obtain the array normal and array unevenness of the radar array, and complete the radar array calibration. It also includes a spherical prism, the radius of which is equal to the radius of the photogrammetric target sphere. The spherical prism has a groove, and the center of the sphere is located on the concave surface of the groove. The process of determining the center coordinates of each photogrammetric target sphere in a preset coordinate system using an ultrastation is as follows: A laser is emitted from the laser emitting device in the superstation to the spherical prism, and the azimuth, elevation, and distance values ​​of the superstation corresponding to the spherical prism are recorded. The azimuth, elevation, and distance values ​​corresponding to the spherical prism are then mapped onto the preset coordinate system to obtain the center coordinates of the photogrammetric target sphere in the preset coordinate system.

6. A radar array calibration system based on an ultrastation according to claim 5, characterized in that, Multiple photogrammetry target spheres are deployed at the edge of the radar array.

7. A radar array calibration system based on an ultrastation according to claim 5, characterized in that, The multiple reflective patches are arranged in an array on the radar array surface.

8. A radar array calibration system based on an ultrastation according to claim 5, characterized in that, The process of determining the coordinates of each reflective patch on the radar array in a preset coordinate system, based on the coordinates of all sphere centers and the image containing the radar array, is as follows: The relative positional relationship between all reflective patches and the photogrammetric target ball is determined based on multiple sets of images. The coordinates of the reflective patch are determined based on the center coordinates of the photogrammetric target ball and the relative positional relationship between any reflective patch and the photogrammetric target ball, until the coordinates of all reflective patches are determined.

Images