Radar angle measurement method and device, electronic equipment and storage medium
By obtaining and updating position correction parameters in the radar antenna array and adjusting the source direction, the problem of difficult modification of the guide vector and large angle measurement error is solved, and a high angle measurement accuracy and low-cost angle measurement method are achieved.
Patent Information
- Application Number
- CN202411312520.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-20
- Publication Date
- 2024-12-27
AI Technical Summary
The existing radar angle measurement methods have problems such as difficult to modify the guide vector and large angle measurement errors, resulting in low angle measurement accuracy and high modification cost.
The angle measurement error is reduced by obtaining the placement position and angle measurement information of the radar antenna array, calculating the source direction and adjusting the direction, and updating the position correction parameters until the preset accuracy conditions are met.
It effectively reduces radar angle measurement error, improves angle measurement accuracy, and does not rely on hardware characteristics, reduces modification requirements due to small product errors, and reduces costs.
Smart Images
Figure CN119199818A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of radar angle measurement, and in particular to a radar angle measurement method, device, electronic device and storage medium. Background Art
[0002] At present, the main method for measuring the angle of radar is to compare the antenna positions in the radar layout. The steering vector of the antenna array is calculated based on the position of the antenna. It is compared with the measured steering vector and the angle position of the target is determined by calculating the phase difference. However, this common method has certain problems, which are as follows:
[0003] 1) After the array is determined, the steering vector is determined and is not easy to modify; usually the modification needs to be at the hardware level, and the version modification cost is high;
[0004] 2) Most radar antennas require the placement of influencing structures around the antennas to ensure consistent phase or gain of the antennas. However, the placement of influencing structures will affect the relative layout of the antennas to a certain extent, resulting in a difference between the actual and ideal guidance vectors.
[0005] 3) Due to the difference in the ideal guidance vector, inevitable angle measurement errors will occur during the angle measurement process. Summary of the invention
[0006] The technical problem to be solved by the present application is to provide a radar angle measurement method, which can reduce the angle measurement error of the radar and obtain greater angle measurement accuracy at a lower cost.
[0007] The first aspect of the present application discloses a radar angle measurement method, the method comprising:
[0008] Obtaining the placement position of each array element in the radar antenna array, the current position correction parameter of each array element, the angle measurement information corresponding to each array element, and the source direction measurement information corresponding to each array element, wherein the current position correction parameter is a value within a preset correction parameter range;
[0009] Based on the current position correction parameter, the placement position and the angle measurement information, direction adjustment is performed on the information source direction calculation information corresponding to each of the array elements to obtain current direction adjustment information corresponding to each of the array elements;
[0010] Determine a current angle measurement error corresponding to the radar antenna array based on the current direction adjustment information, the information source direction measurement information and the angle measurement information;
[0011] Determine error accuracy information corresponding to the current angle measurement error;
[0012] Based on the current angle measurement error, updating the current position correction parameter;
[0013] Repeating the steps of adjusting the angle of the source direction calculation information corresponding to each array element based on the current position correction parameter, the placement position and the angle measurement information, obtaining the current direction adjustment information corresponding to each array element, and updating the current position correction parameter based on the current angle measurement error, until the error accuracy information meets the preset accuracy condition, and taking the current angle measurement error corresponding to the error accuracy information that meets the preset accuracy condition as the target angle measurement error;
[0014] Based on the target angle measurement error, the angle measurement information is angle corrected to obtain target angle information.
[0015] Optionally, the information source direction calculation information is information source energy response information, the angle measurement information is first angle information between the array element and the information source in the horizontal direction, and the information source direction calculation information corresponding to each array element is direction-adjusted based on the current position correction parameter, the placement position and the angle measurement information, to obtain the current direction adjustment information corresponding to each array element, including:
[0016] Determining the information source energy response information based on the placement position and the first angle information;
[0017] Based on the current position correction parameter, the position of the information source energy response information is corrected to obtain the current direction adjustment information.
[0018] Optionally, the angle measurement information further includes second angle information between the array element and the information source in a vertical direction, and determining a current angle measurement error corresponding to the radar antenna array based on the current direction adjustment information, the information source direction measurement information, and the angle measurement information includes:
[0019] The current angle measurement error corresponding to the radar antenna array is determined based on the current direction adjustment information, the information source direction measurement information, the first angle information, and the second angle information.
[0020] Optionally, the determining the error accuracy information corresponding to the current angle measurement error includes:
[0021] Performing function processing on the current angle measurement error to obtain angle measurement error function information;
[0022] Based on preset weights, the angle measurement error function information is weighted and summed to obtain the error accuracy information, wherein the preset weights are determined based on a target measurement range corresponding to the radar antenna array.
[0023] Optionally, performing function processing on the current angle measurement error to obtain angle measurement error function information includes:
[0024] The current angle measurement error is used as an exponent and substituted into a preset function with the reciprocal of a natural constant as a base to obtain the angle measurement error function information.
[0025] Optionally, updating the current position correction parameter based on the current angle measurement error includes:
[0026] Based on the current angle measurement error, selecting a first preset number of target position correction parameters from the current position correction parameters;
[0027] Acquiring a second preset number of random position correction parameters from the correction parameter range;
[0028] The current position correction parameter is updated based on the target position correction parameter and the random position correction parameter.
[0029] Optionally, the preset accuracy condition includes that the error accuracy information is information output when the number of repeated executions reaches a preset number of times, or the error accuracy information is less than or equal to a preset error threshold.
[0030] A second aspect of the present application discloses a radar angle measuring device, the device comprising:
[0031] A data acquisition module is configured to acquire the placement position of each array element in the radar antenna array, a current position correction parameter of each array element, angle measurement information corresponding to each array element, and source direction measurement information corresponding to each array element, wherein the current position correction parameter is a value within a preset correction parameter range;
[0032] A position correction module is configured to perform direction adjustment on the source direction calculation information corresponding to each of the array elements based on the current position correction parameter, the placement position and the angle measurement information, so as to obtain current direction adjustment information corresponding to each of the array elements;
[0033] an angle measurement error determination module, configured to determine a current angle measurement error corresponding to the radar antenna array based on the current direction adjustment information, the information source direction measurement information and the angle measurement information;
[0034] An error accuracy determination module is configured to determine error accuracy information corresponding to the current angle measurement error;
[0035] A parameter updating module, configured to update the current position correction parameter based on the current angle measurement error;
[0036] a loop execution module, configured to repeatedly perform angle adjustment on the source direction calculation information corresponding to each of the array elements based on the current position correction parameter, the placement position and the angle measurement information, obtain the current direction adjustment information corresponding to each of the array elements, and update the current position correction parameter based on the current angle measurement error until the error accuracy information meets the preset accuracy condition, and use the current angle measurement error corresponding to the error accuracy information that meets the preset accuracy condition as the target angle measurement error;
[0037] The angle correction module is configured to perform angle correction on the angle measurement information based on the target angle measurement error to obtain target angle information.
[0038] The third aspect of the present application discloses an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;
[0039] Memory, used to store computer programs;
[0040] The processor is used to implement the above-mentioned radar angle measurement method when executing the program stored in the memory.
[0041] A fourth aspect of the present application discloses a computer-readable storage medium having a computer program stored thereon, and the computer program implements the above-mentioned radar angle measurement method when executed by a processor.
[0042] Compared with the prior art, the present application has the following beneficial effects: the radar angle measurement method provided by the present application corrects the deviation between the ideal and the actual that may have existed, and the angle measurement error will be reduced to a certain extent in the process of calculating the angle measurement; and the angle measurement error correction scheme of the present application is determined by the array, and after the plate is processed, it does not rely on the characteristics of the system hardware, thereby minimizing the modifications required due to minor errors in the product; greatly reducing the radar angle measurement error, and exchanging a lower cost for a higher angle measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0043] Figure 1 is a schematic diagram of a radar angle measurement method according to an exemplary embodiment;
[0044] Figure 2 is a schematic diagram of a virtual array composed of radar receiving and transmitting antennas according to an exemplary embodiment;
[0045] Figure 3 is a schematic diagram of an ideal radar angle measurement according to an exemplary embodiment;
[0046] Figure 4is a schematic diagram of signal flow of a radar after position correction according to an exemplary embodiment;
[0047] Figure 5 A schematic diagram of a fitness function used in a radar angle measurement method according to an exemplary embodiment;
[0048] Figure 6 A fitness function evolution diagram used in a radar angle measurement method according to an exemplary embodiment;
[0049] Figure 7 is a schematic diagram showing summing errors of all radar-measurable angles according to an exemplary embodiment;
[0050] Figure 8 is a schematic diagram of angle measurement error at each iteration according to an exemplary embodiment;
[0051] Fig. 9 is a schematic diagram showing a comparison of angle measurement errors before and after radar correction according to an exemplary embodiment;
[0052] Fig.10 is a schematic diagram of a radar angle measuring device according to an exemplary embodiment;
[0053] Fig.11 The figure is a schematic diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION
[0054] The present application is further described below in conjunction with the accompanying drawings and embodiments.
[0055] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.
[0056] A radar angle measurement method provided in the present application can be applied to millimeter-wave radars. Millimeter-wave radars can be used in vehicle-mounted scenarios to detect possible obstacles around the vehicle, such as vehicles, pedestrians and other road users, and realize various driving functions such as intelligent driving and unmanned driving.
[0057] Figure 1 : is a schematic diagram of a radar angle measurement method according to an exemplary embodiment, the method comprising:
[0058] S110. Obtain the placement position of each element in the radar antenna array, the current position correction parameter of each element, the angle measurement information corresponding to each element, and the source direction measurement information corresponding to each element, where the current position correction parameter is a value within a preset correction parameter range;
[0059] As an optional embodiment, Figure 2 The virtual array of receiving antennas and transmitting antennas shown in the figure, the black dots in the figure are the array elements in the virtual array. According to the arrangement of the array elements in the radar antenna array, the placement position of each array element can be determined, and the placement position is a fixed array structure.
[0060] like Figure 3 The figure shows the angle measurement process before position correction. Figure 3 It can be seen that the angle measurement process in actual measurement will be affected by the fixed array structure, resulting in angle measurement errors. Figure 4 ,like Figure 4 The figure shows a schematic diagram of the signal flow after position correction. It can be seen that the position of the array element can be corrected through algorithm processing, and the interference of the array structure and external influencing structure can be eliminated during the angle measurement process, thereby reducing the angle measurement error. The current position correction parameter is the parameter used to correct the placement position of the array element in each iteration. The current position correction parameter can be used to correct the placement position of the array element by correcting the phase of the array element. At this time, the correction parameter range is the phase range. When correcting the placement position of the array element for the first time, a preset number of values consistent with the number of array elements can be selected from the preset correction parameter range as the first position correction parameter, that is, the current position correction parameter at this time. For example, when the number of array elements is N, N values are selected as the first position correction parameter. In addition, the angle measurement information and the source direction measurement information are both information that can be directly measured. The source direction measurement information is a measurement guidance vector that can be directly measured.
[0061] Taking the first iteration as an example, in the first iteration, it can be assumed that the number of array elements in the radar antenna array is N, and the initial position correction parameter of each array element is set as shown in formula (1). The initial position correction parameter is the array element phase correction selected within the preset phase range. The selection method can be random selection or selection based on a rule related to the array element, and the placement position of the array element is shown in formula (2):
[0062]
[0063] D=[d 1 ,d 2 ,d 3,...,d n ] (2)
[0064] in, It represents the phase shift of the ith array element relative to the ideal phase shift in the first iteration. This value is between the maximum phase shift and the minimum phase shift. D represents the actual distance between the array element and the first array element, which can be used to represent the placement of the array element. N represents the number of array elements.
[0065] In the first iteration, the initial position correction parameters As the current position correction parameter of the first iteration, in the second iteration, update the current position correction parameter of the first iteration And the updated As the current position correction parameter in the second iteration, and so on, the current position correction parameter needs to be updated in each iteration thereafter.
[0066] S120. Based on the current position correction parameters, placement position and angle measurement information, the direction of the source direction calculation information corresponding to each array element is adjusted to obtain the current direction adjustment information corresponding to each array element;
[0067] As an optional embodiment, based on the placement position and angle measurement information, the information source direction calculation information corresponding to each array element can be calculated, and the information source direction calculation information is information used to indicate the direction of the information source under ideal conditions. The ideal conditions here refer to the absence of factors that affect the antenna array layout around the radar antenna array, such as physically set influencing structures or other factors. Through the current position correction parameter, the information source direction calculation information can be corrected to obtain the current direction adjustment information, which is the information indicating the direction of the information source under the corrected ideal conditions, so that the direction of the information source can be closer to the actual measurement result, thereby improving the accuracy of radar angle measurement.
[0068] As an optional embodiment, the source direction calculation information is the source energy response information, the angle measurement information is the first angle information between the array element and the source in the horizontal direction, and the source direction calculation information corresponding to each array element is directionally adjusted based on the current position correction parameter, the placement position and the angle measurement information, and the current direction adjustment information corresponding to each array element is obtained, including:
[0069] S210. Determine the source energy response information based on the placement position and the first angle information;
[0070] S220. Based on the current position correction parameter, the source energy response information is position corrected to obtain current direction adjustment information.
[0071] As an optional embodiment, the information source direction calculation information is the information source energy response information. Specifically, the information source direction calculation information can be a calculated theoretical steering vector. Based on the placement position and the first angle information, the theoretical steering vector can be calculated, and then based on the current position correction parameter, the theoretical steering vector is phase corrected to obtain a corrected steering vector, which is the current direction adjustment information.
[0072] Taking the first iteration as an example, during the first iteration, according to the above formula (1) and formula (2), the current position correction parameter of the first iteration is known: The steering vector calculated in the first iteration is as follows.
[0073]
[0074] Among them, sv(θ) represents the The phase-corrected steering vector, sv improved (θ) represents the The steering vector after phase correction; θ represents the size of the radar detection azimuth, that is, the first angle information, and λ represents the wavelength at the radar operating frequency.
[0075] S130. Determine the current angle measurement error corresponding to the radar antenna array based on the current direction adjustment information, the source direction measurement information and the angle measurement information;
[0076] As an optional embodiment, the angle measurement information further includes second angle information between the array element and the information source in the vertical direction, and based on the current direction adjustment information, the information source direction measurement information and the angle measurement information, determining the current angle measurement error corresponding to the radar antenna array includes:
[0077] Based on the current direction adjustment information, the information source direction measurement information, the first angle information and the second angle information, a current angle measurement error corresponding to the radar antenna array is determined.
[0078] As an optional embodiment, when the current direction adjustment information is a steering vector after phase correction, the information source direction measurement information may be a steering vector directly measured based on the deployed radar antenna array, and the angle measurement information may include first angle information and second angle information, the first angle information being the angle information between the array element and the information source in the horizontal direction, that is, the azimuth, and the second angle information being the angle information between the array element and the information source in the vertical direction, that is, the pitch angle. Based on a preset error calculation function, the current direction adjustment information, the information source direction measurement information, the first angle information, and the second angle information are subjected to function calculation processing to determine the current angle measurement error.
[0079] Taking the first iteration as an example, during the first iteration, according to the above formula (3) and formula (4), the process of the first iteration is known to be The steering vector sv after phase correction improved (θ), the steering vector after phase correction, and the steering vector sv obtained by measurement measure (θ), calculate the current angle measurement error of each pitch angle and each azimuth angle, as shown in the following formula:
[0080] err(θ,α)=F(sv improved ,sv measure )(θ,α) (5)
[0081] Among them, err(θ,α) represents the current angle measurement error, F represents the error calculation function for calculating the angle measurement error, and the angle measurement algorithm can be the Digital Beam Forming (DBF) algorithm, the Multiple Signal Classification (MUSIC) algorithm, the Estimating Signal Parameter via Rotational Invariance Techniques (ESPRIT) algorithm and other algorithms. θ represents the first angle information, that is, the azimuth angle, and α represents the second angle information, that is, the pitch angle. The current angle measurement error can be accurately determined by the steering vector before and after correction, so as to further evaluate the accuracy of the angle measurement.
[0082] S140. Determine the error accuracy information corresponding to the current angle measurement error;
[0083] As an optional embodiment, the accuracy of the current angle measurement error can be evaluated through the fitness function, the error accuracy information of all array elements can be obtained, and the angle measurement accuracy of the radar antenna array can be evaluated as a whole.
[0084] As an optional embodiment, determining the error accuracy information corresponding to the current angle measurement error includes:
[0085] S310. Perform function processing on the current angle measurement error to obtain angle measurement error function information;
[0086] S320. Based on preset weights, weighted summation is performed on the angle measurement error function information to obtain error accuracy information, where the preset weights are determined based on the target measurement range corresponding to the radar antenna array.
[0087] As an optional embodiment, the fitness function is a function with a preset weight. The step of determining the error accuracy information by the fitness function includes two parts: function processing and weighted summation. The function used in the function processing is a function that can approach 0 when finding the limit, so that the angle measurement error can be as close to 0 as possible. For example, Figure 5 The functions shown here are based on the reciprocals of the natural constants. Figure 5 The function shown in can be obtained by taking the derivative of the natural logarithm, where β represents the preset weight and x represents the current angle measurement error. Substituting the current angle measurement error as an exponent into the function with the reciprocal of the natural constant as the base, the angle measurement error function information can be obtained. Figure 6 As shown, Figure 6 It is the evolution diagram of the fitness function. The fitness of the fitness function will gradually improve during multiple iterations. The fitness is also the error accuracy information used to evaluate the accuracy of angle measurement. Therefore, the fitness function after multiple iterations can better evaluate the quality of the current position correction parameters and whether it meets the angle measurement accuracy requirements.
[0088] like Figure 7 As shown, Figure 7 This is a schematic diagram of summing the errors of all radar-measurable angles. Assuming that the radar's measurable area includes the angle area from -90 degrees to +90 degrees, the measurable area includes interest area 1 and interest area 2, that is, the radar's target measurement range. During the measurement process, it is necessary to give priority to ensuring the angle measurement accuracy within the target measurement range. Therefore, a preset weight can be set according to the radar's area of interest, and then each angle measurement error area is weighted according to the preset weight, that is, the angle measurement error function information is weighted and summed to obtain the error accuracy information. See the following formula for details:
[0089]
[0090] Among them, fit is the fitness function, e -err(θ,α) That is, it is the function obtained by taking the derivative of the natural logarithm, which can be substituted into the current angle measurement error err(θ,α) for calculation. β is the preset weight, θ represents the first angle information, that is, the azimuth angle, and α represents the second angle information, that is, the pitch angle.
[0091] When the fitness function is smaller, it means that the current angle measurement error is smaller, and thus the angle measurement accuracy is higher. Conversely, when the fitness function is larger, it means that the current angle measurement error is larger, and thus the angle measurement accuracy is lower.
[0092] like Figure 8 As shown, Figure 8 It is a schematic diagram of the fitness function at each iteration, f represents the fitness function, ε 1 to εn Indicates the position correction parameters in each angle measurement process, which can be obtained from Figure 8 The maximum value of the fitness function is obtained, so that the position correction parameter corresponding to the fitness function of the maximum value is used as the position correction parameter for the next iteration.
[0093] After constructing the fitness function, the angle measurement accuracy information can approach the ideal value more quickly, compressing the calculation process of the algorithm, thereby further improving the efficiency of radar angle measurement.
[0094] S150. Based on the current angle measurement error, update the current position correction parameters;
[0095] As an optional embodiment, from the current angle measurement error corresponding to each array element, select some array elements whose current angle measurement error meets the preset error condition, and use the current position correction parameters corresponding to these array elements in this iteration as the current position correction parameters in the next iteration, so as to gradually find the best position correction parameters to make the angle measurement error as small as possible. When screening some array elements whose current angle measurement error meets the preset error condition, the current angle measurement error can be sorted from small to large, and the array elements corresponding to the first preset number of current angle measurement errors in the sequence can be selected, or they can be sorted from large to small, and the array elements corresponding to the last preset number of current angle measurement errors in the sequence can be selected. The preset number can be set by the researchers themselves. At this time, the preset error condition is the number information obtained by the sequence after sorting. Alternatively, directly set a threshold parameter of the current angle measurement error, and screen out the current angle measurement errors that are less than the threshold parameter. At this time, the preset error condition is the threshold parameter.
[0096] As an optional embodiment, based on the current angle measurement error, updating the current position correction parameter includes:
[0097] S410. Based on the current angle measurement error, select a first preset number of target position correction parameters from the current position correction parameters;
[0098] S420. Obtaining a second preset number of random position correction parameters from the correction parameter range;
[0099] S430. Update the current position correction parameter based on the target position correction parameter and the random position correction parameter.
[0100] As an optional embodiment, the array elements corresponding to the current angle measurement error that meets the preset error condition are obtained, and the current position correction parameters corresponding to these array elements in this iteration process are obtained, and these current position correction parameters are used as the first preset number of target position correction parameters. When updating the current position correction parameters, the second preset number of random position correction parameters can also be obtained from the correction parameter range again, and together with the first preset number of target position correction parameters obtained by screening, they are used as the current position correction parameters in the next iteration process for calculation. Among them, the number of random position correction parameters is limited, and the second preset number can be set to be less than the first preset number, or less than the preset number threshold. The number of current position correction parameters in the next iteration process can be greater than N, equal to N or less than N, and the number of current position correction parameters in each iteration process is not limited.
[0101] S160. Repeat the process of adjusting the angle of the source direction calculation information corresponding to each array element based on the current position correction parameter, placement position and angle measurement information, obtaining the current direction adjustment information corresponding to each array element, and updating the current position correction parameter based on the current angle measurement error until the error accuracy information meets the preset accuracy condition, and taking the current angle measurement error corresponding to the error accuracy information when the preset accuracy condition is met as the target angle measurement error;
[0102] S170. Based on the target angle measurement error, perform angle correction on the angle measurement information to obtain target angle information.
[0103] As an optional embodiment, the preset accuracy condition includes that the error accuracy information is information output when the number of repeated executions reaches a preset number, or the error accuracy information is less than or equal to a preset error threshold.
[0104] The following will take the first iteration and the second iteration as examples to describe the iterative process in the angle measurement method. In the first iteration, the placement position of each array element in the radar antenna array, the initial position correction parameter of each array element, the azimuth angle corresponding to each array element, the pitch angle corresponding to each array element and the measured steering vector are obtained, and the initial position correction parameter is used as the first position correction parameter in the first iteration.
[0105] In the first iteration, based on the placement position and azimuth, the first theoretical steering vector of each array element is calculated, and the first theoretical steering vector is phase corrected by the first position correction parameter to obtain the first corrected steering vector corresponding to each array element. Based on the first corrected steering vector, the measured steering vector, the azimuth and the pitch angle, the first angle measurement error corresponding to the radar antenna array can be determined. Based on the fitness function, the first error accuracy information corresponding to the first angle measurement error is calculated, and based on the first error accuracy information, whether the angle measurement accuracy of the first iteration meets the preset accuracy condition is evaluated. The first angle measurement error that meets the preset error condition is selected from the first angle measurement error, and the array element corresponding to the first angle measurement error that meets the preset error condition is determined, and the first position correction parameters corresponding to these array elements are used as the second position correction parameters in the second iteration. In addition, some values can be randomly selected from the preset correction parameter range as the first random position correction parameters, and the first random position correction parameters can also be used as the second position correction parameters.
[0106] In the case where the angle measurement accuracy of the first iteration does not meet the preset accuracy condition, in the second iteration process, based on the placement position and azimuth, the second theoretical steering vector of each array element is calculated, and the second theoretical steering vector is phase corrected by the second position correction parameter to obtain the second corrected steering vector corresponding to each array element. Based on the second corrected steering vector, the measured steering vector, the azimuth and the pitch angle, the second angle measurement error corresponding to the radar antenna array can be determined. Based on the fitness function, the second error accuracy information corresponding to the second angle measurement error is calculated, and based on the first error accuracy information, whether the angle measurement accuracy of the second iteration meets the preset accuracy condition is evaluated. The second angle measurement error that meets the preset error condition is selected from the second angle measurement error, and the array element corresponding to the second angle measurement error that meets the preset error condition is determined, and the second position correction parameters corresponding to these array elements are used as the third position correction parameters in the third iteration process. In addition, some values can be randomly selected from the preset correction parameter range as the second random position correction parameters, and the second random position correction parameters are also used as the third position correction parameters.
[0107] Repeat the above steps for multiple iterations until the error accuracy information meets the preset accuracy condition, and take the current angle measurement error corresponding to the error accuracy information that meets the preset accuracy condition as the target angle measurement error. Based on the target angle measurement error, perform angle correction on the azimuth and pitch angle to obtain the target angle information.
[0108] The radar angle measurement method provided in this application corrects the deviation between the ideal and the actual that may exist. Fig. 9 As shown, Fig. 9The following table shows the angle measurement data comparison before and after the azimuth and elevation angle correction. Azimuth is the azimuth, and Elevation is the elevation. The angle measurement error comparison (taking the elevation angle error as an example) is shown in the following table:
[0109] Pitch Angle -3° 0° +3° Not corrected 0.4589 0.3315 0.4389 Correction 0.4504 0.3171 0.4382 Difference +0.0085 +0.0144 +0.0007
[0110] It can be seen from the above table that the pitch angle after correction has a smaller angle measurement error than the pitch angle before correction.
[0111] The present application proposes a radar angle measurement method, which can correct the position of the array element through the current position correction parameter, compare the angle measurement after correction with the angle measurement before correction, determine the current angle measurement error, and calculate the error accuracy information of the current angle measurement error, and screen the position correction parameter through the current angle measurement error, and repeat the iteration until the error accuracy information meets the preset accuracy condition, that is, the position correction parameter at this time can be used to correct the measured angle, thereby reducing the radar's angle measurement error and improving the radar's angle measurement accuracy. This method does not need to adjust the hardware of the radar system, but reduces the huge data calculation process to an objective complex interval through algorithm calculation, and obtains a higher angle measurement accuracy at a lower cost. In addition, this method constructs the fitness function so that the angle measurement accuracy information can approach the ideal value faster, compressing the algorithm's calculation process, thereby further improving the efficiency of radar angle measurement.
[0112] Fig.10 FIG. 1 is a schematic diagram of a radar angle measuring device according to an exemplary embodiment. Fig.10 , the device comprises:
[0113] The data acquisition module is configured to acquire the placement position of each array element in the radar antenna array, the current position correction parameter of each array element, the angle measurement information corresponding to each array element, and the source direction measurement information corresponding to each array element, wherein the current position correction parameter is a value within a preset correction parameter range;
[0114] The position correction module is configured to perform direction adjustment on the source direction calculation information corresponding to each array element based on the current position correction parameter, placement position and angle measurement information, so as to obtain current direction adjustment information corresponding to each array element;
[0115] An angle measurement error determination module is configured to determine a current angle measurement error corresponding to the radar antenna array based on current direction adjustment information, source direction measurement information and angle measurement information;
[0116] An error accuracy determination module is configured to determine error accuracy information corresponding to a current angle measurement error;
[0117] A parameter updating module is configured to update a current position correction parameter based on a current angle measurement error;
[0118] a loop execution module configured to repeatedly perform angle adjustment on the source direction calculation information corresponding to each array element based on the current position correction parameter, the placement position and the angle measurement information, obtain the current direction adjustment information corresponding to each array element, and update the current position correction parameter based on the current angle measurement error until the error accuracy information meets the preset accuracy condition, and use the current angle measurement error corresponding to the error accuracy information when the preset accuracy condition is met as the target angle measurement error;
[0119] The angle correction module is configured to perform angle correction on the angle measurement information based on the target angle measurement error to obtain the target angle information.
[0120] As an optional embodiment, the information source direction calculation information is information source energy response information, the angle measurement information is first angle information between the array element and the information source in the horizontal direction, and the position correction module includes:
[0121] A response information determination unit, configured to determine source energy response information based on the placement position and the first angle information;
[0122] A position correction unit is configured to perform position correction on the source energy response information based on the current position correction parameter to obtain current direction adjustment information;
[0123] As an optional embodiment, the angle measurement information further includes second angle information between the array element and the information source in a vertical direction, and the angle measurement error determination module includes:
[0124] The angle measurement error calculation unit is configured to determine the current angle measurement error corresponding to the radar antenna array based on the current direction adjustment information, the source direction measurement information, the first angle information and the second angle information.
[0125] As an optional embodiment, the error accuracy determination module includes:
[0126] A function processing unit is configured to perform function processing on the current angle measurement error to obtain angle measurement error function information;
[0127] The weighted summation unit is configured to perform weighted summation of the angle measurement error function information based on preset weights to obtain error accuracy information, and the preset weights are determined based on the target measurement range corresponding to the radar antenna array.
[0128] As an optional embodiment, the function processing unit includes:
[0129] The function calculation unit is configured to execute the operation of substituting the current angle measurement error as an exponent into a preset function with the reciprocal of a natural constant as a base to obtain angle measurement error function information.
[0130] As an optional embodiment, the parameter updating module includes:
[0131] A parameter screening unit is configured to screen a first preset number of target position correction parameters from the current position correction parameters based on the current angle measurement error;
[0132] A random parameter acquisition unit, configured to acquire a second preset number of random position correction parameters from the correction parameter range;
[0133] The parameter updating unit is configured to update the current position correction parameter based on the target position correction parameter and the random position correction parameter.
[0134] As an optional embodiment, the preset accuracy condition includes that the error accuracy information is information output when the number of repeated executions reaches a preset number, or the error accuracy information is less than or equal to a preset error threshold.
[0135] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.
[0136] like Fig.11 As shown, an embodiment of the present application provides an electronic device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.
[0137] Memory 113, used for storing computer programs;
[0138] In one embodiment of the present application, the processor 111 is used to implement the radar angle measurement method provided by any one of the aforementioned method embodiments when executing the program stored in the memory 113.
[0139] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.
[0140] The communication interface is used for communication between the above terminal and other devices.
[0141] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.
[0142] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
[0143] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the radar angle measurement method provided by any of the aforementioned method embodiments is implemented.
[0144] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0145] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.
[0146] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative can be used.
[0147] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. In the description, the suffixes such as "module", "component" or "unit" used to represent the elements are only used to facilitate the description of the present application and have no specific meaning in themselves. Therefore, "module", "component" or "unit" can be used in a mixed manner.
[0148] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.
Claims
1. A radar angle measurement method, characterized in that: The method comprises: Obtaining the placement position of each array element in the radar antenna array, the current position correction parameter of each array element, the angle measurement information corresponding to each array element, and the source direction measurement information corresponding to each array element, wherein the current position correction parameter is a value within a preset correction parameter range; Based on the current position correction parameter, the placement position and the angle measurement information, direction adjustment is performed on the information source direction calculation information corresponding to each of the array elements to obtain current direction adjustment information corresponding to each of the array elements; Determine a current angle measurement error corresponding to the radar antenna array based on the current direction adjustment information, the information source direction measurement information and the angle measurement information; Determine error accuracy information corresponding to the current angle measurement error; Based on the current angle measurement error, updating the current position correction parameter; Repeating the steps of adjusting the angle of the source direction calculation information corresponding to each array element based on the current position correction parameter, the placement position and the angle measurement information, obtaining the current direction adjustment information corresponding to each array element, and updating the current position correction parameter based on the current angle measurement error, until the error accuracy information meets the preset accuracy condition, and taking the current angle measurement error corresponding to the error accuracy information that meets the preset accuracy condition as the target angle measurement error; Based on the target angle measurement error, the angle measurement information is angle corrected to obtain target angle information.
2. The radar angle measurement method according to claim 1, characterized in that: The information source direction calculation information is information source energy response information, the angle measurement information includes first angle information between the array element and the information source in the horizontal direction, and the information source direction calculation information corresponding to each array element is adjusted in direction based on the current position correction parameter, the placement position and the angle measurement information, so as to obtain the current direction adjustment information corresponding to each array element, including: Determining the information source energy response information based on the placement position and the first angle information; Based on the current position correction parameter, the position of the information source energy response information is corrected to obtain the current direction adjustment information.
3. The radar angle measurement method according to claim 2, characterized in that: The angle measurement information further includes second angle information of the array element and the information source in the vertical direction, and the determining, based on the current direction adjustment information, the information source direction measurement information and the angle measurement information, a current angle measurement error corresponding to the radar antenna array includes: The current angle measurement error corresponding to the radar antenna array is determined based on the current direction adjustment information, the information source direction measurement information, the first angle information, and the second angle information.
4. The radar angle measurement method according to claim 1, characterized in that: The determining of the error accuracy information corresponding to the current angle measurement error includes: Performing function processing on the current angle measurement error to obtain angle measurement error function information; Based on preset weights, the angle measurement error function information is weighted and summed to obtain the error accuracy information, wherein the preset weights are determined based on a target measurement range corresponding to the radar antenna array.
5. The radar angle measurement method according to claim 4, characterized in that: The performing function processing on the current angle measurement error to obtain angle measurement error function information includes: The current angle measurement error is used as an exponent and substituted into a preset function with the reciprocal of a natural constant as a base to obtain the angle measurement error function information.
6. The radar angle measurement method according to claim 1, characterized in that: The updating of the current position correction parameter based on the current angle measurement error comprises: Based on the current angle measurement error, selecting a first preset number of target position correction parameters from the current position correction parameters; Acquiring a second preset number of random position correction parameters from the correction parameter range; The current position correction parameter is updated based on the target position correction parameter and the random position correction parameter.
7. The radar angle measurement method according to claim 1, characterized in that: The preset accuracy condition includes that the error accuracy information is information output when the number of repeated executions reaches a preset number, or the error accuracy information is less than or equal to a preset error threshold.
8. A radar angle measuring device, characterized in that: The device comprises: A data acquisition module is configured to acquire the placement position of each array element in the radar antenna array, a current position correction parameter of each array element, angle measurement information corresponding to each array element, and source direction measurement information corresponding to each array element, wherein the current position correction parameter is a value within a preset correction parameter range; A position correction module is configured to perform direction adjustment on the source direction calculation information corresponding to each of the array elements based on the current position correction parameter, the placement position and the angle measurement information, so as to obtain current direction adjustment information corresponding to each of the array elements; an angle measurement error determination module, configured to determine a current angle measurement error corresponding to the radar antenna array based on the current direction adjustment information, the information source direction measurement information and the angle measurement information; An error accuracy determination module is configured to determine error accuracy information corresponding to the current angle measurement error; A parameter updating module, configured to update the current position correction parameter based on the current angle measurement error; a loop execution module, configured to repeatedly perform angle adjustment on the source direction calculation information corresponding to each of the array elements based on the current position correction parameter, the placement position and the angle measurement information, obtain the current direction adjustment information corresponding to each of the array elements, and update the current position correction parameter based on the current angle measurement error until the error accuracy information meets the preset accuracy condition, and use the current angle measurement error corresponding to the error accuracy information that meets the preset accuracy condition as the target angle measurement error; The angle correction module is configured to perform angle correction on the angle measurement information based on the target angle measurement error to obtain target angle information.
9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor is used to implement the radar angle measurement method described in any one of claims 1 to 7 when executing the program stored in the memory.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the angle measurement method according to any one of claims 1 to 7 is implemented.