Radar calibration method and device, radar device and radar test system

Abstract

The invention discloses a radar calibration method, equipment, radar equipment and a radar test system, the radar calibration method is applied to the radar test system, the radar test system comprises the radar equipment and a radar calibration device, the radar calibration device comprises a multi-surface refractor and an aircraft device, and the multi-surface refractor is arranged on the aircraft device; the method comprises the steps that radar equipment receives an emission signal of a radar calibration device; wherein the emission signal is a reflection signal of an electromagnetic wave sent by the multi-surface refraction lens to the radar equipment; determining the actual reflection power of the radar calibration device to the electromagnetic wave based on the emission signal; and when the error value between the actual reflection power and the electromagnetic wave standard reflection power of the radar calibration device is smaller than a preset threshold value, determining that the calibration of the radar equipment is completed. According to the method, the radar equipment can be calibrated based on the reflection signal of the electromagnetic wave emitted by the multi-surface refraction lens to the radar equipment in the radar calibration device, so that the calibration accuracy of the radar equipment is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of radar calibration, and in particular to a radar calibration method, equipment, radar equipment and a radar test system. Background Art

[0002] At present, radar calibration bodies, which serve as standard bodies for accurately measuring and verifying the performance parameters of radar equipment, are usually composed of hollow metal balls suspended from tethered balloons. However, when such radar calibration bodies are used for offshore calibration, the radar's close-range blind spot problem will cause the tethered balloons used to constitute the radar calibration bodies to have higher requirements on the site and weather when released.

[0003] Based on this, the prior art can replace the above-mentioned tethered balloon with a rotary-wing drone to solve the problem of high requirements for the site and weather when releasing the tethered balloon. In order to ensure the accuracy of the calibration of the radar equipment, when the rotary-wing drone is used to suspend the calibration hollow metal ball, it is generally required that the distance between the rotary-wing drone and the calibration hollow metal ball is greater than the beam width of the electromagnetic wave emitted by the radar equipment. For example, the calibration hollow metal ball can be suspended on the rotary-wing drone using a suspension rope to achieve the required distance between the rotary-wing drone and the calibration hollow metal ball.

[0004] However, when the distance between the rotorcraft UAV and the calibration hollow metal ball is large (i.e., the above-mentioned suspension rope is long), the calibration hollow metal ball swings larger in the air, which leads to a large error in the result of determining the spatial coordinates of the calibration hollow metal ball based on the spatial coordinates of the rotorcraft UAV, thereby making the calibration result of the radar equipment less accurate.

[0005] Therefore, the poor calibration accuracy of existing radar equipment has become a problem that needs to be solved. Summary of the invention

[0006] In view of the above-mentioned defects or shortcomings in the prior art, it is desired to provide a radar calibration method, device, radar equipment and radar testing system. The radar calibration method can complete the calibration of the radar equipment based on the reflection signal of the electromagnetic wave emitted by the radar equipment by the multi-faceted refractive lens in the radar calibration device, thereby ensuring the calibration accuracy of the radar equipment.

[0007] In a first aspect, the present invention provides a radar calibration method, which is applied to a radar test system, wherein the radar test system comprises: a radar device and a radar calibration device, wherein the radar calibration device comprises a multi-faceted refractive lens and a flying device, wherein the multi-faceted refractive lens is arranged on the flying device; the method comprises: The radar device receives the transmission signal of the radar calibration device; wherein the transmission signal is a reflection signal of the electromagnetic wave sent by the radar device by the multi-faceted refractive lens; Based on the transmitted signal, determining the actual reflected power of the electromagnetic wave by the radar calibration device; When the error value between the actual reflected power and the standard reflected power of the electromagnetic wave of the radar calibration device is less than a preset threshold, it is determined that the calibration of the radar device is completed.

[0008] In a second aspect, the present invention provides a radar device, comprising: A receiving module is used to receive a transmission signal of a radar calibration device in a radar test system; wherein the radar calibration device includes a multi-faceted refractive lens and a flying device, the multi-faceted refractive lens is arranged on the flying device, and the transmission signal is a reflection signal of the electromagnetic wave sent by the radar device by the multi-faceted refractive lens; A first processing module, used for determining the actual reflected power of the electromagnetic wave by the radar calibration device based on the transmitted signal; The second processing module is used to determine that the calibration is completed when the error value between the actual reflected power and the electromagnetic wave standard reflected power of the radar calibration device is less than a preset threshold.

[0009] In a third aspect, a radar test system is provided, including: a radar device and a radar calibration device, the radar calibration device including a multi-faceted refractive lens and a flying device, the multi-faceted refractive lens being arranged on the flying device, A radar calibration device, used to send a transmission signal, the transmission signal is a reflection signal of the electromagnetic wave sent by the radar device by the multi-faceted refractive lens; The radar device is used to receive the transmission signal and determine the actual reflection power of the electromagnetic wave by the radar calibration device based on the transmission signal; when the error value between the actual reflection power and the standard reflection power of the electromagnetic wave of the radar calibration device is less than a preset threshold, it is determined that the calibration is completed.

[0010] In a fourth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method described in the first aspect is implemented.

[0011] Compared with the prior art that uses a suspended radar calibration body to calibrate the radar equipment, the radar calibration method, equipment, radar equipment and radar testing system provided in the embodiments of the present application can, on the one hand, form a radar calibration device by arranging a multi-faceted refractive lens on the flying device to avoid the problem of large errors in the determination results of the spatial coordinates of the radar calibration body due to the large swing of the radar calibration body in the air; on the other hand, the multi-faceted refractive lens in the radar calibration device can be used to send a reflection signal of electromagnetic waves to the radar equipment, so as to complete the calibration of the radar equipment when the error between the actual reflection power of the electromagnetic wave by the radar calibration device and the standard reflection power of the electromagnetic wave by the radar calibration device is less than a preset threshold, thereby further ensuring the calibration accuracy of the radar equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A schematic diagram of the implementation environment architecture provided for the embodiments of the present application; Figure 2 A schematic diagram of a flow chart of a radar calibration method provided in an embodiment of the present application; Figure 3 A schematic top view of a radar calibration device provided in an embodiment of the present application; Figure 4 A schematic front view of a radar calibration device provided in an embodiment of the present application; Figure 5 A bottom-up schematic diagram of a radar calibration device provided in an embodiment of the present application; Figure 6 A block diagram of a radar device provided in an embodiment of the present application; Figure 7 A schematic diagram of the structure of a computer device provided in an embodiment of the present application; In the above picture: 10- radar test system; 101- radar equipment; 102- radar calibration device; 31- flight device; 32- power component; 41- multi-faceted refractive lens; 42- assembly component; 51- take-off and landing component; 600- radar equipment; 601- acquisition module; 602- first processing module; 603- second processing module; 700- computer equipment; 701- central processing unit (CPU); 702- read-only memory (ROM); 703- random access memory (RAM); 704- bus; 705- input / output (I / O) interface; 706- input part; 707- output part; 708- storage part; 709- communication part; 710- drive; 711- removable medium. DETAILED DESCRIPTION

[0013] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0014] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. In addition, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first" and "second" in the description and claims of the embodiments of the present application are used to distinguish different objects, rather than to describe a specific order of objects.

[0015] Figure 1 Schematic diagram of the implementation environment architecture of the radar calibration method provided in the embodiment of the present application. The implementation environment architecture can be a radar test system 10, such as Figure 1 As shown, the radar testing system 10 specifically includes a radar device 101 and a radar calibration apparatus 102 .

[0016] Exemplarily, the radar calibration device 102 can receive electromagnetic waves emitted by the radar equipment 101, and send a reflection signal of the electromagnetic waves to the radar equipment 101, so as to determine the actual reflection power of the electromagnetic waves by the radar calibration device 102 based on the reflection signal of the radar calibration device 102, and then determine whether the calibration of the radar equipment 101 is completed based on the actual reflection power of the radar calibration device 102.

[0017] For example, the radar test system 10 may be a marine radar test system, wherein the radar equipment 101 may be a radar equipment installed on a ship, and the radar calibration device 102 may be a radar calibration device flying around the ship.

[0018] In a specific implementation, the radar calibration device 102 can fly to a position at a preset length from the sea surface and the radar equipment 101, and use the positioning device of the global positioning system GPS / Beidou to obtain the spatial coordinates of the radar calibration device 102 in real time, and then determine the elevation angle, azimuth angle and distance when the radar equipment 101 emits electromagnetic waves based on the spatial coordinates of the radar calibration device 102 to illuminate the radar calibration device 102, and finally calibrate the radar equipment 101 according to the echo intensity generated by the radar calibration device 102 under the irradiation of electromagnetic waves.

[0019] At present, radar calibration bodies, which serve as standard bodies for accurately measuring and verifying the performance parameters of radar equipment, are usually composed of hollow metal balls suspended from tethered balloons. However, when such radar calibration bodies are used for offshore calibration, the radar's close-range blind spot problem will cause the tethered balloons used to constitute the radar calibration bodies to have higher requirements on the site and weather when released.

[0020] Exemplarily, the size of the radar's short-range blind spot is positively correlated with the radar's detection range. Specifically, the longer the radar's detection range, the larger the radar's short-range blind spot. When the radar equipment needs to detect a longer distance, in order to avoid the short-range blind spot problem, it is usually necessary to release the radar calibration body composed of the tethered balloon-suspended calibration hollow metal ball at a position far away from the radar. However, most ships do not have the conditions for launching due to limited deck area, which limits the application of the tethered balloon-suspended calibration hollow metal ball in marine calibration.

[0021] Based on this, the prior art can replace the above-mentioned tethered balloon with a rotary-wing drone to solve the problem of high requirements for the site and weather when releasing the tethered balloon. In order to ensure the accuracy of the calibration of the radar equipment, when the rotary-wing drone is used to suspend the calibration hollow metal ball, it is generally required that the distance between the rotary-wing drone and the calibration hollow metal ball is greater than the beam width of the electromagnetic wave emitted by the radar equipment. For example, the calibration hollow metal ball can be suspended on the rotary-wing drone using a suspension rope to achieve the required distance between the rotary-wing drone and the calibration hollow metal ball.

[0022] It should be noted that the reason why the distance between the rotorcraft UAV and the calibration hollow metal ball is set to a length greater than the width of the electromagnetic wave beam is that when the rotorcraft UAV is in flight, the rotation of its own rotor and the swing of its body can easily cause its own radar cross section (RCS) to change continuously, thereby affecting the calibration accuracy of the calibration hollow metal ball in the same electromagnetic wave beam as itself.

[0023] However, when the distance between the rotorcraft UAV and the calibration hollow metal ball is large (that is, the above-mentioned suspension rope is longer), on the one hand, the calibration hollow metal ball swings larger in the air, which leads to a larger error in the result of determining the spatial coordinates of the calibration hollow metal ball based on the spatial coordinates of the rotorcraft UAV, thereby making the calibration result of the radar equipment less accurate; on the other hand, the longer suspension rope between the rotorcraft UAV and the calibration hollow metal ball also increases the difficulty of flying the rotorcraft UAV, limiting the time available for calibration during the calibration process.

[0024] In addition, when using the above-mentioned calibration hollow metal ball to calibrate the radar equipment, the reflection intensity of the metal ball is generally increased by increasing the weight of the metal ball, so that the radar equipment can obtain the reflection signal of the metal ball to achieve its own calibration, but the increase in the weight of the metal ball also leads to higher requirements for the rotorcraft and the UAV's take-off and landing platform.

[0025] Therefore, the poor calibration accuracy of existing radar equipment has become a problem that needs to be solved.

[0026] Based on this, an embodiment of the present application provides a radar calibration method, which is applied to a radar test system. The radar calibration method can complete the calibration of the radar equipment based on the reflection signal of the electromagnetic waves emitted by the radar equipment in the radar test system by the multi-faceted refractive lens of the radar calibration device in the radar test system, thereby ensuring the calibration accuracy of the radar equipment.

[0027] It should be noted that although the operations of the method of the present invention are described in a particular order in the drawings, this does not require or imply that the operations must be performed in this particular order or that all illustrated operations must be performed to achieve desired results.

[0028] Figure 2 is a flow chart of a radar calibration method provided in an embodiment of the present application, such as Figure 2 As shown, the method specifically comprises the following steps: Step 201: The radar device receives a transmission signal from a radar calibration device; wherein the transmission signal is a reflection signal of an electromagnetic wave transmitted from the radar device by a multi-faceted refractive lens.

[0029] In a possible implementation, the radar calibration device may receive electromagnetic waves emitted by a radar device and emit a reflection signal to the electromagnetic waves, wherein the radar calibration device may include a flying device and a multi-faceted refractive lens disposed on the flying device.

[0030] Exemplarily, the multi-faceted refractive lens can be used to receive electromagnetic waves emitted by a radar device and reflect the electromagnetic waves.

[0031] Specifically, the multi-faceted refractive lens may be a dielectric spherical device capable of focusing incident electromagnetic waves and reflecting the electromagnetic waves according to the emission path of the electromagnetic waves, for example, a Luneburg lens.

[0032] Exemplarily, when the multi-faceted refractive lens is a Luneburg lens, the multi-faceted refractive lens can be composed of several layers of dielectric concentric spheres with different dielectric constants, wherein a metal reflective layer is coated at some positions of the dielectric concentric spheres, and the reflection cutting angle of the multi-faceted refractive lens can be determined according to the size of the metal reflective surface coating area.

[0033] Specifically, the dielectric constant of each layer is negatively correlated with the distance between itself and the center of the sphere. Specifically, the smaller the distance from the center of the sphere, the larger the dielectric constant.

[0034] Exemplarily, the multi-faceted refractive lens may be disposed in the circumferential direction of the flying device.

[0035] Compared with the prior art in which a calibration hollow metal ball used to reflect electromagnetic waves emitted by a radar device is suspended on a rotorcraft drone, the present application forms a radar calibration device by setting a multi-faceted refractive lens used to reflect electromagnetic waves on a flying device. This can make the radar calibration device wind-resistant, thereby avoiding the problem of poor accuracy of the calibration result of the radar device due to the swing of the calibration hollow metal ball. Secondly, the multi-faceted refractive lens in the radar calibration device can make the radar calibration device have a larger radar reflection cross-section.

[0036] In a possible implementation, the radar calibration device may include at least one multi-faceted refractive lens, wherein the at least one multi-faceted refractive lens may be evenly distributed around the flying device by at least one assembly device.

[0037] Exemplarily, the flying device may be in the shape of a disk, and may be made of, for example, a carbon fiber reinforced composite material.

[0038] Exemplarily, at least one power component is provided on the flying device, and each power component is evenly distributed on the arc surface of the flying device along the gravity direction, wherein the power component may be, for example, a ducted propeller.

[0039] Specifically, Figure 3 is a schematic top view of a radar calibration device provided in an embodiment of the present application, such as Figure 3 As shown, six power components 32 may be provided on a curved surface of one side of the flying device 31 along the direction of gravity, wherein each power component 32 is a ducted propeller.

[0040] For example, in Figure 3 The duct of the ducted propeller shown is coated with absorbing material to prevent electromagnetic waves from being repeatedly reflected in the duct and reflected to the radar device, thereby ensuring the accuracy of radar calibration. Based on this, the flying device can be a disc-shaped ducted propeller drone.

[0041] It should be noted that using carbon fiber reinforced composite materials to make flying devices can make the flying devices able to block and reflect electromagnetic waves, and making the flying devices into a disc shape can avoid the problem of electromagnetic RCS changes due to changes in the flying device's own body. At the same time, this shape can make the flying device itself have good sealing properties, and the displacement is greater than its own weight, so that when the radar calibration device accidentally falls into the water, the radar calibration device can float on the water surface to avoid damage to the device; secondly, the power component of the flying device is set to a ducted propeller, which can block electromagnetic waves through the duct to avoid the propeller periodically reflecting electromagnetic waves when working.

[0042] For example, Figure 4 is a schematic diagram of a front view of a radar calibration device provided in an embodiment of the present application, such as Figure 4As shown, the radar calibration device may include a flying device 31 and multi-faceted refractive lenses 41 distributed in the circumferential direction of the flying device 31 .

[0043] Specifically, the multifaceted refractive lens 41 can be set on the flying device 31 through an assembly device 42, wherein one end of the assembly device 42 matches the size of the multifaceted refractive lens 41 and the curvature of the other end is the same as the circumferential curvature of the flying device 31.

[0044] Step 202: determining the actual reflected power of the radar calibration device to the electromagnetic wave based on the transmitted signal.

[0045] In a possible implementation, the radar device may receive a transmission signal from the radar calibration device, and determine the actual reflected power of the electromagnetic wave by the radar calibration device based on the transmission signal.

[0046] Step 203: When the error value between the actual reflected power and the standard reflected power of the electromagnetic wave of the radar calibration device is less than a preset threshold, it is determined that the calibration of the radar device is completed.

[0047] In a possible implementation, when determining the actual reflected power of electromagnetic waves emitted by the radar calibration device to the radar equipment, it can be determined whether the calibration of the radar equipment is completed based on the error value between the actual reflected power and the standard reflected power of the electromagnetic waves of the radar calibration device.

[0048] Exemplarily, when the error value between the actual reflected power and the electromagnetic wave standard reflected power of the radar calibration device is less than a preset threshold, it can be determined that the calibration of the radar device is completed. For example, the preset threshold may be 1 dB.

[0049] Specifically, the standard reflected power of the electromagnetic wave of the radar calibration device can be calculated by the following formula:

[0050] , It can be used to represent the transmission power of electromagnetic waves. It can be used to represent the antenna gain of radar equipment. It can be used to represent the wavelength of electromagnetic waves. It is used to indicate the radar cross section value of the radar calibration device. R can be used to indicate the distance between the radar equipment and the radar calibration device. Used to indicate loss, Used to indicate automatic gain control.

[0051] In a possible implementation, multiple actual reflected powers of the radar calibration device can be obtained to determine that the calibration of the radar equipment is completed when the error values ​​between the multiple actual reflected powers and the electromagnetic wave standard reflected power of the radar calibration device are all less than a preset threshold.

[0052] Exemplarily, the radar calibration device may receive multiple different electromagnetic waves transmitted by the radar equipment to transmit multiple different transmission signals to the radar equipment, so that the radar equipment determines multiple actual reflected powers of the radar calibration device based on the multiple different transmission signals.

[0053] Exemplarily, based on a plurality of different electromagnetic waves sent by the radar device, when the error value between each actual reflection power of the radar calibration device and the standard reflection power of the electromagnetic wave of the radar calibration device is less than a preset threshold, it can be determined that the calibration of the radar device is completed. For example, the number of actual reflection powers obtained by the radar calibration device can be 3.

[0054] In the embodiment of the present application, the actual reflected power of the electromagnetic wave can be determined multiple times by the radar calibration device to reduce the measurement error of the reflected power, thereby further improving the accuracy of the radar calibration.

[0055] Compared with the prior art that uses a suspended radar calibration body to calibrate the radar equipment, the radar calibration method, equipment, radar equipment and radar testing system provided in the embodiments of the present application can, on the one hand, form a radar calibration device by arranging a multi-faceted refractive lens on the flying device to avoid the problem of large errors in the determination results of the spatial coordinates of the radar calibration body due to the large swing of the radar calibration body in the air; on the other hand, the multi-faceted refractive lens in the radar calibration device can be used to send a reflection signal of electromagnetic waves to the radar equipment, so as to complete the calibration of the radar equipment when the error between the actual reflection power of the electromagnetic wave by the radar calibration device and the standard reflection power of the electromagnetic wave by the radar calibration device is less than a preset threshold, thereby further ensuring the calibration accuracy of the radar equipment.

[0056] In another embodiment of the present application, a specific implementation method before receiving the transmission signal of the radar calibration device is also provided. Exemplarily, before the aforementioned “the radar device receives the transmission signal of the radar calibration device”, the method further includes: based on the beam width of the electromagnetic wave sent by the radar device, adjusting the radar calibration device to a position where the distance from the radar device is greater than the beam width of the electromagnetic wave, and aligning any multi-faceted refractive lens in the radar calibration device with the radar device.

[0057] In a possible implementation, the radar calibration device may also be provided with a high-precision positioning module and a data transmission module, wherein the high-precision positioning module and the data transmission module may be provided in a Figure 4 The interior of the disc-shaped flying device 31 is shown.

[0058] Exemplarily, the high-precision positioning module may acquire the position information of the radar calibration device, and the data transmission module may transmit the position information of the radar calibration device.

[0059] Exemplarily, the position information of the radar calibration device relative to the radar device may be determined based on the position information of the radar device and the position information of the radar calibration device.

[0060] Specifically, the position information of the radar calibration device relative to the radar equipment may include the distance R between the radar calibration device and the radar equipment, the pitch angle of the radar calibration device relative to the radar equipment, and the position information of the radar calibration device relative to the radar equipment. , azimuth and height difference .

[0061] In a possible implementation manner, the radar calibration device may be adjusted to a preset position relative to the radar device based on the determined position information of the radar calibration device relative to the radar device.

[0062] For example, the preset position relative to the radar device may be a position at which the distance from the radar device is greater than the beam width of the electromagnetic wave emitted by the radar device. At the same time, the pitch angle of the preset position relative to the radar device is Greater than half of the angle between the top direction of the radar device irradiating the radar calibration device and the horizontal direction, and relative to the azimuth of the radar device is 0°. Among them, the angle between the top direction of the radar equipment irradiating the radar calibration device and the horizontal direction can be expressed as follows Figure 1 The angle shown .

[0063] For example, the radar calibration device can be adjusted to the preset position through the operation of the power component 32 based on the specific coordinates of the preset position obtained by the data transmission module in the radar calibration device.

[0064] Exemplarily, when the radar calibration device moves to the above-mentioned preset position, the data transmission module in the radar calibration device receives a control signal to align any multi-faceted refractive lens with the radar device based on the control signal, thereby achieving the reception of electromagnetic waves emitted by the radar device.

[0065] In another embodiment of the present application, other structural distributions of the radar calibration device are also provided. For example, Figure 5 is a bottom-up schematic diagram of a radar calibration device provided in an embodiment of the present application, such as Figure 5 As shown, the radar calibration device may further include a landing device 51 disposed on the arc surface of the flying device 31 along the gravity direction, and the landing device 51 is disposed perpendicular to the multi-faceted refractive lens 41 .

[0066] Exemplarily, the landing device 51 may be made of polyimide fiber reinforced resin.

[0067] In the embodiment of the present application, by setting the landing device 51 on the flying device 31, the landing impact energy can be absorbed and the impact load can be reduced when the radar calibration device lands, so as to facilitate the take-off, landing and ground parking of the radar calibration device; secondly, using the above-mentioned polyimide fiber reinforced resin to make the landing device 51 can make the landing device 51 wave-transparent, thereby avoiding the reflection of electromagnetic waves by the landing device 51.

[0068] In another embodiment of the present application, a radar device 600 is also provided. Exemplarily, Figure 6 is a block diagram of a radar device 600 provided in an embodiment of the present application, such as Figure 6 As shown, the radar device 600 includes: The receiving module 601 is used to receive a transmission signal of a radar calibration device in a radar test system; wherein the radar calibration device includes a multi-faceted refractive lens and a flying device, the multi-faceted refractive lens is arranged on the flying device, and the transmission signal is a reflection signal of the electromagnetic wave sent by the radar device by the multi-faceted refractive lens; A first processing module 602 is used to determine the actual reflected power of the radar calibration device to the electromagnetic wave based on the transmitted signal; The second processing module 603 is used to determine that the calibration is completed when the error value between the actual reflected power and the electromagnetic wave standard reflected power of the radar calibration device is less than a preset threshold.

[0069] Reference below Figure 7 , Figure 7 A schematic diagram of the structure of a computer device suitable for implementing the embodiments of the present application is shown. Figure 7 As shown, the computer device 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage part 708 to the random access memory (RAM) 703. In the random access memory (RAM) 703, various programs and data required for the operation instructions of the system are also stored. The central processing unit (CPU) 701, the read-only memory (ROM) 702 and the random access memory (RAM) 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0070] The following components are connected to the input / output (I / O) interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the input / output (I / O) interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that a computer program read therefrom is installed into the storage section 708 as needed.

[0071] In particular, according to an embodiment of the present application, the above reference flow chart Figure 2 Any of the described processes may be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product including a computer program carried on a computer-readable medium, the computer program including a program code for executing the method shown in the flowchart. In such an embodiment, the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication section 709, and / or installed from a removable medium 711. When the computer program is executed by a central processing unit (CPU) 701, the above-mentioned functions defined in the system of the present application are executed.

[0072] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium that matches a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0073] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operating instructions of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the aforementioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, the boxes represented by two connections can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operating instruction, or can be implemented with a combination of dedicated hardware and computer instructions.

[0074] The units or modules involved in the embodiments described in the present application may be implemented by software or by hardware. The described units or modules may also be provided in a processor, for example, may be described as: a processor including a semantic extraction unit, a weight allocation unit, and a determination unit. The names of these units or modules do not, in some cases, constitute limitations on the units or modules themselves.

[0075] As another aspect, the present application further provides a computer-readable storage medium, which may be included in the computer device described in the above embodiment, or may exist independently without being installed in the computer device. The above computer-readable storage medium stores one or more programs, and when the above programs are used by one or more processors to execute the method described in the present application. For example, it can be executed Figure 2 The steps of any of the methods shown.

[0076] The present application embodiment provides a computer program product, which includes instructions. When the instructions are executed, the method described in the present application embodiment is executed. For example, Figure 2 The steps of any of the methods shown.

[0077] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) by each other to form a technical solution.

Claims

1. A radar calibration method, characterized in that: Applied to a radar test system, the radar test system comprises: a radar device and a radar calibration device, the radar calibration device comprises a multi-faceted refractive lens and a flying device, the multi-faceted refractive lens is arranged on the flying device, and the method comprises: The radar device receives a transmission signal from the radar calibration device; wherein the transmission signal is a reflection signal of the electromagnetic wave sent by the multi-faceted refractive lens to the radar device; Based on the transmission signal, determining the actual reflected power of the electromagnetic wave by the radar calibration device; When the error value between the actual reflected power and the standard reflected power of the electromagnetic wave of the radar calibration device is less than a preset threshold, it is determined that the calibration of the radar device is completed.

2. The radar calibration method according to claim 1, characterized in that: The radar calibration device includes at least one multi-faceted refractive lens, which is evenly distributed around the flying device through at least one assembly device, wherein one end of the assembly device matches the size of the multi-faceted refractive lens, and the curvature of the other end is the same as the circumferential curvature of the flying device.

3. The radar calibration method according to claim 2, characterized in that: Before the radar device receives the transmission signal of the radar calibration device, the method further includes: Based on the beam width of the electromagnetic waves sent by the radar device, the radar calibration device is adjusted to a position where the distance from the radar device is greater than the beam width of the electromagnetic waves, and any one of the multi-faceted refractive lenses in the radar calibration device is aligned with the radar device.

4. The radar calibration method according to claim 1, characterized in that: The standard reflected power of the electromagnetic wave of the radar calibration device is calculated by the following formula: , It is used to indicate the transmission power of the electromagnetic wave. It is used to represent the antenna gain of the radar device. It is used to indicate the wavelength of the electromagnetic wave. is used to represent the radar cross section value of the radar calibration device, R is used to represent the distance between the radar equipment and the radar calibration device, Used to indicate loss, Used to indicate automatic gain control.

5. The radar calibration method according to claim 1, characterized in that: The preset threshold is 1 dB.

6. The radar calibration method according to claim 1, characterized in that: When the error value between the actual reflected power and the electromagnetic wave standard reflected power of the radar calibration device is less than a preset threshold, determining that the calibration of the radar device is completed specifically includes: Acquire a plurality of actual reflected powers, where the plurality of actual reflected powers correspond to a plurality of different electromagnetic waves sent by the radar device; When the error values ​​between the multiple actual reflected powers and the electromagnetic wave standard reflected power of the radar calibration device are all smaller than a preset threshold, it is determined that the calibration of the radar device is completed.

7. The radar calibration method according to claim 1, characterized in that: The flying device is in the shape of a disk. At least one power component is arranged on the flying device. The power component is evenly distributed on the arc surface of the flying device along the gravity direction.

8. The radar calibration method according to claim 7, characterized in that: The power component is a ducted propeller.

9. The radar calibration method according to claim 1, characterized in that: The multi-faceted refractive lens is a Luneburg lens.

10. The radar calibration method according to any one of claims 1 to 9, characterized in that: The radar calibration device further comprises a landing device arranged on the arc surface of the flying device along the gravity direction, and the landing device is arranged perpendicular to the multi-faceted refractive lens.

11. A radar device, characterized in that: include: A receiving module, used for receiving a transmission signal of a radar calibration device in a radar test system; wherein the radar calibration device comprises a multi-faceted refractive lens and a flying device, the multi-faceted refractive lens is arranged on the flying device, and the transmission signal is a reflection signal of the electromagnetic wave sent by the radar device to the multi-faceted refractive lens; A first processing module, configured to determine, based on the transmission signal, an actual reflected power of the electromagnetic wave by the radar calibration device; The second processing module is used to determine that the calibration is completed when the error value between the actual reflected power and the electromagnetic wave standard reflected power of the radar calibration device is less than a preset threshold.

12. A radar test system, characterized in that: include: A radar device and a radar calibration device, wherein the radar calibration device comprises a multi-faceted refractive lens and a flying device, wherein the multi-faceted refractive lens is arranged on the flying device. The radar calibration device is used to send a transmission signal, wherein the transmission signal is a reflection signal of the electromagnetic wave sent by the multi-faceted refractive lens to the radar device; The radar device is used to receive the transmission signal and determine the actual reflection power of the electromagnetic wave by the radar calibration device based on the transmission signal; when the error value between the actual reflection power and the standard reflection power of the electromagnetic wave of the radar calibration device is less than a preset threshold, it is determined that the calibration is completed.

13. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 10 is implemented.

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