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

Abstract

The application discloses a radar calibration method and device, a radar device and a radar test system. The radar calibration method is applied to the 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. The method comprises the following steps: the radar device receives a transmission signal of the radar calibration device. The transmission signal is a reflection signal of the multi-faceted refractive lens to electromagnetic waves sent by the radar device. Based on the transmission signal, the actual reflection power of the radar calibration device to the electromagnetic waves is determined. When the error value between the actual reflection power and the standard reflection power of the electromagnetic waves of the radar calibration device is less than a preset threshold, it is determined that the calibration of the radar device is completed. The method can complete the calibration of the radar device based on the reflection signal of the multi-faceted refractive lens in the radar calibration device to the electromagnetic waves sent by the radar device, and ensures the accuracy of the calibration of the radar device.

Description

TECHNICAL FIELD

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

[0002] At present, as a standard body for accurately measuring and verifying the performance parameters of a radar device, a radar calibration body is usually composed of a tethered balloon suspending a calibration hollow metal ball. However, when such a radar calibration body is applied to sea calibration, the near-range blind area of the radar will result in higher requirements for the site and weather when releasing the tethered balloon used to constitute the radar calibration body.

[0003] Therefore, in the prior art, the tethered balloon can be replaced by a rotor unmanned aerial vehicle to solve the problem of higher requirements for the site and weather when releasing the tethered balloon. In order to ensure the accuracy of the calibration of the radar device, when the rotor unmanned aerial vehicle suspends the calibration hollow metal ball, the distance between the rotor unmanned aerial vehicle and the calibration hollow metal ball is generally required to be greater than the beam width of the electromagnetic wave emitted by the radar device. For example, the calibration hollow metal ball can be suspended on the rotor unmanned aerial vehicle by a suspension rope to achieve the required distance between the rotor unmanned aerial vehicle and the calibration hollow metal ball.

[0004] However, when the distance between the rotor unmanned aerial vehicle and the calibration hollow metal ball is large (i.e., the suspension rope is long), the calibration hollow metal ball has a large swing in the air, which results in a large error in determining the spatial coordinates of the calibration hollow metal ball based on the spatial coordinates of the rotor unmanned aerial vehicle, thereby reducing the accuracy of the calibration result of the radar device.

[0005] Therefore, the existing radar device has poor calibration accuracy, which is a problem to be solved. SUMMARY

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

[0007] In a first aspect, the present application provides a radar calibration method, which is 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 refracting lens and a flying device. The multi-faceted refracting lens is arranged on the flying device. The method comprises the following steps:

[0008] The radar device receives a transmission signal of the radar calibration device. The transmission signal is a reflection signal of the electromagnetic wave emitted by the radar device and reflected by the multi-faceted refracting lens.

[0009] determine actual reflection power of the electromagnetic wave by the radar calibration device based on the transmission signal;

[0010] determine that the calibration of the radar device is completed when an error value between the actual reflection power and standard reflection power of the electromagnetic wave by the radar calibration device is less than a preset threshold.

[0011] In a second aspect, the present application provides a radar device, comprising:

[0012] a receiving module configured to receive a transmission signal of a radar calibration device in a radar test system, wherein the radar calibration device comprises a multi-faceted refracting lens and a flying device, the multi-faceted refracting lens is arranged on the flying device, and the transmission signal is a reflection signal of the electromagnetic wave transmitted by the radar device to the multi-faceted refracting lens;

[0013] a first processing module configured to determine actual reflection power of the electromagnetic wave by the radar calibration device based on the transmission signal;

[0014] a second processing module configured to determine that the calibration is completed when an error value between the actual reflection power and standard reflection power of the electromagnetic wave by the radar calibration device is less than a preset threshold.

[0015] In a third aspect, a radar test system is provided, comprising a radar device and a radar calibration device, wherein the radar calibration device comprises a multi-faceted refracting lens and a flying device, the multi-faceted refracting lens is arranged on the flying device,

[0016] the radar calibration device is configured to transmit a transmission signal, the transmission signal being a reflection signal of the electromagnetic wave transmitted by the radar device to the multi-faceted refracting lens;

[0017] the radar device is configured to receive the transmission signal, and determine actual reflection power of the electromagnetic wave by the radar calibration device based on the transmission signal, and determine that the calibration is completed when an error value between the actual reflection power and standard reflection power of the electromagnetic wave by the radar calibration device is less than a preset threshold.

[0018] 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 the processor executes the program to implement the method of the first aspect.

[0019] Compared with the prior art of realizing the calibration of the radar device by using the suspended radar calibration body, the radar calibration method, device, radar device and radar test system provided by the embodiments of the present application can form a radar calibration device by arranging a multi-faceted refracting lens on the flying device, so as to avoid the problem that the determination result of the spatial coordinates of the radar calibration body is relatively large due to the large swing of the radar calibration body in the air; on the other hand, the reflection signal of the electromagnetic wave sent by the radar device can be reflected by the multi-faceted refracting lens in the radar calibration device, so that the calibration of the radar device can be completed 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, and the calibration accuracy of the radar device is further ensured. BRIEF DESCRIPTION OF DRAWINGS

[0020] Other characteristics, objects and advantages of the present application will become more apparent from the following detailed description of non-restrictive embodiments, made with reference to the attached drawings:

[0021] Figure 1 The schematic diagram of the implementation environment architecture is provided for the embodiments of the present application;

[0022] Figure 2 The flowchart of a radar calibration method is provided for the embodiments of the present application;

[0023] Figure 3 The top view schematic diagram of a radar calibration device is provided for the embodiments of the present application;

[0024] Figure 4 The front view schematic diagram of a radar calibration device is provided for the embodiments of the present application;

[0025] Figure 5 The bottom view schematic diagram of a radar calibration device is provided for the embodiments of the present application;

[0026] Figure 6 The block schematic diagram of a radar device is provided for the embodiments of the present application;

[0027] Figure 7 The structural schematic diagram of a computer device is provided for the embodiments of the present application;

[0028] In the above figures:

[0029] 10 - radar test system; 101 - radar device; 102 - radar calibration device; 31 - flight device; 32 - power component; 41 - multi-faceted refractive lens; 42 - assembly component; 51 - landing component; 600 - radar device; 601 - acquisition module; 602 - first processing module; 603 - second processing module; 700 - computer device; 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 - driver; 711 - detachable medium. DETAILED DESCRIPTION

[0030] The application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related application, and not to limit the application. In addition, it should be noted that only the parts related to the application are shown in the drawings for ease of description.

[0031] It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict. The application will be described in detail below with reference to the drawings and embodiments. In addition, the term "and / or" in this paper is only a description of the association between the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. The terms "first" and "second" in the description and claims of the embodiments of the present application are used to distinguish different objects, not to describe the specific order of the objects.

[0032] Figure 1 is an implementation environment architecture diagram of the radar calibration method provided by the embodiments of the present application. The implementation environment architecture can be a radar test system 10, as shown in Figure 1 The radar test system 10 specifically includes a radar device 101 and a radar calibration device 102.

[0033] For example, the radar calibration device 102 can receive electromagnetic waves emitted by the radar device 101, and send a reflection signal of the electromagnetic waves to the radar device 101, 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 device 101 is completed based on the actual reflection power of the radar calibration device 102.

[0034] For example, the radar test system 10 can be a marine radar test system, wherein the radar device 101 can be a radar device arranged on a ship, and the radar calibration device 102 can be a radar calibration device flying around the ship.

[0035] In a specific implementation, the radar calibration device 102 can fly to a position at a distance of a preset length from the sea surface and the radar device 101, and use a global positioning system (GPS / Beidou) positioning device to obtain the spatial coordinates of the radar calibration device 102 in real time. Then, based on the spatial coordinates of the radar calibration device 102, the elevation angle, the azimuth angle, and the distance at which the radar device 101 emits electromagnetic waves are determined to irradiate the radar calibration device 102. Finally, the calibration of the radar device 101 is realized according to the echo intensity generated by the radar calibration device 102 under electromagnetic wave irradiation.

[0036] Currently, as a standard body for accurately measuring and verifying the performance parameters of a radar device, a radar calibration body is usually composed of a tethered balloon suspending a calibration hollow metal ball. However, when such a radar calibration body is applied to sea calibration, the near distance blind area of the radar will result in higher requirements for the site and weather when releasing the tethered balloon suspending the calibration hollow metal ball.

[0037] For example, the size of the near distance blind area of the radar is positively correlated with the detection distance of the radar. Specifically, the farther the detection distance of the radar, the larger the near distance blind area of the radar. When the radar device needs to detect a long distance, in order to avoid the near distance blind area problem, the radar calibration body composed of a tethered balloon suspending a calibration hollow metal ball usually needs to be released at a position far away from the radar. However, most ships do not have the release conditions due to the limitation of the deck area, which limits the application of the tethered balloon suspending the calibration hollow metal ball in sea calibration.

[0038] Therefore, in the prior art, the tethered balloon can be replaced by a rotor unmanned aerial vehicle 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 device, when the rotor unmanned aerial vehicle suspends the calibration hollow metal ball, the distance between the rotor unmanned aerial vehicle and the calibration hollow metal ball is generally required to be greater than the beam width of the electromagnetic wave emitted by the radar device. For example, the calibration hollow metal ball can be suspended on the rotor unmanned aerial vehicle by a suspension rope to achieve the required distance between the rotor unmanned aerial vehicle and the calibration hollow metal ball.

[0039] It should be noted that the distance between the rotor unmanned aerial vehicle and the calibration hollow metal ball is set to be greater than the length of the electromagnetic wave beam width because when the rotor unmanned aerial vehicle is in flight, the radar cross section (RCS) of the rotor unmanned aerial vehicle changes constantly due to the rotation of the rotor and the swing of the body, thereby affecting the accuracy of the calibration of the calibration hollow metal ball in the same electromagnetic wave beam as the rotor unmanned aerial vehicle.

[0040] However, when the distance between the rotor unmanned aerial vehicle and the calibration hollow metal ball is large (i.e., the above-mentioned hanging rope is long), on the one hand, the calibration hollow metal ball has a large swing in the air, which leads to a large error in determining the spatial coordinates of the calibration hollow metal ball based on the spatial coordinates of the rotor unmanned aerial vehicle, thereby reducing the accuracy of the calibration result of the radar device; on the other hand, the long hanging rope between the rotor unmanned aerial vehicle and the calibration hollow metal ball also increases the flight difficulty of the rotor unmanned aerial vehicle, thereby limiting the time capable of being calibrated in the calibration process.

[0041] In addition, when the radar device is calibrated by using the above-mentioned calibration hollow metal ball, the weight of the metal ball is generally increased to improve the reflection intensity of the metal ball, so that the radar device can obtain the reflection signal of the metal ball to realize self-calibration. However, the increase of the weight of the metal ball also increases the requirements for the rotor unmanned aerial vehicle and the unmanned aerial vehicle landing platform.

[0042] Therefore, the existing radar device calibration accuracy is poor, which becomes a problem to be solved.

[0043] Therefore, the existing radar device calibration accuracy is poor, which becomes a problem to be solved.

[0044] It should be noted that although the operations of the method of the present application are described in a specific order in the accompanying drawings, this does not require or imply that the operations must be performed in this specific order, or that all of the shown operations must be performed to achieve the desired result.

[0045] Figure 2 is a flowchart of a radar calibration method provided by an embodiment of the present application, as shown in Figure 2 The method specifically includes the following steps:

[0046] Step 201, the radar device receives the transmission signal of the radar calibration device; wherein the transmission signal is the reflection signal of the electromagnetic wave sent by the radar device to the multi-faceted refracting lens.

[0047] In a possible implementation, the radar calibration device can receive the electromagnetic wave emitted by the radar device and emit a reflection signal to the electromagnetic wave, wherein the radar calibration device can include a flight device and a multi-faceted refracting lens arranged on the flight device.

[0048] For example, the multi-faceted refracting lens can be used to receive the electromagnetic wave emitted by the radar device and reflect the electromagnetic wave.

[0049] Specifically, the multi-faceted refracting lens can be a dielectric spherical device capable of focusing incident electromagnetic waves and reflecting the electromagnetic waves according to the transmission path of the electromagnetic waves, for example, can be a dragonbowl lens.

[0050] For example, when the multi-faceted refracting lens is a dragonbowl lens, the multi-faceted refracting lens can be composed of a plurality of concentric dielectric spheres with different dielectric constants, and a metal reflecting layer is coated on part of the positions of the concentric dielectric spheres. The reflection cut angle of the multi-faceted refracting lens can be determined according to the size of the metal reflecting surface coating area.

[0051] Specifically, the size of the dielectric constant of each layer is negatively related to the distance from itself to the center of the sphere, that is, the smaller the distance from itself to the center of the sphere, the larger the dielectric constant of itself.

[0052] For example, the multi-faceted refracting lens can be arranged on the circumference of the flight device.

[0053] Compared with the prior art of suspending a calibration hollow metal ball for reflecting electromagnetic waves emitted by a radar device on a rotor unmanned aerial vehicle, the radar calibration device of the present application can make the radar calibration device have wind resistance by arranging the multi-faceted refracting lens for reflecting electromagnetic waves on the flight device, so as to avoid the problem that the accuracy of the calibration result of the radar device is poor due to the swing of the calibration hollow metal ball. Secondly, the multi-faceted refracting lens in the radar calibration device can make the radar calibration device have a larger radar reflection cross section.

[0054] In a possible implementation, the radar calibration device can include at least one multi-faceted refracting lens, wherein the at least one multi-faceted refracting lens can be uniformly distributed on the circumference of the flight device through at least one assembly device.

[0055] For example, the flight device can be disc-shaped, for example, can be made of carbon fiber reinforced composite material.

[0056] For example, the flight device is provided with at least one power component, and each power component is uniformly distributed on the arc surface of the flight device along the direction of gravity, wherein the power component can be, for example, a ducted propeller.

[0057] Specifically, Figure 3 is a top view schematic diagram of the radar calibration device provided by the present application, as Figure 3 shown, 6 power components 32 can be arranged on one side of the arc surface of the flight device 31 along the direction of gravity, wherein each power component 32 is a ducted propeller.

[0058] For example, as Figure 3The duct of the ducted propeller is coated with a wave-absorbing material to avoid repeated reflection of electromagnetic waves in the duct and reflection to the radar device, thereby ensuring the accuracy of radar calibration. Based on this, the flight device can be a disc-shaped ducted propeller unmanned aerial vehicle.

[0059] It should be noted that the flight device made of carbon fiber reinforced composite material can block and reflect electromagnetic waves, and the flight device is made in a disc shape to avoid the problem of electromagnetic RCS fluctuation caused by the change of the body of the flight device itself. At the same time, this shape can make the flight device itself have good sealing performance, and the displacement is greater than the weight, so that the radar calibration device can float on the water surface when it falls into the water accidentally, to avoid damage to the device. Secondly, the power component of the flight device is set as a ducted propeller, which can block electromagnetic waves through the duct to avoid periodic reflection of electromagnetic waves when the propeller is working.

[0060] Exemplarily, Figure 4 is a front view of a radar calibration device provided by an embodiment of the present application, as Figure 4 As shown, the radar calibration device can include a flight device 31 and a plurality of facet refracting lenses 41 distributed circumferentially on the flight device 31.

[0061] Specifically, the plurality of facet refracting lenses 41 can be arranged on the flight device 31 through a mounting device 42, wherein one end of the mounting device 42 matches the size of the plurality of facet refracting lenses 41, and the curvature of the other end is the same as the circumferential curvature of the flight device 31.

[0062] Step 202, based on the transmitted signal, determining the actual reflection power of the radar calibration device to electromagnetic waves.

[0063] In a possible implementation, the radar device can receive the transmitted signal of the radar calibration device, and determine the actual reflection power of the radar calibration device to electromagnetic waves based on the transmitted signal.

[0064] Step 203, when the error value between the actual reflection power and the standard reflection power of electromagnetic waves of the radar calibration device is less than a preset threshold, determining that the calibration of the radar device is completed.

[0065] In a possible implementation, when the actual reflection power of the radar calibration device to the electromagnetic waves emitted by the radar device is determined, whether the calibration of the radar device is completed can be determined based on the error value between the actual reflection power and the standard reflection power of electromagnetic waves of the radar calibration device.

[0066] Exemplarily, when the error value between the actual reflection power and the standard reflection power of electromagnetic waves 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 can be 1 dB.

[0067] Specifically, the electromagnetic wave standard reflection power of the radar calibration device can be calculated by the following formula:

[0068]

[0069] , may be used to represent the transmission power of the electromagnetic wave, may be used to represent the antenna gain of the radar device, may be used to represent the wavelength of the electromagnetic wave, is used to represent the radar scattering cross section value of the radar calibration device, R may be used to represent the distance between the radar device and the radar calibration device, is used to represent the loss, is used to represent the automatic gain control.

[0070] In one possible implementation, a plurality of actual reflection powers of the radar calibration device can be acquired to determine that the calibration of the radar device is completed when error values between the plurality of actual reflection powers and the electromagnetic wave standard reflection power of the radar calibration device are all less than a preset threshold.

[0071] For example, the radar calibration device can receive a plurality of different electromagnetic waves transmitted by the radar device to transmit a plurality of different transmission signals to the radar device, so that the radar device determines a plurality of actual reflection powers of the radar calibration device based on the plurality of different transmission signals.

[0072] For example, based on the plurality of different electromagnetic waves transmitted by the radar device, when error values between each actual reflection power of the radar calibration device and the electromagnetic wave standard reflection power of the radar calibration device are all 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 of the radar calibration device acquired can be 3.

[0073] In the embodiments of the present application, by determining the actual reflection power of the electromagnetic wave of the radar calibration device multiple times, the measurement error of the reflection power can be reduced, and the accuracy of the radar calibration is further improved.

[0074] Compared with the prior art of realizing the calibration of the radar device by using the suspended radar calibration body, the radar calibration method, the radar calibration device, the radar device and the radar test system provided in the embodiments of the present application can form the radar calibration device by arranging the multi-faceted refracting lens on the flying device, so as to avoid the problem that the determination result of the spatial coordinates of the radar calibration body is relatively large due to the large swing of the radar calibration body in the air; on the other hand, the reflection signal of the electromagnetic wave sent by the radar device can be reflected by the multi-faceted refracting lens in the radar calibration device, so that the calibration of the radar device can be completed 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 the preset threshold, thereby further ensuring the accuracy of the calibration of the radar device.

[0075] In another embodiment of the present application, a specific implementation before the radar calibration device receives the transmission signal of the radar calibration device is also provided. For example, before the radar device receives the transmission signal of the radar calibration device, the method further includes: adjusting the radar calibration device to a position where the distance between the radar calibration device and the radar device is greater than the beam width of the electromagnetic wave sent by the radar device, and aligning any multi-faceted refracting lens in the radar calibration device to the radar device.

[0076] In a possible implementation, the radar calibration device can 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 can be arranged inside the disc-shaped flying device 31 as shown in the figure. Figure 4

[0077] For example, the position information of the radar calibration device can be obtained by the high-precision positioning module, and the position information of the radar calibration device can be transmitted by the data transmission module.

[0078] For example, the position information of the radar calibration device relative to the radar device can be determined based on the position information of the radar device and the position information of the radar calibration device.

[0079] Specifically, the position information of the radar calibration device relative to the radar device can include the distance R between the radar calibration device and the radar device, the pitch angle , the azimuth angle and the height difference of the radar calibration device relative to the radar device.

[0080] In a possible implementation, the radar calibration device can 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.

[0081] ​For example, the preset position relative to the radar device can be a position at which the distance between the radar device and the radar calibration device is greater than the beam width of the electromagnetic wave emitted by the radar device, and the elevation angle of the preset position relative to the radar device is 0°. For example, the preset position relative to the radar device can be a position at which the distance between the radar device and the radar calibration device is greater than the beam width of the electromagnetic wave emitted by the radar device, and the elevation angle of the preset position relative to the radar device is 0°. For example, the preset position relative to the radar device can be a position at which the distance between the radar device and the radar calibration device is greater than the beam width of the electromagnetic wave emitted by the radar device, and the elevation angle of the preset position relative to the radar device is 0°. Figure 1 For example, the preset position relative to the radar device can be a position at which the distance between the radar device and the radar calibration device is greater than the beam width of the electromagnetic wave emitted by the radar device, and the elevation angle of the preset position relative to the radar device is 0°. .

[0082] For example, the radar calibration device can be adjusted to the preset position by 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.

[0083] For example, when the radar calibration device moves to the preset position, the data transmission module in the radar calibration device receives a control signal to align any multi-faceted refractive lens to the radar device based on the control signal, so as to receive the electromagnetic wave emitted by the radar device.

[0084] 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 view of the radar calibration device provided by the embodiment of the present application, as shown in Figure 5 The radar calibration device can also include a take-off device 51 arranged on the arc surface of the flight device 31 along the direction of gravity, and the take-off device 51 is arranged vertically to the multi-faceted refractive lens 41.

[0085] For example, the take-off device 51 can be made of polyimide fiber reinforced resin.

[0086] In the embodiment of the present application, the take-off device 51 arranged on the flight device 31 can absorb the landing impact energy and reduce the impact load when the radar calibration device lands, so as to facilitate the take-off, landing and ground parking of the radar calibration device; secondly, the take-off device 51 made of the above-mentioned polyimide fiber reinforced resin can have wave permeability, thereby avoiding the reflection of the electromagnetic wave by the take-off device 51.

[0087] In another embodiment of the present application, a radar device 600 is also provided. For example, Figure 6 is a block schematic diagram of the radar device 600 provided by the embodiment of the present application, as shown in Figure 6 The radar device 600 includes:

[0088] The receiving module 601 is used to receive the transmitted signal of the radar calibration device in the radar test system; wherein, the radar calibration device includes a multi-faceted refractive lens and a flight device, the multi-faceted refractive lens is set on the flight device, and the transmitted signal is the reflected signal of the electromagnetic wave sent by the radar equipment by the multi-faceted refractive lens.

[0089] The first processing module 602 is used to determine the actual reflected power of the radar calibration device for electromagnetic waves based on the transmitted signal.

[0090] The second processing module 603 is used to determine that calibration is complete when the error between the actual reflected power and the electromagnetic wave standard reflected power of the radar calibration device is less than a preset threshold.

[0091] The following is for reference. Figure 7 , Figure 7 A schematic diagram of a computer device suitable for implementing embodiments of this application is shown, such as... Figure 7 As shown, the computer device 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 702 or programs loaded from storage section 708 into random access memory (RAM) 703. The RAM 703 also stores various programs and data required for the system's operating instructions. The CPU 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0092] The following components are connected to the input / output (I / O) interface 705: an input section 706 including a keyboard, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, 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, 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 disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 710 as needed so that computer programs read from it can be installed into the storage section 708 as needed.

[0093] Specifically, according to embodiments of this application, the flowchart above refers to... Figure 2Any of the described processes can be implemented as a computer software program. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program contains program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 709, and / or installed from removable medium 711. When the computer program is executed by central processing unit (CPU) 701, it performs the functions defined in the system of this application.

[0094] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium compatible with computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0095] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operational instructions of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two connected blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified functions or operational instructions, or using a combination of dedicated hardware and computer instructions.

[0096] The units or modules described in the embodiments of this application can be implemented in software or hardware. The described units or modules can also be housed in a processor; for example, a processor may be described as including a semantic extraction unit, a weight allocation unit, and a determination unit. The names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0097] On the other hand, this application also provides a computer-readable storage medium, which may be included in the computer device described in the above embodiments, or may exist independently and not assembled into the computer device. The aforementioned computer-readable storage medium stores one or more programs that, when used by one or more processors, execute the methods described in this application. For example, it may execute... Figure 2 Each step of any of the methods shown.

[0098] This application provides a computer program product including instructions that, when executed, cause the method described in this application to be performed. For example, it can execute... Figure 2 Each step of any of the methods shown.

[0099] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A radar calibration method, characterized in that, An application is made to a radar testing system, the radar testing system comprising: radar equipment and a radar calibration device, the radar calibration device comprising at least one multifaceted refractive lens and a flight component, the at least one multifaceted refractive lens being uniformly distributed circumferentially on the flight component via at least one mounting device, one end of the mounting device matching the size of the multifaceted refractive lens, and the curvature of the other end being the same as the circumferential curvature of the flight component, the method comprising: The radar device receives the transmitted signal from the radar calibration device; wherein the transmitted signal is the reflected signal of the electromagnetic wave sent by the radar device by the multifaceted refractive lens; Based on the transmitted signal, the actual reflected power of the electromagnetic wave by the radar calibration device is determined; When the error between the actual reflected power and the electromagnetic wave standard reflected power of the radar calibration device is less than a preset threshold, the calibration of the radar device is determined to be complete. The electromagnetic wave standard reflection power of the radar calibration device is calculated using the following formula: in, Used to represent the transmitted power of the electromagnetic wave, Used to indicate the antenna gain of the radar device. Used to represent the wavelength of the electromagnetic wave. The value of the radar cross section is used to represent the radar calibration device, and 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.

2. The radar calibration method according to claim 1, characterized in that, Before the radar equipment receives the transmitted signal from the radar calibration device, the method further includes: Based on the beamwidth of the electromagnetic waves transmitted by the radar device, the radar calibration device is adjusted to a position where the distance from the radar device is greater than the beamwidth of the electromagnetic waves, and any of the multifaceted refractive lenses in the radar calibration device is aligned with the radar device.

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

4. The radar calibration method according to claim 1, characterized in that, The step of determining that the calibration of the radar equipment is complete 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 includes: Multiple actual reflection powers are obtained, and the multiple actual reflection powers correspond to multiple 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 less than a preset threshold, the calibration of the radar device is determined to be complete.

5. The radar calibration method according to claim 1, characterized in that, The flight device is disc-shaped and has at least one power component, which is evenly distributed on the arc surface of the flight device along the direction of gravity.

6. The radar calibration method according to claim 5, characterized in that, The power component is a ducted propeller.

7. The radar calibration method according to claim 1, characterized in that, The multifaceted refractive lens is a Luneburg lens.

8. The radar calibration method according to any one of claims 1-7, characterized in that, The radar calibration device also includes a landing device disposed on the arc surface of the flight device along the direction of gravity, the landing device being disposed perpendicular to the multifaceted refractive lens.

9. A radar device, characterized in that, include: A receiving module is used to receive the transmitted signal from a radar calibration device in a radar testing system. The radar calibration device includes at least one multifaceted refractive lens and a flight device. The at least one multifaceted refractive lens is uniformly distributed around the circumference of the flight device via at least one mounting device. One end of the mounting device matches the size of the multifaceted refractive lens, and the curvature of the other end is the same as the circumferential curvature of the flight device. The transmitted signal is the reflected signal of the electromagnetic wave transmitted by the radar device by the multifaceted refractive lens. The first processing module is used to determine 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 calibration is complete when the error between the actual reflected power and the electromagnetic wave standard reflected power of the radar calibration device is less than a preset threshold. The electromagnetic wave standard reflection power of the radar calibration device is calculated using the following formula: in, Used to represent the transmitted power of the electromagnetic wave, Used to indicate the antenna gain of the radar device. Used to represent the wavelength of the electromagnetic wave. The value of the radar cross section is used to represent the radar calibration device, and 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.

10. A radar testing system, characterized in that, include: A radar device and a radar calibration apparatus, the radar calibration apparatus comprising at least one multifaceted refractive lens and a flight component, wherein the at least one multifaceted refractive lens is uniformly distributed around the circumference of the flight component via at least one mounting device, wherein one end of the mounting device matches the size of the multifaceted refractive lens, and the curvature of the other end is the same as the circumferential curvature of the flight component. The radar calibration device is used to transmit a signal, which is the reflection signal of the electromagnetic wave transmitted by the radar equipment by the multifaceted refractive lens; The radar device is used to receive the transmitted signal and, based on the transmitted signal, determine the actual reflected power of the electromagnetic wave by the radar calibration device; 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, the calibration is determined to be complete. The electromagnetic wave standard reflection power of the radar calibration device is calculated using the following formula: in, Used to represent the transmitted power of the electromagnetic wave, Used to indicate the antenna gain of the radar device. Used to represent the wavelength of the electromagnetic wave. The value of the radar cross section is used to represent the radar calibration device, and 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.

11. 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, it implements the method as described in any one of claims 1-8.

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