Radar camera obscura angle calibration method, device and equipment and storage medium

Abstract

The invention discloses a radar camera obscura angle calibration method, device and equipment and a storage medium, and relates to the technical field of radar calibration, the method is applied to a camera obscura upper computer, the camera obscura upper computer is connected with a radar through a communication protocol, and the method comprises the following steps: obtaining a rotation angle set of a rotation platform; acquiring a test angle set measured by the radar based on the rotation angle set; obtaining an angle calibration table according to a preset input set, the rotation angle set and the test angle set; and determining an output angle according to an input angle, the angle calibration table and the preset input set. The angle calibration of the radar is automatically completed through the angle calibration table, and the accuracy of the output angle after calibration is improved.

Description

Technical Field

[0001] The present application relates to the field of radar calibration technology, and in particular to a radar darkbox angle calibration method, device, equipment and storage medium. Background Art

[0002] Radar angle calibration technology is a key step to ensure accurate and reliable performance of radar systems. With the widespread application of radar technology in military, aviation, automobile (such as automatic driving assistance system), weather monitoring and other fields, the accuracy requirements for radar systems are becoming higher and higher. Therefore, radar angle calibration technology has become an indispensable part of improving radar system performance.

[0003] At present, most radar angle calibration methods are to calibrate the radar angle through static or dynamic calibration, combined with some sensors or standard targets. However, this method has a large angle error in complex working environments. Summary of the invention

[0004] The main purpose of the present application is to provide a radar dark box angle calibration method, device, equipment and storage medium, aiming to solve the technical problem that the existing radar angle calibration scheme has a large angle error in a complex working environment.

[0005] To achieve the above purpose, the present application proposes a radar dark box angle calibration method, which is applied to a dark box host computer, and the dark box host computer is connected to the radar through a communication protocol. The method includes:

[0006] Get the rotation angle set of the rotating platform;

[0007] Based on the rotation angle set, obtaining a test angle set measured by the radar;

[0008] Obtaining an angle calibration table according to a preset input set, the rotation angle set and the test angle set;

[0009] An output angle is determined based on an input angle, the angle calibration table, and the preset input set.

[0010] In one embodiment, the step of obtaining the angle calibration table according to the preset input set, the rotation angle set and the test angle set comprises:

[0011] Determine a first test angle and a second test angle in the test angle set according to a plurality of preset input angles in the preset input set, wherein the number of the first test angle is smaller than the number of the second test angle;

[0012] Determine a first rotation angle and a second rotation angle of the rotation angle set according to the first test angle and the second test angle, wherein the number of the first rotation angle is smaller than the number of the second rotation angle;

[0013] Obtaining a plurality of calibration angles according to a plurality of preset input angles of the preset input set, the first test angle, the second test angle, the first rotation angle, and the second rotation angle;

[0014] An angle calibration table is obtained according to the several calibration angles.

[0015] In one embodiment, the step of determining the output angle according to the input angle, the angle calibration table and the preset input set comprises:

[0016] Determine a first preset input angle and a second preset input angle in the preset input set according to the input angle, wherein the number of the first preset input angle is smaller than the number of the second preset input angle;

[0017] Determining a first calibration angle and a second calibration angle in the angle calibration table according to the first preset input angle and the second preset input angle, wherein the number of the first calibration angle is smaller than the number of the second calibration angle;

[0018] An output angle is determined based on the input angle, the first preset input angle, the second preset input angle, the first calibration angle, and the second calibration angle.

[0019] In one embodiment, after the step of obtaining the angle calibration table according to the preset input set, the rotation angle set and the test angle set, the method further comprises:

[0020] Simulating different electromagnetic environments and target scenes through a dark box, returning to execute the step of obtaining the rotation angle set of the rotating platform, until an angle calibration table under different electromagnetic environments and target scenes is obtained;

[0021] The angle calibration table is updated to an angle calibration table under different electromagnetic environments and target scenarios.

[0022] In one embodiment, after the step of determining the output angle according to the input angle, the angle calibration table and the preset input set, the method further comprises:

[0023] comparing the output angle with a corresponding rotation angle in the rotation angle set;

[0024] When the difference between the output angle and the corresponding rotation angle in the rotation angle set is within a preset range, the radar is controlled to adjust the angle to the output angle.

[0025] In one embodiment, the step of acquiring the test angle set measured by the radar based on the rotation angle set includes:

[0026] Acquiring detection data of the radar based on different rotation angles in the rotation angle set;

[0027] Compare the detection data with a preset threshold value to obtain corresponding detection data at different rotation angles;

[0028] A test angle set is obtained according to the corresponding detection data at different rotation angles.

[0029] In one embodiment, the step of comparing the detection data with a preset threshold value to obtain corresponding detection data at different rotation angles includes:

[0030] Comparing the detection data with a preset threshold value;

[0031] When the difference between the detection data corresponding to a certain rotation angle and the preset threshold value is greater than or equal to the preset difference, the detection data corresponding to the rotation angle is reacquired, and the step of comparing the detection data with the preset threshold value is returned to execute until the difference between the detection data corresponding to the rotation angle and the preset threshold value is less than the preset difference, thereby obtaining the detection data corresponding to different rotation angles.

[0032] In addition, to achieve the above purpose, the present application also proposes a radar dark box angle calibration device, the radar dark box angle calibration device comprising:

[0033] An acquisition module, used to acquire a rotation angle set of a rotating platform;

[0034] A determination module, configured to obtain a test angle set measured by the radar based on the rotation angle set;

[0035] The determination module is further used to obtain an angle calibration table according to a preset input set, the rotation angle set and the test angle set;

[0036] The determination module is further used to determine the output angle according to the input angle, the angle calibration table and the preset input set.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a radar dark box angle calibration device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the radar dark box angle calibration method as described above.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the radar dark box angle calibration method described above are implemented.

[0039] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the radar dark box angle calibration method as described above are implemented.

[0040] One or more technical solutions proposed in this application obtain a rotation angle set of a rotating platform; based on the rotation angle set, obtain a test angle set measured by a radar; obtain an angle calibration table according to a preset input set, the rotation angle set and the test angle set; determine an output angle according to the input angle, the angle calibration table and the preset input set. The angle calibration of the radar is automatically completed through the angle calibration table, and the accuracy of the calibrated output angle is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 A schematic diagram of a flow chart provided for Embodiment 1 of the radar dark box angle calibration method of the present application;

[0044] Figure 2 This is a simplified schematic diagram of obtaining Formula 1 by linear interpolation in an embodiment of the radar dark box angle calibration method of the present application;

[0045] Figure 3 This is a simplified schematic diagram of obtaining Formula 2 by linear interpolation in an embodiment of the radar dark box angle calibration method of the present application;

[0046] Figure 4 A schematic diagram of a flow chart provided for Embodiment 2 of the radar dark box angle calibration method of the present application;

[0047] Figure 5 A schematic diagram of a brief process of the radar dark box angle calibration method provided in an embodiment of the present application;

[0048] Figure 6This is a schematic diagram of the module structure of the radar dark box angle calibration device according to an embodiment of the present application;

[0049] Figure 7 Schematic diagram of the device structure of the hardware operating environment involved in the radar dark box angle calibration method in the embodiment of the present application.

[0050] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0052] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0053] The main solution of the embodiment of the present application is: obtain a rotation angle set of a rotating platform; based on the rotation angle set, obtain a test angle set measured by radar; obtain an angle calibration table according to a preset input set, the rotation angle set and the test angle set; determine the output angle according to the input angle, the angle calibration table and the preset input set.

[0054] Since most radar angle calibration methods in the prior art calibrate the radar angle through static or dynamic calibration, combined with some sensors or standard targets, this method, however, has a large angle error in a complex working environment.

[0055] The present application provides a solution to automatically complete the angle calibration of the radar through an angle calibration table, and improve the accuracy of the output angle after calibration.

[0056] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a radar dark box angle calibration device, etc., such as a dark box host computer. The following takes the dark box host computer as an example to illustrate this embodiment and the following embodiments.

[0057] Based on this, the embodiment of the present application provides a radar dark box angle calibration method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the radar dark box angle calibration method of the present application.

[0058] In this embodiment, the radar dark box angle calibration method includes steps S10 to S40:

[0059] Step S10: Obtain a rotation angle set of the rotating platform.

[0060] It should be noted that the rotating platform is a mechanical device installed inside the darkroom. It is mainly used to carry the object under test and can rotate according to certain requirements, thereby changing the angle and posture of the object under test relative to other equipment in the darkroom (such as radar, sensors, etc.). By rotating the rotating platform, the object under test can be tested at different angles in order to obtain more comprehensive and accurate test data, which is of great significance for studying the electromagnetic scattering characteristics and optical reflection characteristics of objects in different directions.

[0061] The rotation angle refers to the angle that the rotating platform rotates around its rotation axis from the initial position to the current position. The size of this angle reflects the amplitude of the rotation of the object on the platform in the plane. The rotation angle set is a set composed of several rotation angles.

[0062] It can be understood that the above radar dark box angle calibration method is applied to the dark box host computer, and the dark box host computer is connected to the radar through a communication protocol.

[0063] In addition, the dark box is a closed space device with special functions, which is mainly used in tests and experiments in the fields of electromagnetism, optics, etc. to provide an environment for the object to be tested that is not interfered by the outside world. In electromagnetic testing, its main function is to shield external electromagnetic signals, prevent external electromagnetic waves from interfering with internal tests, and ensure the accuracy and reliability of test results; in optical testing, it can isolate external light and create a dark environment for precise optical measurements and imaging experiments.

[0064] The dark box host computer refers to a computer system used to control and monitor the operation of the dark box and its internal equipment (such as rotating platform, test instruments, etc.). As the control center of the entire test system, it communicates with the various devices in the dark box to realize the automatic control of the test process and data collection, processing and analysis, and provides an intuitive and convenient operation interface for testers, allowing them to easily set test parameters, start and stop the test process, and view and analyze test results in real time.

[0065] Step S20: Based on the rotation angle set, a test angle set measured by the radar is obtained.

[0066] It should be noted that the test angles measured by the radar include azimuth and elevation. The azimuth usually takes the radar itself as the reference center, and stipulates that due north is 0 degrees and clockwise is positive. When the rotating platform drives the object to be measured to rotate, the azimuth of the object to be measured measured by the radar is the horizontal angle of the object to be measured relative to due north of the radar. For example, if the object to be measured is due east of the radar, the azimuth is 90 degrees; due south is 180 degrees; due west is 270 degrees. The elevation angle usually refers to the angle between the line between the object to be measured and the radar and the horizontal plane. It is based on the horizontal line of sight of the radar, with positive upward and negative downward. For example, when the object to be measured is directly above the radar, the elevation angle is 90 degrees; when the object to be measured is in the horizontal line of sight, the elevation angle is 0 degrees; when the object to be measured is below the radar, the elevation angle is a negative angle, such as -30 degrees means that the object to be measured is 30 degrees below the horizontal line of sight of the radar.

[0067] In addition, the rotation of the rotating platform directly causes the target to change in horizontal direction relative to the radar, thereby changing the azimuth angle measured by the radar. For example, if the rotating platform rotates 30 degrees clockwise, the target originally at the radar azimuth angle of 60 degrees will now have an azimuth angle of 90 degrees measured by the radar. In some cases, the rotation of the rotating platform may not only change the horizontal direction, but also cause a relative change in the target height, thereby affecting the measurement of the pitch angle. For example, if the rotating platform rotates with a certain tilt angle, or if the position of the target on the rotating platform moves vertically, the pitch angle measured by the radar will change.

[0068] In this embodiment, markers with special reflective properties can be installed on the rotating platform. When the platform rotates, the radar can roughly measure the rotation angle of the rotating platform by detecting the position changes of these markers, and the radar uses the measured angle as the test angle in the test angle set.

[0069] It can be understood that obtaining the rotation angle set and the test angle set lays a foundation for the subsequent step of obtaining the angle calibration table, thereby facilitating improving the accuracy of the calibrated angle.

[0070] In summary, based on the set of different rotation angles of the rotating platform (rotation angle set), a test angle set consisting of several test angles measured by radar can be obtained, but the test angle set measured by radar will deviate from the angle data in the rotation angle set. For example, the rotation angle set A recorded by the darkroom host computer is [-50, -49, -48, -47, ..., 48, 49, 50], while the test angle set B measured by radar is [-49.9, -49.28, -48.76, -47.64, ..., 48.76, 50.17, 51.07].

[0071] Step S30: obtaining an angle calibration table according to the preset input set, the rotation angle set and the test angle set.

[0072] It should be noted that the preset input set is a set of manually set input angles. For example, the preset input set D can be [-50, -49, -48, -47, ..., 48, 49, 50]. It should be noted that although the data size of the preset input set D and the rotation angle set A is the same, the meanings expressed are different. The rotation angle in the rotation angle set A represents the rotation angle of the rotating platform and can be regarded as the actual angle, while the preset input angle in the preset input set D represents the manually set radar detection angle. For example, when the preset input angle is -50, the actual angle obtained by subsequent calculation based on -50 is -50.16.

[0073] In a specific implementation, the first test angle and the second test angle in the test angle set can be determined according to a plurality of preset input angles in the preset input set, and the number of the first test angle is smaller than the number of the second test angle; the first rotation angle and the second rotation angle in the rotation angle set can be determined according to the first test angle and the second test angle, and the number of the first rotation angle is smaller than the number of the second rotation angle; a number of calibration angles are obtained according to the plurality of preset input angles in the preset input set, the first test angle, the second test angle, the first rotation angle and the second rotation angle; and an angle calibration table is obtained according to the plurality of calibration angles.

[0074] Specifically, the preset input set D can be defined as [d1, d2, d3, d4, ..., d 101 ], the test angle set B is [b1, b2, b3, b4, ..., b 101 ], for example, if you want to calculate the calibration angle corresponding to d1, let x = d1, and find the two test angles closest to d1 in B, which are recorded as the first test angle (b n ) and the second test angle (b n+1 ); and determining the first rotation angle (a) of the rotation angle set according to the serial numbers of the first test angle and the second test angle n ) and the second rotation angle (a n+1 ); and obtain the calibration angle c according to the formula of the following formula 1, and obtain several calibration angles in the same way according to different preset input angles; thereby obtaining the angle calibration table C according to the several calibration angles, as shown in the following formula 1:

[0075]

[0076] In addition, an angle calibration table C can be constructed through several calibration angles c. Figure 2 , Figure 2 This is a brief schematic diagram of obtaining formula 1 through linear interpolation. The linear difference method is based on the principle of determining a straight line between two points. If two angle data are known, and the value corresponding to a data between the two data is to be estimated, then it can be considered that it is on the straight line determined by the two points. Therefore, it can be obtained by Figure 2 The linear interpolation method shown obtains different calibration angles c.

[0077] In addition, if the rotation angle set A is [-50, -49, -48, -47, ..., 48, 49, 50], and the test angle set B measured by the radar is [-49.9, -49.28, -48.76, -47.64, ..., 48.76, 50.17, 51.07], and the preset input set D is [-50, -49, -48, -47, ..., 48, 49, 50], then the angle calibration table C obtained by linear interpolation is [-50.16, -48.46, -47.32, -46.52, ..., 47.46, 47.7, 48.81]. The meaning of these data is that when the preset input angle is -50, the corresponding calibration angle is -50.16; when the preset input angle is -49, the corresponding calibration angle is -48.46, and so on, when the preset input angle is 50, the corresponding calibration angle is 48.81.

[0078] It should be emphasized that different electromagnetic environments and target scenes can be simulated through a dark box, and the step of obtaining the rotation angle set of the rotating platform can be returned to execute until an angle calibration table under different electromagnetic environments and target scenes is obtained; and the angle calibration table is updated to an angle calibration table under different electromagnetic environments and target scenes.

[0079] It can be understood that by simulating different electromagnetic environments and target scenes through a dark box and then updating the angle calibration table, the radar dark box angle calibration method of this embodiment can be adapted to different working environments, thereby ensuring high calibration accuracy.

[0080] Step S40: determining an output angle according to the input angle, the angle calibration table and the preset input set.

[0081] It should be noted that the input angle is the angle that needs to be calibrated. It can be the angle measured by the radar at a certain time, or it can be the angle manually determined by the test angle calibration table. The output angle is the calibrated angle obtained based on the input angle, the angle calibration table and the preset input set.

[0082] In a specific embodiment, the first preset input angle and the second preset input angle in the preset input set can be determined based on the input angle, and the number of the first preset input angle is smaller than the number of the second preset input angle; the first calibration angle and the second calibration angle in the angle calibration table can be determined based on the first preset input angle and the second preset input angle, and the number of the first calibration angle is smaller than the number of the second calibration angle; the output angle is determined based on the input angle, the first preset input angle, the second preset input angle, the first calibration angle and the second calibration angle.

[0083] Specifically, the input angle can be set to x. Since the input angle is not necessarily an integer value, it may be an angle value with a decimal, such as -49.43, it is necessary to find two preset input angles closest to -49.43 in the preset input set D, that is, -50 (the first preset input angle d n ) and -49 (the second preset input angle d n+1 ); And determine the first calibration angle c in the angle calibration table according to the first preset input angle and the second preset input angle n and the second calibration angle c n+1 ; and according to the input angle x, the first preset input angle d n The second preset input angle d n+1 , the first calibration angle c n and the second calibration angle c n+1 Determine the output angle y as shown in Equation 2 below:

[0084]

[0085] Among them, you can refer to Figure 3 , Figure 3 To obtain a simple schematic diagram of Formula 2 by linear interpolation, if two angle data are known and the value corresponding to a data between the two data is to be estimated, it can be considered that the straight line determined by the two points is on the straight line, so it can also be obtained by Figure 3 The linear interpolation method shown determines the output angle y.

[0086] In addition, the output angle may be compared with a corresponding rotation angle in the rotation angle set; when a difference between the output angle and a corresponding rotation angle in the rotation angle set is within a preset range, the radar is controlled to adjust the angle to the output angle.

[0087] It can be understood that by comparing the output angle with the corresponding rotation angle in the rotation angle set, that is, comparing the calibrated output angle with the actual rotation angle of the rotating platform; when the difference between the output angle and the corresponding rotation angle in the rotation angle set is small, it can be considered that the effect of the radar angle calibration meets expectations, and the radar can be controlled to adjust the angle measured by itself to the output angle, thereby completing the angle calibration of the radar.

[0088] This embodiment provides a radar dark box angle calibration method, which includes obtaining a rotation angle set of a rotating platform; obtaining a test angle set measured by a radar based on the rotation angle set; obtaining an angle calibration table according to a preset input set, the rotation angle set and the test angle set; and determining an output angle according to an input angle, the angle calibration table and the preset input set. The angle calibration of the radar is automatically completed through the angle calibration table, and the accuracy of the calibrated output angle is improved.

[0089] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , step S20 includes steps S201 to S203:

[0090] Step S201: Acquire radar detection data based on different rotation angles in the rotation angle set.

[0091] It should be noted that markers with special reflective properties can be installed on the rotating platform. When the platform rotates to different angles, the radar can roughly measure the corresponding rotation angle of the rotating platform by detecting the position changes of these markers, and the radar uses the measured corresponding angle as detection data.

[0092] Step S202: Compare the detection data with a preset threshold value to obtain detection data corresponding to different rotation angles.

[0093] In a specific implementation, the detection data can be compared with a preset threshold value; when the difference between the detection data corresponding to a certain rotation angle and the preset threshold value is greater than or equal to the preset difference, the detection data corresponding to the rotation angle is re-acquired, and the step of comparing the detection data with the preset threshold value is returned to execute until the difference between the detection data corresponding to the rotation angle and the preset threshold value is less than the preset difference, thereby obtaining the detection data corresponding to different rotation angles.

[0094] It should be noted that the preset threshold value is set based on reasonable detection data measured by the radar. In short, when the detection data corresponding to a certain rotation angle is determined to be unreasonable, the detection data corresponding to the rotation angle is re-acquired, and the detection data is re-compared with the preset threshold value until the detection data corresponding to any rotation angle is determined to be reasonable, thereby obtaining the corresponding detection data at different rotation angles.

[0095] Step S203: obtaining a test angle set according to corresponding detection data at different rotation angles.

[0096] It is understandable that the detection data corresponding to different rotation angles can be summarized in a set to obtain a test angle set.

[0097] This embodiment obtains a rotation angle set of a rotating platform; based on the rotation angle set, obtains a test angle set measured by a radar; obtains an angle calibration table according to a preset input set, the rotation angle set and the test angle set; and determines an output angle according to an input angle, the angle calibration table and the preset input set. The angle calibration of the radar is automatically completed through the angle calibration table, and the accuracy of the calibrated output angle is improved.

[0098] For example, to help understand the implementation process of the radar dark box angle calibration method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 5 , Figure 5 A brief flow diagram of a radar dark box angle calibration method is provided, specifically: obtaining a rotation angle set of a rotating platform; obtaining radar detection data based on different rotation angles in the rotation angle set; comparing the detection data with a preset threshold value to obtain detection data corresponding to different rotation angles; obtaining a test angle set according to the detection data corresponding to different rotation angles; determining a first test angle and a second test angle in the test angle set according to a plurality of preset input angles in a preset input set; determining a first rotation angle and a second rotation angle in the rotation angle set according to the first test angle and the second test angle; obtaining a plurality of calibration angles according to a plurality of preset input angles in the preset input set, the first test angle, the second test angle, the first rotation angle, and the second rotation angle; obtaining an angle calibration table according to the plurality of calibration angles; determining a first preset input angle and a second preset input angle in the preset input set according to an input angle; determining a first calibration angle and a second calibration angle in the angle calibration table according to the first preset input angle and the second preset input angle; and determining an output angle according to the input angle, the first preset input angle, the second preset input angle, the first calibration angle, and the second calibration angle. The angle calibration of the radar is automatically completed through the angle calibration table, and the accuracy of the calibrated output angle is improved.

[0099] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the radar dark box angle calibration method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0100] This application also provides a radar dark box angle calibration device, please refer to Figure 6 , the radar dark box angle calibration device comprises:

[0101] The acquisition module 10 is used to acquire a rotation angle set of the rotating platform.

[0102] The determination module 20 is used to obtain a test angle set measured by the radar based on the rotation angle set.

[0103] The determination module 20 is further configured to obtain an angle calibration table according to a preset input set, the rotation angle set and the test angle set.

[0104] The determination module 20 is further configured to determine an output angle according to an input angle, the angle calibration table and the preset input set.

[0105] The radar dark box angle calibration device provided by the present application adopts the radar dark box angle calibration method in the above embodiment, which can solve the technical problem that the existing radar angle calibration scheme has a large angle error in a complex working environment. Compared with the prior art, the beneficial effects of the radar dark box angle calibration device provided by the present application are the same as the beneficial effects of the radar dark box angle calibration method provided by the above embodiment, and other technical features in the radar dark box angle calibration device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0106] In one embodiment, the determination module 20 is further used to determine the first test angle and the second test angle in the test angle set according to a plurality of preset input angles in the preset input set, the number of the first test angle being smaller than the number of the second test angle; determine the first rotation angle and the second rotation angle in the rotation angle set according to the first test angle and the second test angle, the number of the first rotation angle being smaller than the number of the second rotation angle; obtain a plurality of calibration angles according to the plurality of preset input angles in the preset input set, the first test angle, the second test angle, the first rotation angle and the second rotation angle; and obtain an angle calibration table according to the plurality of calibration angles.

[0107] In one embodiment, the determination module 20 is further used to determine a first preset input angle and a second preset input angle in the preset input set based on the input angle, the number of the first preset input angle being smaller than the number of the second preset input angle; determine a first calibration angle and a second calibration angle in the angle calibration table based on the first preset input angle and the second preset input angle, the number of the first calibration angle being smaller than the number of the second calibration angle; determine an output angle based on the input angle, the first preset input angle, the second preset input angle, the first calibration angle and the second calibration angle.

[0108] In one embodiment, the determination module 20 is also used to simulate different electromagnetic environments and target scenes through a dark box, and return to execute the step of obtaining the rotation angle set of the rotating platform until an angle calibration table under different electromagnetic environments and target scenes is obtained; and the angle calibration table is updated to an angle calibration table under different electromagnetic environments and target scenes.

[0109] In one embodiment, the determination module 20 is also used to compare the output angle with the corresponding rotation angle in the rotation angle set; when the difference between the output angle and the corresponding rotation angle in the rotation angle set is within a preset range, the radar is controlled to adjust the angle to the output angle.

[0110] In one embodiment, the determination module 20 is also used to obtain detection data of the radar based on different rotation angles in the rotation angle set; compare the detection data with a preset threshold value to obtain corresponding detection data at different rotation angles; and obtain a test angle set based on the corresponding detection data at different rotation angles.

[0111] In one embodiment, the determination module 20 is also used to compare the detection data with a preset threshold value; when the difference between the detection data corresponding to a certain rotation angle and the preset threshold value is greater than or equal to the preset difference, the detection data corresponding to the rotation angle is re-acquired, and the step of comparing the detection data with the preset threshold value is returned to execute until the difference between the detection data corresponding to the rotation angle and the preset threshold value is less than the preset difference, thereby obtaining the detection data corresponding to different rotation angles.

[0112] The present application provides a radar dark box angle calibration device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the radar dark box angle calibration method in the above-mentioned embodiment 1.

[0113] Reference below Figure 7 , which shows a schematic diagram of the structure of a radar dark box angle calibration device suitable for implementing the embodiment of the present application. The radar dark box angle calibration device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The radar dark box angle calibration device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0114] like Figure 7 As shown, the radar dark box angle calibration device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the radar dark box angle calibration device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the radar dark box angle calibration device to communicate wirelessly or wired with other devices to exchange data. Although the radar dark box angle calibration device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0115] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and 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 through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0116] The radar dark box angle calibration device provided by the present application adopts the radar dark box angle calibration method in the above embodiment, which can solve the technical problem that the existing radar angle calibration scheme has a large angle error in a complex working environment. Compared with the prior art, the beneficial effects of the radar dark box angle calibration device provided by the present application are the same as the beneficial effects of the radar dark box angle calibration method provided by the above embodiment, and other technical features in the radar dark box angle calibration device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0117] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0118] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0119] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the radar dark box angle calibration method in the above-mentioned embodiment.

[0120] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, 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 this embodiment, the 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, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0121] The computer-readable storage medium may be included in the radar dark box angle calibration device; or may exist independently without being assembled into the radar dark box angle calibration device.

[0122] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the radar darkroom angle calibration device, the radar darkroom angle calibration device: obtains a rotation angle set of a rotating platform; based on the rotation angle set, obtains a test angle set measured by the radar; obtains an angle calibration table according to a preset input set, the rotation angle set and the test angle set; and determines an output angle according to an input angle, the angle calibration table and the preset input set.

[0123] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0124] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession 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 square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0125] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0126] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned radar dark box angle calibration method, and can solve the technical problem that the existing radar angle calibration scheme has a large angle error in a complex working environment. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the radar dark box angle calibration method provided by the above-mentioned embodiment, and will not be repeated here.

[0127] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned radar dark box angle calibration method when executed by a processor.

[0128] The computer program product provided by the present application can solve the technical problem that the existing radar angle calibration solution has a large angle error in a complex working environment. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the radar dark box angle calibration method provided by the above embodiment, and will not be repeated here.

[0129] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A radar dark box angle calibration method, characterized in that: The method is applied to a dark box host computer, the dark box host computer is connected to a radar via a communication protocol, and the method includes: Get the rotation angle set of the rotating platform; Based on the rotation angle set, obtaining a test angle set measured by the radar; Obtaining an angle calibration table according to a preset input set, the rotation angle set and the test angle set; An output angle is determined based on an input angle, the angle calibration table, and the preset input set.

2. The method according to claim 1, characterized in that The step of obtaining the angle calibration table according to the preset input set, the rotation angle set and the test angle set comprises: Determine a first test angle and a second test angle in the test angle set according to a plurality of preset input angles in the preset input set, wherein the number of the first test angle is smaller than the number of the second test angle; Determine a first rotation angle and a second rotation angle of the rotation angle set according to the first test angle and the second test angle, wherein the number of the first rotation angle is smaller than the number of the second rotation angle; Obtaining a plurality of calibration angles according to a plurality of preset input angles of the preset input set, the first test angle, the second test angle, the first rotation angle, and the second rotation angle; An angle calibration table is obtained according to the several calibration angles.

3. The method according to claim 1, characterized in that The step of determining the output angle according to the input angle, the angle calibration table and the preset input set comprises: Determine a first preset input angle and a second preset input angle in the preset input set according to the input angle, wherein the number of the first preset input angle is smaller than the number of the second preset input angle; Determining a first calibration angle and a second calibration angle in the angle calibration table according to the first preset input angle and the second preset input angle, wherein the number of the first calibration angle is smaller than the number of the second calibration angle; An output angle is determined based on the input angle, the first preset input angle, the second preset input angle, the first calibration angle, and the second calibration angle.

4. The method according to claim 1, characterized in that After the step of obtaining the angle calibration table according to the preset input set, the rotation angle set and the test angle set, the method further includes: Simulating different electromagnetic environments and target scenes through a dark box, returning to execute the step of obtaining the rotation angle set of the rotating platform, until an angle calibration table under different electromagnetic environments and target scenes is obtained; The angle calibration table is updated to an angle calibration table under different electromagnetic environments and target scenarios.

5. The method according to claim 1, characterized in that After the step of determining the output angle according to the input angle, the angle calibration table and the preset input set, the method further includes: comparing the output angle with a corresponding rotation angle in the rotation angle set; When the difference between the output angle and the corresponding rotation angle in the rotation angle set is within a preset range, the radar is controlled to adjust the angle to the output angle.

6. The method according to claim 1, characterized in that The step of acquiring the test angle set measured by the radar based on the rotation angle set comprises: Acquiring detection data of the radar based on different rotation angles in the rotation angle set; Compare the detection data with a preset threshold value to obtain corresponding detection data at different rotation angles; A test angle set is obtained according to the corresponding detection data at different rotation angles.

7. The method according to claim 6, characterized in that The step of comparing the detection data with a preset threshold value to obtain corresponding detection data at different rotation angles includes: Comparing the detection data with a preset threshold value; When the difference between the detection data corresponding to a certain rotation angle and the preset threshold value is greater than or equal to the preset difference, the detection data corresponding to the rotation angle is reacquired, and the step of comparing the detection data with the preset threshold value is returned to execute until the difference between the detection data corresponding to the rotation angle and the preset threshold value is less than the preset difference, thereby obtaining the detection data corresponding to different rotation angles.

8. A radar dark box angle calibration device, characterized in that: The radar dark box angle calibration device comprises: An acquisition module, used to acquire a rotation angle set of a rotating platform; A determination module, configured to obtain a test angle set measured by the radar based on the rotation angle set; The determination module is further used to obtain an angle calibration table according to a preset input set, the rotation angle set and the test angle set; The determination module is further used to determine the output angle according to the input angle, the angle calibration table and the preset input set.

9. A radar dark box angle calibration device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the radar dark box angle calibration method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the radar dark box angle calibration method according to any one of claims 1 to 7 are implemented.

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