Method and device for calibrating millimeter wave sensing system

Abstract

The invention provides a calibration method and device for a millimeter wave sensing system, and belongs to the technical field of communication, and the method comprises the steps: receiving a wave beam configuration parameter, a power parameter, static reflector position information and dynamic target information of a radio frequency receiving and transmitting module, and a transmitting power demand and a wave beam coverage range demand of a deployment scene; dynamically adjusting beam configuration and power parameters according to a preset calibration mode and report information; performing real-time delay error correction on the propagation path based on the adjusted parameters, and tracking the dynamic change of a dynamic target when the dynamic target exists; and adjusting the sending power according to the sending power demand, selecting and executing a calibration mode based on the static reflector and the dynamic target information, and outputting the calibrated information. The method is suitable for static, dynamic and mixed scenes, and through dynamic adjustment and real-time correction, the calibration precision is improved, and the beam coverage is optimized.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a calibration method and device for a millimeter wave sensing system. Background Art

[0002] At present, the millimeter wave-based perception system is mainly divided into two solutions: integrated transceiver and distributed, according to the application scenarios and technical characteristics. Distributed systems are widely used due to the advantages of small size of a single transceiver port, flexible layout, and wide application scenarios. However, distributed systems face the problem of delay deviation in the transceiver link, the causes of which include the synchronization mechanism of the transceiver equipment, the frequency offset of the two devices, and the hardware performance difference. Although there are many mature and reliable solutions for the synchronization mechanism of the two devices, these solutions are mainly for the devices themselves. Due to the different hardware performance of the transceiver equipment, the calibration results will be out of sync. From the perspective of the overall transceiver system, there will still be a large difference in the transceiver delay. Summary of the invention

[0003] The present application provides a calibration method and device for a millimeter wave sensing system, aiming to solve the delay calibration problem of a distributed millimeter wave sensing system.

[0004] In a first aspect, the present application provides a calibration method for a millimeter wave sensing system, comprising: Receive the beam configuration parameters and power parameters of the RF transceiver module, perceive the location information of static reflectors and dynamic targets in the environment, and the transmission power requirements and beam coverage requirements of the deployment scenario; According to the preset calibration mode and the reporting information fed back by each calibration, the beam configuration parameters and power parameters of the RF transceiver module are dynamically adjusted to meet the beam coverage requirements of the deployment scenario; the reporting information includes the R spectrum information corresponding to the beam coverage sent by the host computer, and the uplink power gain parameters corresponding to each beam; According to the type of perception scene, based on the adjusted beam configuration parameters and power parameters, the signal propagation path is corrected for delay errors in real time, and the dynamic changes of dynamic targets are tracked when they exist, so as to obtain real-time dynamic target information. According to the transmission power requirement of the deployment scenario, the transmission power of the RF transceiver module is adjusted, and based on the static reflector position information and / or the dynamic target information, a corresponding calibration mode is selected to output the calibrated information.

[0005] In a second aspect, the present application also provides a calibration device for a millimeter wave sensing system, comprising: The receiving module is used to receive the beam configuration parameters and power parameters of the RF transceiver module, perceive the location information of static reflectors and dynamic target information in the environment, and the transmission power requirements and beam coverage requirements of the deployment scenario; An adjustment module is used to dynamically adjust the beam configuration parameters and power parameters of the RF transceiver module according to a preset calibration mode and the reporting information fed back by each calibration to meet the beam coverage requirements of the deployment scenario; the reporting information includes R spectrum information corresponding to the beam coverage sent by the host computer, and uplink power gain parameters corresponding to each beam; A correction module is used to perform real-time delay error correction on the signal propagation path based on the type of the perception scene and the adjusted beam configuration parameters and power parameters, and to track the dynamic changes of dynamic targets when they exist, so as to obtain their real-time dynamic target information; The calibration module is used to adjust the transmission power of the RF transceiver module according to the transmission power requirement of the deployment scenario, and select to execute the corresponding calibration mode based on the static reflector position information and / or the dynamic target information, and output the calibrated information.

[0006] The millimeter wave sensing system calibration method and device provided in this application are intended to solve the delay calibration problem based on a distributed millimeter wave sensing system. The method receives beam configuration parameters and power parameters of a radio frequency transceiver module, position information of static reflectors and dynamic target information in a sensing environment, and transmission power requirements and beam coverage requirements of a deployment scenario; dynamically adjusts beam configuration parameters and power parameters of the radio frequency transceiver module according to a preset calibration mode (including leakage calibration mode, calibration calibration mode, and extended calibration mode) and reporting information fed back by each calibration (such as R spectrum information corresponding to the beam coverage range and uplink power gain parameters corresponding to each beam) to meet the beam coverage requirements of the deployment scenario; performs real-time delay error correction on a signal propagation path based on the adjusted beam configuration parameters and power parameters according to the type of sensing scenario (such as static scenario, dynamic scenario, and mixed scenario); and tracks the dynamic changes of a dynamic target when it exists to obtain its real-time dynamic target information; adjusts the transmission power of the radio frequency transceiver module according to the transmission power requirements of the deployment scenario; selects to execute a corresponding calibration mode (leakage calibration mode, calibration calibration mode, or extended calibration mode) based on the position information of static reflectors and / or dynamic target information, and outputs the calibrated information.

[0007] Therefore, this application dynamically adjusts the beam configuration parameters and power parameters, combines the preset calibration mode and reporting information, and performs real-time delay error correction on the signal propagation path, thereby significantly improving the accuracy and real-time performance of the delay calibration; the system automatically adjusts the transmit power according to the requirements of the deployment scenario, and flexibly selects the calibration mode to ensure adaptability and robustness in different scenarios; by continuously tracking the dynamic changes of dynamic targets, the system's perception ability of dynamic targets is further enhanced, providing an efficient and accurate delay calibration solution for distributed millimeter wave perception systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0009] Figure 1 It is an architecture diagram of the millimeter wave sensing system of the present application; Figure 2 is a flow chart of a calibration method of a millimeter wave sensing system of the present application; Figure 3a is a schematic diagram of a scanning beam according to Embodiment 1 of the present application; Figure 3b is a flow chart of a calibration method in a leakage calibration mode according to Embodiment 1 of the present application; Figure 4a is a schematic diagram of a reflector according to Embodiment 2 of the present application; Figure 4b is a flow chart of a calibration method in a calibration mode of a second embodiment of the present application; Figure 5 is a flowchart of a calibration method in an extended calibration mode of Embodiment 3 of the present application; Figure 6 It is a structural block diagram of the calibration device of the millimeter wave sensing system provided in this application. DETAILED DESCRIPTION

[0010] In the embodiments of the present application, the term "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0011] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0012] This application proposes a calibration method and device for the delay calibration problem in a distributed millimeter wave sensing system. In a distributed millimeter wave sensing system, factors such as hardware circuit differences, equipment performance fluctuations, and dynamic environmental changes can cause signal transmission delay errors, reducing the system's perception accuracy and real-time performance. To this end, this application provides a solution that can dynamically adjust parameters, correct delay errors in real time, and enhance system adaptability.

[0013] This application achieves filtering of invalid spatial path information, real-time delay error correction of signal propagation paths (including all paths that the signal passes from the transmitter to the receiver, such as direct paths, reflection paths, etc.), and dynamic change tracking of dynamic targets by dynamically adjusting beam configuration parameters and power parameters, combined with preset calibration modes and reporting information. At the same time, the system automatically adjusts the transmission power according to the deployment scenario requirements and flexibly selects the calibration mode, ensuring adaptability and robustness in static, dynamic and mixed scenarios, and providing an efficient and accurate delay calibration solution for distributed millimeter wave sensing systems.

[0014] The following is combined with Figures 1 to 6 The present application is described in detail.

[0015] Please refer to Figure 1 , Figure 1 This is the architecture diagram of the millimeter wave sensing system of the present application. A millimeter wave sensing system includes a receiving module and its receiving circuit, a sending module and its sending circuit, and a host computer and its environmental parameter configuration unit. Among them, the receiving module and its receiving circuit and the sending module and its sending circuit are collectively referred to as a radio frequency transceiver module; the host computer and its environmental parameter configuration unit are collectively referred to as a host computer. The host computer is responsible for the configuration and distribution of environmental parameters, and processes and analyzes the received data.

[0016] Exemplarily, the main function of the sending module is to receive environmental parameters sent by the host computer, including the transmission power requirement and the beam coverage requirement, and report the parameters to the host computer. The sending module includes a beam control unit, a digital processing unit, and a downlink gain control unit. The beam control unit is used to send beam configuration parameters to the transmitting circuit to control the direction and coverage of the transmitting beam. The digital processing unit is used to process downlink data to ensure the accuracy and integrity of the data. The downlink gain control unit is used to adjust the power parameters of the transmitting circuit according to the transmission power requirement, and send the downlink data to the transmitting circuit. The core functions of the sending module include analyzing environmental parameters, confirming the conditions for transmitting the beam, and dynamically adjusting the power parameters according to the transmission power requirement to meet the needs of the deployment scenario.

[0017] Exemplarily, the main function of the receiving module is to receive environmental parameters sent by the host computer, including static reflector position information and dynamic target information, and report parameters to the host computer. The receiving module includes a beam control unit, a digital processing unit, and an uplink gain control unit. The beam control unit is used to send beam configuration parameters to the receiving circuit to control the direction and coverage of the receiving beam. The digital processing unit is used to process uplink data to ensure the accuracy and integrity of the data. The uplink gain control unit is used to adjust the power parameters of the receiving circuit according to the beam coverage requirements, and send the uplink data to the receiving circuit. The core functions of the receiving module include analyzing environmental parameters, filtering invalid information that exceeds the required range and affects the calibration accuracy, and filtering invalid spatial path information (including distance, delay, angle and speed) based on beam configuration parameters and power parameters, and retaining valid information.

[0018] Exemplarily, the main functions of the host computer include environmental parameter configuration, data processing and analysis, and calibration mode selection and execution. Environmental parameter configuration is to configure and send transmission power requirements, beam coverage requirements, static reflector position information and dynamic target information according to the requirements of the deployment scenario. Data processing and analysis is to receive the data reported by the RF transceiver module, perform RVA (distance-velocity-angle) estimation, analyze and judge the received data, and confirm the range of environmental parameters in combination with specific calibration scenarios (such as static scenarios, dynamic scenarios or mixed scenarios) and uses, and send them to the sending module and receiving module. Calibration mode selection and execution is based on static reflector position information and / or dynamic target information, and selects and executes the corresponding calibration mode, including leakage calibration mode, calibration calibration mode and extended calibration mode, and outputs the calibrated information to ensure the adaptability and robustness of the system in different scenarios.

[0019] On this basis, the host computer works with the sending module and the receiving module, including parameter sending and reporting, dynamic adjustment and calibration, and dynamic target tracking. In terms of parameter sending and reporting, the host computer sends environmental parameters to the sending module and the receiving module. The sending module reports the R spectrum information corresponding to the beam coverage range to the host computer based on the received environmental parameters; the receiving module reports the uplink power gain parameters corresponding to each beam to the host computer based on the received environmental parameters. In this way, the host computer can fully grasp the working status of the sending module and the receiving module. Among them, the R spectrum (Range Spectrum) refers to the spectrum information related to the target distance obtained after the received time domain signal is converted into a frequency domain signal through signal processing technology (such as fast Fourier transform, FFT).

[0020] In terms of dynamic adjustment and calibration, the sending module dynamically adjusts the beam configuration parameters and power parameters according to the calibration mode and reported information to meet the needs of the deployment scenario. The receiving module filters invalid spatial path information (including distance, delay, angle and speed) according to the calibration mode and reported information, retains valid information, and performs real-time delay error correction on the signal propagation path (including direct path, reflection path, etc.) based on the valid information. In terms of dynamic target tracking, in dynamic or mixed scenarios, the receiving module continuously tracks the dynamic changes of dynamic targets, obtains their real-time dynamic target information, and further optimizes the calibration results based on this information. At the same time, the sending module dynamically adjusts the direction and coverage of the sending beam according to the feedback information of the receiving module to ensure the system's accurate tracking of dynamic targets.

[0021] Please refer to Figure 2 , Figure 2 The flowchart of the calibration method of the millimeter wave sensing system of the present application is as follows. A calibration method of the millimeter wave sensing system comprises: S210, receiving beam configuration parameters and power parameters of the RF transceiver module, sensing static reflector position information and dynamic target information in the environment, and transmission power requirements and beam coverage requirements of the deployment scenario.

[0022] Specifically, the parameters of the RF transceiver module include beam configuration parameters and power parameters. Among them, the beam configuration parameters include the direction, width and coverage of the beam, which are used to determine the transmission and reception range of the signal; the power parameters include the transmission power and receiving gain, which are used to ensure the effective transmission and reception of the signal in a specific environment. The perceived environment information includes static reflector position information and dynamic target information. Among them, the static reflector position information refers to the position information of fixed reflectors (such as walls, buildings, etc.) in the environment, which is used to calibrate the system's perception of static targets; dynamic target information refers to the position and speed information of mobile targets (such as vehicles, pedestrians, etc.) in the environment, which is used to calibrate the system's perception of dynamic targets. The deployment scenario requirements include transmission power requirements and beam coverage requirements. The transmission power requirement is the transmission power determined according to the specific requirements of the deployment scenario (such as coverage, signal strength, etc.); the beam coverage requirement is the beam coverage determined according to the specific requirements of the deployment scenario (such as the size and shape of the target area, etc.).

[0023] The host computer receives and analyzes beam configuration parameters, power parameters, static reflector location information, dynamic target information, transmission power requirements and beam coverage requirements, confirms the conditions for transmitting the beam and the adjustment of the downlink gain; the RF transceiver module filters out-of-range information based on the beam coverage requirements and transmission power requirements; the host computer confirms the range of beam configuration parameters and power parameters based on the transmission power requirements and beam coverage requirements, and sends them to the RF transceiver module.

[0024] S220, dynamically adjust the beam configuration parameters and power parameters of the RF transceiver module according to the preset calibration mode and the reporting information of each calibration feedback to meet the beam coverage requirements of the deployment scenario.

[0025] Among them, the calibration mode includes leakage calibration mode, calibration mode and extended calibration mode; the reported information includes the R spectrum information corresponding to the beam coverage range sent by the upper computer, and the uplink power gain parameters corresponding to each beam.

[0026] Specifically, the definitions and functions of the three calibration modes are as follows: The leakage calibration mode does not rely on environmental information and is mainly used to calibrate signal leakage within the system. It detects the strength, delay and angle of the leakage signal through the RF transceiver module, and corrects the delay error and angle error in real time. It is suitable for dynamic target detection in dynamic scenes. The calibration mode relies on the static target information in the environment and is used to calibrate the system's perception of static targets. It detects the distance, delay and angle of static reflectors by scanning the beam angle by angle, and corrects the delay error and angle error based on the known position of the static reflector. It is suitable for stationary target detection in static scenes. The extended calibration mode relies on the information of non-rigid targets (such as micro-motion targets) in the environment and is used to calibrate the system's perception of dynamic targets. It expands the beam coverage by configuring the maximum vertical or horizontal expansion angle, and corrects the angle error based on the expansion angle configuration. It is suitable for multi-target detection in mixed scenes.

[0027] In addition, the RF transceiver module dynamically adjusts its beam configuration parameters and power parameters according to the preset calibration mode and the reported information fed back by each calibration (such as R spectrum information and uplink power gain parameters) to ensure that the system can meet the beam coverage requirements of the deployment scenario. Specifically, in the leakage calibration mode, the RF transceiver module configures a set of beams with a preset maximum horizontal or vertical angle range, scans and reports data, and the host computer selects the effective leakage beam range that meets the beam coverage requirements based on the reported information, and sends down the adjusted beam configuration parameters and power parameters; in the calibration mode, the RF transceiver module scans the beam angle by angle, detects static reflectors, and corrects the delay error based on the known position and reported information of the static reflectors; in the extended calibration mode, the RF transceiver module configures the maximum vertical or horizontal extension angle, expands the beam coverage, and corrects the angle error based on the extended angle and reported information.

[0028] S230, according to the type of the perception scene, based on the adjusted beam configuration parameters and power parameters, perform real-time delay error correction on the signal propagation path, and track the dynamic changes of the dynamic target when it exists, so as to obtain its real-time dynamic target information. Specifically including step S2301 and step S2302: S2301, filtering invalid spatial path information based on the adjusted beam configuration parameters and power parameters; the spatial path information includes distance, delay, angle and speed.

[0029] Specifically, based on the adjusted beam configuration parameters and power parameters, invalid spatial path information (such as distance, delay, angle and speed) is filtered out, and valid information is retained. Invalid information includes erroneous data caused by environmental interference or system errors. For example, in leakage calibration mode, R spectrum information that does not conform to the zero-speed position or is less than the preset threshold is filtered out; in calibration mode, based on the known position and preset threshold of static reflectors, spatial path information that does not conform to the characteristics of static targets is filtered out; in extended calibration mode, the speed dimension is used for further limitation to filter out stationary targets or targets at the same distance but different speeds. Valid information refers to spatial path information that meets the calibration requirements and is used for subsequent calibration and error correction.

[0030] S2302: According to the type of the perceived scene and based on the filtered effective spatial path information, perform real-time delay error correction on the signal propagation path.

[0031] Specifically, in static scenes, based on the filtered effective spatial path information, the signal propagation path (such as direct path, reflected path, etc.) is corrected for real-time delay errors. Specifically, the delay error can be corrected through the known position of the static reflector; in dynamic scenes, based on the filtered effective spatial path information, the signal propagation path is corrected for real-time delay errors. Specifically, the delay error can be corrected in real time through the speed dimension information, and the dynamic changes of dynamic targets are continuously tracked; in mixed scenes, the movement direction and speed of the dynamic target are further combined to calibrate the speed deviation caused by the beam scanning cycle delay to obtain its real-time dynamic target information, and the calibration results are further optimized based on this information.

[0032] Among them, static scene refers to the scene with only static reflectors (such as walls, obstacles, etc.), and the signal propagation path mainly includes direct path and reflection path. Delay error correction is based on the known position information of static reflectors. Dynamic scene refers to the scene with dynamic targets (such as moving objects), and the signal propagation path may include scattered path. Delay error correction is based on speed dimension information and continuously tracks the dynamic changes of dynamic targets. Mixed scene refers to the scene with both static reflectors and dynamic targets. Delay error correction needs to combine the movement direction and speed information of dynamic targets to calibrate the speed deviation caused by the delay of beam scanning cycle. Signal propagation path refers to all paths that the signal passes from the transmitter to the receiver, including direct path, reflection path (such as passing through static reflectors such as walls and obstacles) and scattered path (such as passing through dynamic targets). Delay error correction is based on the propagation characteristics of these paths. Because the dynamic changes of dynamic targets will affect the signal propagation path, it is necessary to track the changes of dynamic targets and optimize the calibration results.

[0033] S240, adjusting the transmission power of the RF transceiver module according to the transmission power requirement of the deployment scenario, selecting to execute a corresponding calibration mode based on the static reflector position information and / or dynamic target information, and outputting the calibrated information.

[0034] Specifically, according to the transmit power requirements of the deployment scenario, the transmit power of the RF transceiver module is adjusted, including configuring different transmit power backoff mechanisms, testing the effects of different transmit power backoff mechanisms in a deployment environment where multiple sensing modules coexist, and analyzing multiple groups of test results (such as evaluating the impact of different power backoff mechanisms on signal coverage, interference level, energy consumption, etc. to determine which mechanism is most suitable for the current environment); by reporting link gain, restoring digital gain, and optimizing the configuration parameters of the transmit power based on the analysis results (such as determining the optimal power backoff value, power adjustment frequency, etc.) to ensure effective transmission of the signal in a specific environment, so that the RF transceiver module can achieve stable and efficient signal transmission in the current deployment environment. Among them, the transmit power backoff mechanism refers to a strategy in which the transmit power can be dynamically adjusted according to actual needs in the RF transceiver module. For example, in some scenarios, the transmit power may need to be reduced to reduce interference or save energy consumption, while in other scenarios, the transmit power may need to be increased to ensure signal coverage. Configuring different mechanisms means designing and applying multiple power adjustment strategies, such as fixed power backoff, dynamic power backoff, or adaptive power backoff based on environmental feedback, according to the specific needs of the deployment scenario.

[0035] Based on the static reflector position information and / or dynamic target information, the corresponding calibration mode is selected: in dynamic scenes, the leakage calibration mode is selected based on the dynamic target information to detect dynamic targets and correct the delay error; in static scenes, the calibration mode is selected based on the static reflector position information to detect stationary targets and correct the delay error; in mixed scenes, the extended calibration mode is selected based on the static reflector position information and the dynamic target information to detect mixed targets and correct the angle error. The output of the calibrated information includes: in the leakage calibration mode, the delay error information is output; in the calibration mode, the delay error information based on the static reflector is output; in the extended calibration mode, the delay error and speed deviation information based on the dynamic target are output for further optimization and adjustment of the system.

[0036] In summary, the role of step S210 is to provide comprehensive input data for the calibration process, including system parameters, environmental information and scenario requirements. The role of step S220 is to optimize the performance of the RF transceiver module by dynamically adjusting the system parameters, ensuring that the system can adapt to different deployment scenarios and calibration requirements. The role of step S230 is to clean up the data to ensure that subsequent calibration and error correction processes are based on accurate and effective information. The role of step 240 is to improve the system's perception of static and dynamic targets through error correction and target tracking, and ensure the accuracy and real-time performance of the system in different scenarios. The role of step 250 is to ensure that the system can adapt to specific deployment scenarios and environmental requirements by adjusting the transmit power and selecting the calibration mode, and output the calibrated information to provide support for continuous optimization of the system.

[0037] Through the synergistic effect of the above steps, the present application implements a calibration method for a millimeter wave sensing system, which can dynamically adjust system parameters, filter invalid information, perform real-time error correction, and output calibrated information according to the requirements of the deployment scenario and environmental information, thereby ensuring the adaptability and robustness of the system in different scenarios.

[0038] The following is a detailed description with reference to the embodiments.

[0039] Embodiment 1: In Example 1, the system obtains the shortest leakage path by scanning the beam in leakage calibration mode, and performs delay calibration based on the path. This method does not need to rely on target reflectors or exclude other reflection paths, and can directly correct the delay between transceiver devices when the devices are independent. By optimizing the beam configuration parameters of the RF transceiver module, this method effectively reduces the interference of signal leakage on the main beam and significantly improves the stability and efficiency of signal transmission.

[0040] Please refer to Figure 3a , Figure 3b , Figure 3ais a schematic diagram of a scanning beam in Embodiment 1 of the present application, Figure 3b It is a flow chart of the calibration method in the leakage calibration mode of the first embodiment of the present application. Figure 3a In the figure, TX represents the transmitting module and RX represents the receiving module, which together constitute the core components of the RF transceiver module. Other beam transmission directions represent the transmission directions of other beams besides the main beam, which can be used for multipath signal processing or interference suppression. Corrected beam direction represents the calibrated beam direction, which is used to optimize signal transmission and reception performance. Figure 3b The calibration process is as follows: S301, scene information is sent.

[0041] The system receives the beam configuration parameters and power parameters of the RF transceiver module, as well as the location information of static reflectors and dynamic target information in the sensing environment. This information provides basic data for subsequent calibration and optimization, ensuring that the calibration process can be dynamically adjusted for specific scenarios. The scenario information includes the upper and lower thresholds of spatial path information (such as distance, delay, angle, and speed), leakage beam transceiver angles, and shielded beam information, and also covers the transmission power requirements and beam coverage requirements of the deployment scenario. Among them, the leakage beam transceiver angle refers to the direction information of the leakage beam outside the main beam when the RF transceiver module transmits or receives signals. The leakage beam is caused by the non-ideal characteristics of the antenna array (such as the sidelobe effect), which may cause interference or energy loss to the signal transmission. The shielded beam information refers to the beam configuration parameters and direction information used to suppress interference signals. The purpose of the shielded beam is to block or weaken interference signals from a specific direction by adjusting the direction and parameters of the beam, thereby improving the signal quality of the main beam.

[0042] S302, calibrate beam configuration.

[0043] The system dynamically adjusts the beam configuration parameters and power parameters of the RF transceiver module according to the preset calibration modes (such as leakage calibration mode, calibration calibration mode, and extended calibration mode) and the R spectrum information and uplink power gain parameters corresponding to the beam coverage range sent by the host computer. In order to obtain the shortest leakage path, the beam configuration needs to set the transmit and receive directions to the opposite direction. This step ensures that the beam configuration can meet the beam coverage requirements of the deployment scenario and optimize the efficiency and stability of signal transmission.

[0044] S303, filtering invalid spatial diameter information.

[0045] During the calibration beam configuration phase, the system dynamically adjusts the beam configuration parameters and power parameters of the RF transceiver module according to the preset calibration mode and the R spectrum information and uplink power gain parameters corresponding to the beam coverage range sent by the host computer. By filtering invalid spatial path information (such as distance, delay, angle and speed), the system ensures the accuracy of beam configuration and optimizes the efficiency and stability of signal transmission.

[0046] S304, calibrate shielding beam configuration.

[0047] The purpose of calibrating the shield beam configuration is to suppress interference signals from other directions by configuring the direction and parameters of the shield beam. Based on the adjusted beam configuration parameters and power parameters, the system filters invalid spatial path information to ensure that the signal reception of the main beam is not interfered with, thereby improving the overall signal quality. The shield beam information is clearly stated in the sent scene information to ensure the accuracy of the shield beam configuration.

[0048] S305, signal 1 calibration configuration.

[0049] During the calibration configuration phase of signal 1, the system adjusts the transmit power, frequency and other parameters of signal 1 according to the scene information and beam configuration. Considering that the perception modules are easily saturated when deployed together, the system can try different transmit power backoffs. The signal processing module or calibration function module integrates multiple sets of power backoff results to optimize the transmission performance of signal 1. The calibration configuration is based on the static reflector position information and / or dynamic target information, and selects the corresponding calibration mode to ensure that signal 1 remains stable and efficient during transmission.

[0050] S306, signal 2 calibration configuration.

[0051] The calibration configuration of signal 2 is similar to that of signal 1. The system adjusts the transmit power, frequency and other parameters of signal 2 according to the scene information and beam configuration. Also, considering that the perception modules are easily saturated when deployed together, the system can try different transmit power backoffs. The signal processing module or calibration function module integrates multiple sets of power backoff results to optimize the transmission performance of signal 2. The calibration configuration is also based on the static reflector position information and / or dynamic target information, and selects the corresponding calibration mode to ensure that signal 2 remains stable and efficient during transmission.

[0052] S307, calibrate data transmission and reception.

[0053] During the correction data transmission and reception phase, the system sends and receives correction data to test the effects of beam configuration and calibration parameters. This step is used to verify the accuracy of the calibration and ensure that the signal transmission quality reaches the expected target. The correction data includes the R spectrum information corresponding to the beam coverage range and the uplink power gain parameters corresponding to each beam, providing a basis for subsequent calibration parameter reporting. Considering that the first effective path needs to be obtained between multiple beams and different configurations, the system focuses on the accuracy of the first effective path when sending and receiving correction data.

[0054] It should be noted that in wireless communication, there is usually more than one propagation path for the signal from the transmitter to the receiver. Due to reflection, refraction, scattering and other phenomena, the signal will reach the receiver through multiple paths. This phenomenon is called multipath propagation. The propagation distance, delay, attenuation and phase of each path are different, resulting in the signal received by the receiver being the superposition of multiple path signals. In a multipath propagation environment, the first effective path is the effective signal path that first reaches the receiver in the multipath propagation environment, and has the characteristics of the shortest propagation time, the strongest signal strength and the lowest delay. It plays an important role in signal synchronization, channel estimation and interference suppression, and is a key reference indicator in the calibration and optimization of RF transceiver modules. By detecting and optimizing the first effective path, the system can significantly improve the signal transmission performance and adapt to complex wireless communication environments.

[0055] S308, reporting correction parameters.

[0056] Based on the calibration data, the system generates and reports calibration parameters. These parameters reflect the actual effect of the calibration and provide an important basis for further optimizing the system configuration. The calibration parameters include the adjusted beam configuration parameters and power parameters to ensure that the calibration results can be continuously improved to meet the needs of the deployment scenario. During the calibration parameter reporting phase, the system filters invalid calibration parameters based on the scenario information sent down to ensure the accuracy and effectiveness of the reported parameters.

[0057] S309: reporting gain parameters.

[0058] During the gain parameter reporting phase, the system reports link gain data to reflect the gain of the signal during transmission. Based on this data, the system restores the digital gain to ensure the accuracy and performance of the signal processing module. The gain parameters include uplink power gain parameters, which provide a basis for subsequent signal transmission and optimization, ensuring that the system can continue to adapt to scene changes. The RF module needs to report link gain to facilitate the restoration of digital gain and ensure the performance of the signal processing module.

[0059] Embodiment 2: In the calibration mode of Example 2, the system optimizes and calibrates the beam angle by setting the environmental reflector (Object) as the calibration target, combining the spatial information of the target reflection path (d1-1, d1-2) and the direct path (d2), as well as the angle (A0 and A1) between TX (transmitter) and RX (receiver).

[0060] Please refer to Figure 4a , Figure 4b , Figure 4a is a schematic diagram of a reflector according to Embodiment 2 of the present application; Figure 4b It is a flow chart of the calibration method in the calibration mode of the second embodiment of the present application. Figure 4a The spatial relationship of the environmental reflective object in Example 2 is shown. The distance between TX and RX is D, and the environmental reflective object (Object) is located between TX and RX, and its distance from TX is d1-1, and its distance from RX is d1-2. From the perspective of TX, the angle between RX and the environmental reflective object is A0; from the perspective of RX, the angle between TX and the environmental reflective object is A1. Figure 4a Two signal propagation paths are further demonstrated: one is the target reflection path, that is, the signal is transmitted from TX to the environmental reflector (distance d1-1), and then reflected to RX (distance d1-2); the other is the direct path, that is, the signal is directly transmitted from TX to RX (distance d2). These path information provides key spatial reference basis for subsequent beam configuration, signal calibration and interference suppression. Figure 4b The calibration process is as follows: S401, setting environmental reflectors.

[0061] The system sets the environmental reflector (Object) as the signal reflection target. The position and characteristics (such as distance and angle) of the environmental reflector are crucial to the calibration of the signal propagation path (including the reflection path and the direct path). Specifically, the distance of the environmental reflector from TX is d1-1, and the distance from RX is d1-2. The angle between TX and RX is A0, and the angle between RX and TX is A1. After a single calibration, move the environmental reflector and remeasure its distance and angle to ensure the accuracy of the calibration data.

[0062] S402, scene information is sent.

[0063] The scene information sent by the system includes spatial path information, leakage beam receiving and transmitting angles, and shielded beam information. Among them, spatial path information includes upper and lower thresholds of distance, delay, and angle, which are used to determine the effective range of the signal propagation path; leakage beam receiving and transmitting angles specify the receiving and transmitting angles of the leakage beam, which is convenient for subsequent calibration; shielded beam information provides the configuration parameters of the shielded beam, which is used to suppress interference signals.

[0064] S403, calibrate beam configuration.

[0065] During the beam configuration phase, the system uses the angle-by-angle scanning mode to calibrate the TX and RX beams. This includes angle-by-angle scanning and convergence to the effective range. Angle-by-angle scanning means that the system scans the beam direction angle by angle to detect the signal propagation path (including the reflection path and the direct path). Convergence to the effective range means filtering invalid calibration parameters based on the scene information sent down, so that the next scanning beam angle converges to the range where static reflectors can be detected.

[0066] S404, calibrate shielding beam configuration.

[0067] During the shield beam configuration phase, the system corrects the shield beam configuration parameters based on the scene information and beam scanning results. This includes interference signal suppression and dynamic adjustment. Interference signal suppression is to reduce the impact of interference signals on the main beam by optimizing the direction and power of the shield beam. Dynamic adjustment is to dynamically adjust the shield beam configuration according to the movement of environmental reflectors and scene changes to ensure the stability of signal transmission.

[0068] S405, reporting correction parameters.

[0069] During the correction parameter reporting phase, the system reports the calibration results and configuration parameters to provide a basis for subsequent signal processing. Specifically, it includes filtering invalid parameters and converging to a valid range. Filtering invalid parameters means filtering invalid calibration parameters based on the scene information sent down to ensure the accuracy of the reported data. Converging to a valid range means making the next scanning beam angle converge to a range that can detect static reflectors.

[0070] S406: reporting gain parameters.

[0071] During the gain parameter reporting phase, the system reports link gain data to reflect the gain of the signal during transmission. Specifically, it includes restoring digital gain and optimizing signal transmission. Among them, restoring digital gain means that the system restores digital gain based on the reported link gain data to ensure the accuracy and performance of the signal processing module. Optimizing signal transmission is to optimize the signal transmission path by analyzing the gain parameters and reducing the impact of multipath interference and signal leakage.

[0072] S407, integrating multiple groups of power fallback results.

[0073] Considering that the perception modules are easily saturated when deployed together, the system tries different transmission power backoffs and integrates multiple power backoff results. Specifically, it includes power backoff test and comprehensive optimization. The power backoff test is to test the system at different transmission powers and record the signal transmission effect. The comprehensive optimization is that the signal processing module or calibration function module integrates multiple power backoff results to optimize the beam configuration and signal transmission performance.

[0074] S408, obtaining a first effective path.

[0075] Between multiple beams and different configurations, the system needs to obtain the first effective path, including reporting link gain and optimizing signal processing. Reporting link gain means that the RF module reports link gain to facilitate the recovery of digital gain. Optimizing signal processing means that by obtaining the first effective path, the system optimizes the accuracy and performance of the signal processing module to ensure the stability and efficiency of signal transmission.

[0076] Embodiment three: In the extended calibration mode of Example 3, the system calibrates by detecting micro-moving targets (i.e. dynamic targets), and dynamically corrects the delay error in the signal propagation path in combination with the target's velocity dimension data (including movement direction and speed), thereby improving calibration accuracy and signal transmission performance. This mode is suitable for scenarios where the target is in a micro-moving or dynamic state, and ensures the stability and efficiency of signal processing by adjusting the beam configuration and parameters in real time.

[0077] Please refer to Figure 5 , Figure 5 This is a flow chart of the calibration method in the extended calibration mode of the third embodiment of the present application. In the dynamic target calibration mode, the system calibrates by detecting the dynamic target and corrects the delay error in combination with the speed dimension data. Compared with the second embodiment, the target of the third embodiment is in a dynamic state, and its movement direction and speed are known, so it is necessary to report the effective speed dimension data. The specific correction process is as follows: S501, scene information is sent.

[0078] During the scene information delivery phase, the system delivers upper and lower thresholds including spatial path information (distance / delay, angle), leakage beam receiving and transmitting angles, and shielded beam information. Spatial path information is used to determine the effective range of the signal propagation path, leakage beam receiving and transmitting angles specify the receiving and transmitting directions of the leakage beam, and shielded beam information provides shielded beam configuration parameters to suppress interference signals. In addition, since the target is in a dynamic state, the scene information must also include speed dimension data to correct delay errors during subsequent calibration.

[0079] S502, standard beam configuration.

[0080] In the standard beam configuration stage, the system configures the beam into a scanning beam group and performs cyclic scanning in sequence and angle. Specifically, it includes scanning beam group configuration and cyclic scanning. Scanning beam group configuration means that the system divides the beam into multiple scanning beam groups, each corresponding to a specific angle range. Cyclic scanning means that the system scans each beam group in sequence, detects the signal propagation path of the dynamic target, and dynamically adjusts the beam direction in combination with the speed dimension data to ensure calibration accuracy.

[0081] S503, calibrate the shielding beam configuration.

[0082] During the shield beam configuration correction phase, the system corrects the shield beam configuration parameters based on the scene information and beam scanning results. Specifically, it includes interference signal suppression and dynamic adjustment. Interference signal suppression is to reduce the impact of interference signals on the main beam by optimizing the direction and power of the shield beam. Dynamic adjustment is to dynamically adjust the shield beam configuration according to the motion state and speed dimension data of the dynamic target to ensure the stability of signal transmission.

[0083] S504, signal 1 correction configuration.

[0084] In the signal 1 correction configuration phase, the system calibrates the propagation path of signal 1. Specifically, it includes path detection and parameter optimization. Path detection is the system detecting the propagation path of signal 1 and correcting the delay error in combination with the speed dimension data. Parameter optimization is to optimize the beam configuration and transmission parameters of signal 1 based on the detection results to ensure the stability and efficiency of signal transmission.

[0085] S505, signal 2 correction configuration.

[0086] In the signal 2 correction configuration phase, the system calibrates the propagation path of signal 2. Specifically, it includes path detection and parameter optimization. Path detection is the system detecting the propagation path of signal 2 and correcting the delay error in combination with the speed dimension data. Parameter optimization is to optimize the beam configuration and transmission parameters of signal 2 based on the detection results to ensure the stability and efficiency of signal transmission.

[0087] S506, calibrate data transmission and reception.

[0088] In the correction data receiving and sending stage, the system processes the calibration data. Specifically, it includes data receiving and data sending. Data receiving means that the system receives signal data from dynamic targets and processes it in combination with speed dimension data. Data sending means that the system sends the processed calibration data to the signal processing module for subsequent optimization.

[0089] S507, reporting correction parameters.

[0090] During the correction parameter reporting phase, the system reports the calibration results and configuration parameters to provide a basis for subsequent signal processing. Specifically, it includes filtering invalid parameters and converging to a valid range. Filtering invalid parameters means filtering invalid calibration parameters based on the scene information sent down to ensure the accuracy of the reported data. Converging to a valid range means making the next scanning beam angle converge to a range that can detect dynamic targets.

[0091] S508: reporting gain parameters.

[0092] During the gain parameter reporting phase, the system reports link gain data to reflect the gain of the signal during transmission. Specifically, it includes restoring digital gain and optimizing signal transmission. Restoring digital gain means that the system restores digital gain based on the reported link gain data to ensure the accuracy and performance of the signal processing module. Optimizing signal transmission means analyzing gain parameters, optimizing the signal transmission path, and reducing the impact of multipath interference and signal leakage.

[0093] In summary, the leakage calibration mode of Embodiment 1 is applicable to scenarios where leakage interference exists during signal transmission, such as signal leakage to non-target areas, resulting in multipath interference or energy waste. This mode uses the signal leaked from the transmitter to the receiver to confirm the shortest path delay. Its principle is based on the fact that when the equipment is installed and fixed, the distance between the transmitter and the receiver is a known installation parameter. The leakage distance is calculated through the leakage path and compared with the distance from the transmitter to the receiver to achieve delay calibration. The calibration process includes scanning the beam to obtain the shortest leakage path, optimizing the beam configuration through delay calibration, and filtering invalid spatial path information to ensure calibration accuracy.

[0094] The calibration mode of Example 2 is applicable to scenes where the target is static, such as environmental reflectors as calibration targets. By setting environmental reflectors as calibration targets, the beam angle is optimized and the signal transmission performance is improved. The calibration process includes setting environmental reflectors as calibration targets, optimizing beam angles, ensuring the accuracy of the signal propagation path, and synthesizing multiple sets of power fallback results to obtain the first effective path.

[0095] The extended calibration mode of Example 3 is suitable for scenarios where the target is in a micro-motion or dynamic state, such as a mobile device or a dynamic target. By detecting the movement direction and speed of the dynamic target, the delay error in the signal propagation path is dynamically corrected to improve the calibration accuracy and signal transmission performance. The calibration process includes combining the speed dimension data to dynamically adjust the beam configuration; real-time correction of the delay error in the signal propagation path and optimization of the signal transmission path to ensure the stability and efficiency of signal processing.

[0096] The details are as follows: The specific differences between Example 1 and Example 3 are as follows:

[0097] It can be seen that embodiments 1 to 3 solve the interference, accuracy and delay problems in signal transmission from different angles, and are suitable for different application scenarios and requirements. Embodiment 1 is for a scenario with no detection target. The leakage calibration mode is used to eliminate environmental multipath, find the leakage path for delay calibration, and realize self-calibration of the device. Embodiment 2 is for the signal transmission accuracy problem under static targets. The beam angle is optimized through the calibration mode. Embodiment 3 is for the delay error problem caused by dynamic targets. The signal propagation path is dynamically corrected through the extended calibration mode.

[0098] The calibration device of the millimeter wave sensing system provided in the present application is described below. The calibration device of the millimeter wave sensing system described below and the calibration method of the millimeter wave sensing system described above can be referenced to each other.

[0099] Please refer to Figure 6 , Figure 6 6. The millimeter wave sensing system calibration device 600 includes a receiving module 610, an adjusting module 620, a correcting module 630 and a calibration module 640.

[0100] Exemplarily, the receiving module 610 is used to receive beam configuration parameters and power parameters of the RF transceiver module, static reflector position information and dynamic target information in the sensing environment, and transmission power requirements and beam coverage requirements of the deployment scenario.

[0101] Exemplarily, the adjustment module 620 is used to dynamically adjust the beam configuration parameters and power parameters of the RF transceiver module according to a preset calibration mode and the reporting information fed back from each calibration to meet the beam coverage requirements of the deployment scenario; the reporting information includes the R spectrum information corresponding to the beam coverage sent by the host computer, and the uplink power gain parameters corresponding to each beam.

[0102] Exemplarily, the correction module 630 is used to perform real-time delay error correction on the signal propagation path based on the type of the perceived scene and based on the adjusted beam configuration parameters and power parameters, and to track the dynamic changes of dynamic targets when they exist to obtain their real-time dynamic target information.

[0103] Exemplarily, the calibration module 640 is used to adjust the transmit power of the RF transceiver module according to the transmit power requirement of the deployment scenario, and based on the static reflector position information and / or the dynamic target information, select to execute a corresponding calibration mode and output the calibrated information.

[0104] Exemplarily, the calibration device 600 of the millimeter wave sensing system also includes a filtering module 650, which is used to filter invalid spatial path information based on the adjusted beam configuration parameters and power parameters; the spatial path information includes distance, delay, angle and speed.

[0105] Exemplarily, the correction module 630 is further configured to: According to the type of perceived scene, the signal propagation path is corrected for delay errors in real time based on the filtered effective spatial path information.

[0106] Exemplarily, the calibration mode includes a leakage calibration mode, a calibration mode and an extended calibration mode; wherein the leakage calibration mode is used for dynamic target detection in dynamic scenes, detects the strength, delay and angle of the leakage signal through the RF transceiver module, and corrects the delay error and angle error in real time; the calibration mode is used for stationary target detection in static scenes, detects the distance, delay and angle of the static reflector by scanning the beam angle by angle, and corrects the delay error and angle error based on the known position of the static reflector; the extended calibration mode is used for multi-target detection in mixed scenes, expands the beam coverage by configuring the maximum vertical or horizontal expansion angle, and corrects the angle error based on the expansion angle configuration.

[0107] Exemplarily, the receiving module 610 is further configured to: The host computer receives and analyzes beam configuration parameters, power parameters, static reflector position information, dynamic target information, transmission power requirements and beam coverage requirements, and confirms the conditions for transmitting the beam and the adjustment of the downlink gain; the RF transceiver module filters out-of-range information based on the beam coverage requirements and the transmission power requirements; the host computer confirms the range of the beam configuration parameters and the power parameters in combination with the transmission power requirements and the beam coverage requirements, and sends them to the RF transceiver module.

[0108] Exemplarily, the adjustment module 620 is further configured to: In the leakage calibration mode, a set of beams with a preset maximum horizontal or vertical angle range is configured, and the data is scanned and reported; the host computer selects the effective leakage beam range that meets the beam coverage requirements based on the reported information, and sends down the adjusted beam configuration parameters and power parameters; In the calibration mode, the beam is scanned angle by angle to detect a static reflector, and the delay error is corrected based on the known position of the static reflector and the reported information; In the extended calibration mode, the maximum vertical or horizontal extension angle is configured to expand the beam coverage, and the angle error is corrected based on the extension angle and the reported information.

[0109] Exemplarily, the filtering module 650 is further configured to: Invalid spatial diameter information is filtered out according to the preset upper and lower thresholds of the distance, delay, angle and speed; in the leakage calibration mode, the R spectrum information of the zero-speed position or the R spectrum information greater than the threshold is reported; in the calibration mode, based on the known position of the static reflector and the preset threshold, the invalid spatial diameter information is filtered out, and the spatial diameter information that meets the characteristics of the static target is retained; in the extended calibration mode, the speed dimension is used for further limitation to filter out stationary targets or targets with different speeds at the same distance.

[0110] Exemplarily, the correction module 630 is further configured to: For static scenes, the signal propagation path is corrected for real-time delay errors based on the known position information of static reflectors. For dynamic scenes, the signal propagation path is corrected for real-time delay errors based on speed dimension information, and the dynamic changes of dynamic targets are continuously tracked. For mixed scenes, the speed deviation caused by the beam scanning cycle delay is calibrated in combination with the movement direction and speed information of the dynamic target to obtain its real-time dynamic target information.

[0111] Exemplarily, the calibration module 640 is further configured to: Configure different transmit power fallback mechanisms based on the transmit power requirements of the deployment scenario. Test the effects of different transmit power fallback mechanisms in a deployment environment where multiple sensing modules coexist, and analyze multiple sets of test results. Report link gain, restore digital gain, and optimize transmit power configuration parameters based on the analysis results.

[0112] Exemplarily, the calibration module 640 is further configured to: In dynamic scenes, the leakage calibration mode is selected based on the dynamic target information; in static scenes, the calibration mode is selected based on the static reflector position information; in mixed scenes, the extended calibration mode is selected based on the static reflector position information and the dynamic target information.

[0113] Exemplarily, the calibration module 640 is further configured to: In leakage calibration mode, the time delay error information is output; in calibration mode, the time delay error information based on static reflectors is output; in extended calibration mode, the time delay error and speed deviation information based on dynamic targets is output.

[0114] In summary, the calibration device of the millimeter wave sensing system provided in the present application obtains the beam configuration parameters, power parameters of the RF transceiver module, and the static reflector position information and dynamic target information in the sensing environment through the receiving module, and dynamically adjusts the beam configuration and power parameters according to the preset leakage calibration mode, calibration mode and extended calibration mode in combination with the adjustment module. The filtering module filters invalid spatial path information based on the adjusted parameters. The correction module performs real-time delay error correction on static targets and dynamic targets according to the sensing scene type, and continuously tracks the changes of dynamic targets in dynamic or mixed scenes. The calibration module selects to execute the corresponding calibration mode based on the static reflector position information and dynamic target information, and outputs the calibrated information, thereby effectively solving the delay calibration problem of the distributed millimeter wave sensing system; its advantage is that it can adapt to static, dynamic and mixed scenes, improve the calibration accuracy through dynamic adjustment and real-time correction, and optimize the beam coverage range and transmission power configuration at the same time, to ensure the stability and efficiency of the system in different deployment scenarios.

[0115] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A calibration method for a millimeter wave sensing system, characterized in that: include: Receive the beam configuration parameters and power parameters of the RF transceiver module, perceive the location information of static reflectors and dynamic targets in the environment, and the transmission power requirements and beam coverage requirements of the deployment scenario; According to the preset calibration mode and the reporting information fed back by each calibration, the beam configuration parameters and power parameters of the RF transceiver module are dynamically adjusted to meet the beam coverage requirements of the deployment scenario; the reporting information includes the R spectrum information corresponding to the beam coverage sent by the host computer, and the uplink power gain parameters corresponding to each beam; According to the type of perception scene, based on the adjusted beam configuration parameters and power parameters, the signal propagation path is corrected for delay errors in real time, and dynamic changes of dynamic targets are tracked when they exist, so as to obtain real-time dynamic target information. According to the transmission power requirement of the deployment scenario, the transmission power of the RF transceiver module is adjusted, and based on the static reflector position information and / or the dynamic target information, a corresponding calibration mode is selected to output the calibrated information.

2. The calibration method of the millimeter wave sensing system according to claim 1, characterized in that: Also includes: Based on the adjusted beam configuration parameters and power parameters, invalid spatial path information is filtered; The spatial path information includes distance, delay, angle and speed; According to the type of perceived scene, the signal propagation path is corrected for delay errors in real time based on the filtered effective spatial path information.

3. The calibration method of the millimeter wave sensing system according to claim 1, characterized in that: The calibration modes include leakage calibration mode, calibration mode and extended calibration mode; wherein the leakage calibration mode is used for dynamic target detection in dynamic scenes, and detects the strength, delay and angle of the leakage signal through the RF transceiver module, and corrects the delay error and angle error in real time; the calibration mode is used for stationary target detection in static scenes, and detects the distance, delay and angle of the static reflector by scanning the beam angle by angle, and corrects the delay error and angle error based on the known position of the static reflector; the extended calibration mode is used for multi-target detection in mixed scenes, and expands the beam coverage by configuring the maximum vertical or horizontal expansion angle, and corrects the angle error based on the expansion angle configuration.

4. The calibration method of the millimeter wave sensing system according to claim 1, characterized in that: The beam configuration parameters and power parameters of the receiving RF transceiver module, the location information of static reflectors and dynamic target information in the sensing environment, and the transmission power requirements and beam coverage requirements of the deployment scenario include: The host computer receives and analyzes beam configuration parameters, power parameters, static reflector location information, dynamic target information, transmission power requirements, and beam coverage requirements, and confirms the conditions for transmitting the beam and the adjustment of the downlink gain; The radio frequency transceiver module filters out-of-range information based on the beam coverage requirement and the transmission power requirement; The host computer determines the range of the beam configuration parameters and the power parameters based on the transmission power requirement and the beam coverage range requirement, and sends them to the radio frequency transceiver module.

5. The calibration method of the millimeter wave sensing system according to claim 1, characterized in that: The dynamically adjusting the beam configuration parameters and power parameters of the radio frequency transceiver module according to the preset calibration mode and the reporting information fed back by each calibration to meet the beam coverage requirements of the deployment scenario includes: In the leakage calibration mode, a set of beams with a preset maximum horizontal or vertical angle range is configured, and the data is scanned and reported; the host computer selects the effective leakage beam range that meets the beam coverage requirements based on the reported information, and sends down the adjusted beam configuration parameters and power parameters; In the calibration mode, the beam is scanned angle by angle to detect a static reflector, and the delay error is corrected based on the known position of the static reflector and the reported information; In the extended calibration mode, the maximum vertical or horizontal extension angle is configured to expand the beam coverage, and the angle error is corrected based on the extension angle and the reported information.

6. The calibration method of the millimeter wave sensing system according to claim 2, characterized in that: The filtering of invalid spatial path information based on the adjusted beam configuration parameters and power parameters includes: Invalid spatial diameter information is filtered out according to the preset upper and lower thresholds of the distance, delay, angle and speed; in the leakage calibration mode, the R spectrum information of the zero-speed position or the R spectrum information greater than the threshold is reported; in the calibration mode, based on the known position of the static reflector and the preset threshold, the invalid spatial diameter information is filtered out, and the spatial diameter information that meets the characteristics of the static target is retained; in the extended calibration mode, the speed dimension is used for further limitation to filter out stationary targets or targets with different speeds at the same distance.

7. The calibration method of the millimeter wave sensing system according to claim 2, characterized in that: The types of the perceived scenes include static scenes, dynamic scenes and mixed scenes; The real-time delay error correction of the signal propagation path based on the filtered effective spatial path information according to the type of the perception scene includes: For static scenes, real-time delay error correction is performed on the signal propagation path based on the known position information of static reflectors. For dynamic scenarios, the signal propagation path is corrected for time delay errors in real time based on the speed dimension information, and the dynamic changes of dynamic targets are continuously tracked. For mixed scenarios, the speed deviation caused by the beam scanning cycle delay is calibrated in combination with the movement direction and speed information of the dynamic target to obtain its real-time dynamic target information.

8. The calibration method of the millimeter wave sensing system according to claim 1, characterized in that: The adjusting the transmit power of the radio frequency transceiver module according to the transmit power requirement of the deployment scenario includes: Configure different transmit power fallback mechanisms based on the transmit power requirements of the deployment scenario. Test the effects of different transmit power fallback mechanisms in a deployment environment where multiple sensing modules coexist, and analyze multiple sets of test results. Report link gain, restore digital gain, and optimize transmit power configuration parameters based on the analysis results.

9. The calibration method of the millimeter wave sensing system according to claim 1, characterized in that: The selecting and executing a corresponding calibration mode based on the static reflector position information and / or the dynamic target information includes: In dynamic scenes, the leakage calibration mode is selected based on the dynamic target information; in static scenes, the calibration mode is selected based on the static reflector position information; in mixed scenes, the extended calibration mode is selected based on the static reflector position information and the dynamic target information.

10. The calibration method of the millimeter wave sensing system according to claim 1, characterized in that: The output calibrated information includes: In leakage calibration mode, the time delay error information is output; in calibration mode, the time delay error information based on static reflectors is output; in extended calibration mode, the time delay error and speed deviation information based on dynamic targets is output.

11. A calibration device for a millimeter wave sensing system, characterized in that: include: The receiving module is used to receive the beam configuration parameters and power parameters of the RF transceiver module, perceive the location information of static reflectors and dynamic target information in the environment, and the transmission power requirements and beam coverage requirements of the deployment scenario; An adjustment module is used to dynamically adjust the beam configuration parameters and power parameters of the RF transceiver module according to a preset calibration mode and the reporting information fed back by each calibration to meet the beam coverage requirements of the deployment scenario; the reporting information includes R spectrum information corresponding to the beam coverage sent by the host computer, and uplink power gain parameters corresponding to each beam; A correction module is used to perform real-time delay error correction on the signal propagation path based on the type of the perception scene and the adjusted beam configuration parameters and power parameters, and to track the dynamic changes of dynamic targets when they exist, so as to obtain their real-time dynamic target information; The calibration module is used to adjust the transmission power of the RF transceiver module according to the transmission power requirement of the deployment scenario, and select to execute the corresponding calibration mode based on the static reflector position information and / or the dynamic target information, and output the calibrated information.

Images