Calibration Method and Device for Millimeter-Wave Sensing System

Abstract

The present application provides a calibration method and device for a millimeter-wave sensing system, belonging to the field of communication technologies. The method includes: receiving beam configuration parameters, power parameters, static reflector position information, and dynamic target information of a radio frequency transceiver module, as well as the transmission power requirement and beam coverage requirement of a deployment scenario; dynamically adjusting the beam configuration and power parameters according to a preset calibration mode and reported information; performing real-time time-delay error correction on the propagation path based on the adjusted parameters, and tracking its dynamic changes when a dynamic target exists; adjusting the transmission power according to the transmission power requirement, selecting to execute the calibration mode based on the static reflector and dynamic target information, and outputting the calibrated information. The present application is applicable to static, dynamic, and hybrid scenarios. By dynamically adjusting and performing real-time correction, the calibration accuracy is improved and the beam coverage is optimized.

Description

Technical Field

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

[0002] Currently, millimeter-wave-based sensing systems are mainly divided into two types: integrated transceiver and distributed, according to application scenarios and technical characteristics. Among them, the distributed system is widely used due to the advantages of small size of a single transceiver port, flexible layout, and wide application scenarios. However, the distributed system faces the problem of time-delay deviation in the transceiver link, and its causes include the synchronization mechanism of transceiver devices, frequency offset between two devices, and hardware performance differences. Although there are many mature and reliable solutions for the synchronization mechanism of two devices, these solutions mainly focus on the devices themselves. Due to different hardware performances of transceiver devices, the calibration results will be asynchronous, and from the perspective of the overall transceiver system, there will still be a large difference in transceiver time 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 time-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, including:

[0005] Receiving 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;

[0006] Dynamically adjusting the beam configuration parameters and power parameters of the radio frequency transceiver module according to a preset calibration mode and reported information feedback for each calibration to meet the beam coverage requirements of the deployment scenario; the reported information includes R-spectrum information corresponding to the beam coverage sent by the upper computer, and uplink power gain parameters corresponding to each beam;

[0007] According to the type of the sensing scenario, based on the adjusted beam configuration parameters and power parameters, performing real-time time-delay error correction on the signal propagation path and tracking its dynamic changes when a dynamic target exists to obtain real-time dynamic target information;

[0008] Adjusting the transmission power of the radio frequency transceiver module according to the transmission power requirements of the deployment scenario, and selecting and executing a corresponding calibration mode based on the position information of the static reflector and / or the dynamic target information, and outputting calibrated information.

[0009] In a second aspect, the present application further provides a calibration device for a millimeter-wave sensing system, including:

[0010] A receiving module, configured to receive beam configuration parameters and power parameters of a radio frequency transceiver module, position information of static reflectors and dynamic target information in a sensed environment, as well as transmission power requirements and beam coverage requirements of a deployment scenario;

[0011] An adjustment module, configured to dynamically adjust the beam configuration parameters and power parameters of the radio frequency transceiver module according to a preset calibration mode and reported information feedback for each calibration, so as to meet the beam coverage requirements of the deployment scenario; the reported information includes R-spectrum information corresponding to the beam coverage sent by a host computer, and uplink power gain parameters corresponding to each beam;

[0012] A correction module, configured to perform real-time time-delay error correction on a signal propagation path based on the adjusted beam configuration parameters and power parameters according to the type of sensed scenario, and track its dynamic changes when a dynamic target exists, so as to obtain real-time dynamic target information;

[0013] A calibration module, configured to adjust the transmission power of the radio frequency transceiver module according to the transmission power requirements of the deployment scenario, and select and execute a corresponding calibration mode based on the static reflector position information and / or the dynamic target information, and output calibrated information.

[0014] The calibration method and device of the millimeter-wave sensing system provided by this application aim to solve the time-delay calibration problem based on a distributed millimeter-wave sensing system. The method includes receiving beam configuration parameters and power parameters of a radio frequency transceiver module, position information of static reflectors and dynamic target information in a sensed environment, as well as transmission power requirements and beam coverage requirements of a deployment scenario; dynamically adjusting the beam configuration parameters and power parameters of the radio frequency transceiver module according to a preset calibration mode (including a leakage calibration mode, a calibration calibration mode, and an extended calibration mode) and reported information feedback for each calibration (such as R-spectrum information corresponding to the beam coverage and uplink power gain parameters corresponding to each beam), so as to meet the beam coverage requirements of the deployment scenario; performing real-time time-delay error correction on the signal propagation path based on the adjusted beam configuration parameters and power parameters according to the type of sensed scenario (such as a static scenario, a dynamic scenario, and a mixed scenario); tracking its dynamic changes when a dynamic target exists, so as to obtain real-time dynamic target information; adjusting the transmission power of the radio frequency transceiver module according to the transmission power requirements of the deployment scenario; selecting and executing a corresponding calibration mode (a leakage calibration mode, a calibration calibration mode, or an extended calibration mode) based on the static reflector position information and / or the dynamic target information, and outputting calibrated information.

[0015] Therefore, by dynamically adjusting the beam configuration parameters and power parameters, and combining the preset calibration mode and reporting information, the present application corrects the real-time delay error of the signal propagation path, significantly improving the accuracy and real-time performance of delay calibration. The system automatically adjusts the transmission power according to the requirements of the deployment scenario and flexibly selects the calibration mode, ensuring adaptability and robustness in different scenarios. By continuously tracking the dynamic changes of dynamic targets, the perception ability of the system for dynamic targets is further enhanced, providing an efficient and accurate delay calibration solution for the distributed millimeter-wave sensing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 is the architecture diagram of the millimeter-wave sensing system of the present application;

[0018] Figure 2 is the flowchart of the calibration method of the millimeter-wave sensing system of the present application;

[0019] Figure 3a is the schematic diagram of the scanning beam in the first embodiment of the present application;

[0020] Figure 3b is the flowchart of the calibration method in the leakage calibration mode in the first embodiment of the present application;

[0021] Figure 4a is the schematic diagram of the reflector in the second embodiment of the present application;

[0022] Figure 4b is the flowchart of the calibration method in the calibration calibration mode in the second embodiment of the present application;

[0023] Figure 5 is the flowchart of the calibration method in the extended calibration mode in the third embodiment of the present application;

[0024] Figure 6 is the structural block diagram of the calibration device of the millimeter-wave sensing system provided by the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In the embodiments of the present application, the term "and / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after. In the embodiments of the present application, the term "plural" refers to two or more, and other quantifiers are similar thereto.

[0026] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0027] The present application aims at the time delay calibration problem in a distributed millimeter-wave sensing system, and proposes a calibration method and device. In a distributed millimeter-wave sensing system, factors such as hardware circuit differences, device performance fluctuations, and environmental dynamic changes will cause signal transmission time delay errors, reducing the system sensing accuracy and real-time performance. For this reason, the present application provides a solution that can dynamically adjust parameters, correct time delay errors in real time, and enhance the system adaptability.

[0028] The present application realizes the filtering of invalid space path information, the real-time time delay error correction of the signal propagation path (including all paths that the signal passes from the transmitter to the receiver, such as direct paths, reflection paths, etc.), and the tracking of dynamic changes of dynamic targets by dynamically adjusting beam configuration parameters and power parameters, in combination with preset calibration modes and reported 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 hybrid scenarios, and providing an efficient and accurate time delay calibration solution for the distributed millimeter-wave sensing system.

[0029] The following will be combined with the attached Figures 1 to 6 to specifically describe the present application.

[0030] Please refer to Figure 1 , Figure 1 which 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 transmitting module and its transmitting circuit, and a host computer and its environmental parameter configuration unit. Among them, the receiving module and its receiving circuit and the transmitting module and its transmitting circuit are collectively referred to as the radio frequency transceiver module; the host computer and its environmental parameter configuration unit are collectively referred to as the host computer. The host computer is responsible for the configuration and distribution of environmental parameters, and the processing and analysis of received data.

[0031] Exemplarily, the main function of the transmitting module is to receive the environmental parameters sent by the host computer, including the transmission power requirement and the beam coverage range requirement, and report the parameters to the host computer. The transmitting 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 range of the transmitting beam. The digital processing unit is used to process the 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 transmitting module include analyzing the environmental parameters, confirming the conditions for the transmitting beam, and dynamically adjusting the power parameters according to the transmission power requirement to meet the requirements of the deployment scenario.

[0032] Exemplarily, the main function of the receiving module is to receive the environmental parameters sent by the host computer, including the static reflector position information and the dynamic target information, and report the 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 range of the receiving beam. The digital processing unit is used to process the 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 range requirement and send the uplink data to the receiving circuit. The core functions of the receiving module include analyzing the environmental parameters, filtering out invalid information that exceeds the required range and affects the calibration accuracy, and filtering out invalid spatial path information (including distance, time delay, angle, and speed) based on the beam configuration parameters and power parameters, and retaining the valid information.

[0033] 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 the transmission power requirement, beam coverage range requirement, 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 radio frequency transceiver module, perform RVA (Range-Velocity-Angle) estimation, analyze and judge the received data, and confirm the range of the environmental parameters in combination with the specific calibration scenario (such as static scenario, dynamic scenario, or hybrid scenario) and usage, and send them to the transmitting module and the receiving module. Calibration mode selection and execution is to select and execute the corresponding calibration mode based on the static reflector position information and / or dynamic target information, including the leakage calibration mode, the calibration calibration mode, and the extended calibration mode, and output the calibrated information to ensure the adaptability and robustness of the system in different scenarios.

[0034] On this basis, the host computer works in coordination with the sending module and the receiving module, including parameter distribution and reporting, dynamic adjustment and calibration, and dynamic target tracking. In terms of parameter distribution and reporting, the host computer distributes 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 according to the received environmental parameters; the receiving module reports the uplink power gain parameters corresponding to each beam to the host computer according to the received environmental parameters. In this way, the host computer can comprehensively understand the working status of the sending module and the receiving module. Among them, the R-spectrum (Range Spectrum) refers to the spectral information related to the target distance obtained after converting the received time-domain signal into a frequency-domain signal through signal processing technologies (such as fast Fourier transform, FFT).

[0035] 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 the reported information to meet the requirements of the deployment scenario. The receiving module filters out invalid spatial path information (including distance, time delay, angle, and speed) according to the calibration mode and the reported information, retains the valid information, and performs real-time 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 a dynamic scenario or a mixed scenario, the receiving module continuously tracks the dynamic changes of the dynamic target, obtains its real-time dynamic target information, and further optimizes the calibration result based on this information. At the same time, the sending module dynamically adjusts the direction and coverage range of the sending beam according to the feedback information of the receiving module to ensure the accurate tracking of the dynamic target by the system.

[0036] Please refer to Figure 2 , Figure 2 which is the flowchart of the calibration method of the millimeter-wave sensing system of the present application. A calibration method for a millimeter-wave sensing system includes:

[0037] S210, receiving the beam configuration parameters and power parameters of the radio frequency transceiver module, the position information of static reflectors and dynamic target information in the sensing environment, and the transmission power requirement and beam coverage requirement of the deployment scenario.

[0038] Specifically, the parameters of the radio frequency transceiver module include beam configuration parameters and power parameters. Among them, the beam configuration parameters include the direction, width, and coverage range of the beam, which are used to determine the signal transmission and reception range; the power parameters include the transmission power and reception gain, which are used to ensure the effective transmission and reception of signals in a specific environment. The perceived environmental 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 ability of static targets; the dynamic target information refers to the position and speed information of moving targets (such as vehicles, pedestrians, etc.) in the environment, which is used to calibrate the system's perception ability of dynamic targets. The deployment scenario requirements include transmission power requirements and beam coverage requirements. The transmission power requirements are the transmission power determined according to the specific requirements of the deployment scenario (such as coverage range, signal strength, etc.); the beam coverage requirements are the beam coverage range determined according to the specific requirements of the deployment scenario (such as the size and shape of the target area, etc.).

[0039] The host computer receives and analyzes the 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 radio frequency transceiver module filters out-of-range information based on the beam coverage requirements and transmission power requirements; the host computer combines the transmission power requirements and beam coverage requirements, confirms the ranges of the beam configuration parameters and power parameters, and issues them to the radio frequency transceiver module.

[0040] S220, dynamically adjust the beam configuration parameters and power parameters of the radio frequency transceiver module according to the preset calibration mode and the reported information feedback for each calibration to meet the beam coverage requirements of the deployment scenario.

[0041] Among them, the calibration modes include leakage calibration mode, calibration calibration mode, and extended calibration mode; the reported information includes the R-spectrum information corresponding to the beam coverage range issued by the host computer, and the uplink power gain parameters corresponding to each beam.

[0042] 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 inside the system. By detecting the intensity, time delay, and angle of the leakage signal through the radio frequency transceiver module, the time delay error and angle error are corrected in real time, which is applicable to dynamic target detection in dynamic scenarios. The calibration mode depends on the static target information in the environment and is used to calibrate the system's perception ability of static targets. By scanning the beam at each angle to detect the distance, time delay, and angle of the static reflector, and correcting the time delay error and angle error based on the known position of the static reflector, it is applicable to static target detection in static scenarios. The extended calibration mode depends on the information of non-rigid targets (such as micro-moving targets) in the environment and is used to calibrate the system's perception ability of dynamic targets. By configuring the maximum vertical or horizontal expansion angle to expand the beam coverage range, and correcting the angle error based on the configured expansion angle, it is applicable to multi-target detection in mixed scenarios.

[0043] In addition, the radio frequency transceiver module dynamically adjusts its beam configuration parameters and power parameters according to the preset calibration mode and the reported information (such as R-spectrum information and uplink power gain parameters) feedback from each calibration to ensure that the system can meet the beam coverage range requirements of the deployment scenario. Specifically, in the leakage calibration mode, the radio frequency transceiver module configures a set of beams within the preset maximum horizontal or vertical angle range, scans and reports data, and the host computer filters the effective leakage beam range that meets the beam coverage range requirements based on the reported information, and then issues the adjusted beam configuration parameters and power parameters; in the calibration mode, the radio frequency transceiver module scans the beam at each angle, detects the static reflector, and corrects the time delay error based on the known position of the static reflector and the reported information; in the extended calibration mode, the radio frequency transceiver module configures the maximum vertical or horizontal expansion angle to expand the beam coverage range, and corrects the angle error based on the expansion angle and the reported information.

[0044] S230. According to the type of the sensing scenario, based on the adjusted beam configuration parameters and power parameters, perform real-time time delay error correction on the signal propagation path, and track its dynamic changes when there are dynamic targets to obtain their real-time dynamic target information. Specifically, it includes step S2301 and step S2302:

[0045] S2301. Based on the adjusted beam configuration parameters and power parameters, filter out invalid spatial path information; the spatial path information includes distance, time delay, angle, and speed.

[0046] Specifically, based on the adjusted beam configuration parameters and power parameters, filter out invalid spatial path information (such as distance, time delay, angle, and speed), and retain the valid information. The invalid information includes error data caused by environmental interference or system errors. For example, in the leakage calibration mode, filter out the R-spectrum information that does not conform to the zero-speed position or is less than the preset threshold; in the calibration mode, based on the known position of the static reflector and the preset threshold, filter out the spatial path information that does not conform to the characteristics of the static target; in the extended calibration mode, use the speed dimension to further limit and filter out stationary targets or targets with the same distance but different speeds. The valid information refers to the spatial path information that meets the calibration requirements and is used for subsequent calibration and error correction.

[0047] S2302, according to the type of the sensing scenario, based on the filtered valid spatial path information, perform real-time time-delay error correction on the signal propagation path.

[0048] Specifically, in a static scenario, based on the filtered valid spatial path information, perform real-time time-delay error correction on the signal propagation path (such as the direct path, reflection path, etc.). Specifically, the time-delay error can be corrected through the known position of the static reflector; in a dynamic scenario, based on the filtered valid spatial path information, perform real-time time-delay error correction on the signal propagation path. Specifically, the time-delay error can be corrected in real time through the speed dimension information, and continuously track the dynamic changes of the dynamic target; in a mixed scenario, further combine the motion direction and speed of the dynamic target to calibrate the speed deviation caused by the beam scanning period delay to obtain its real-time dynamic target information, and further optimize the calibration result based on this information.

[0049] Among them, a static scenario refers to a scenario where only static reflectors (such as walls, obstacles, etc.) exist, and the signal propagation path mainly includes the direct path and the reflection path. The time-delay error correction is based on the known position information of the static reflector. A dynamic scenario refers to a scenario where dynamic targets (such as moving objects) exist, and the signal propagation path may include the scattering path. The time-delay error correction is based on the speed dimension information and continuously tracks the dynamic changes of the dynamic target. A mixed scenario refers to a scenario where both static reflectors and dynamic targets exist. The time-delay error correction needs to combine the motion direction and speed information of the dynamic target to calibrate the speed deviation caused by the beam scanning period delay. The signal propagation path refers to all paths that the signal passes through from the transmitter to the receiver, including the direct path, the reflection path (such as passing through static reflectors such as walls and obstacles), and the scattering path (such as passing through dynamic targets). The time-delay error correction is performed according to the propagation characteristics of these paths. Because the dynamic changes of the dynamic target will affect the signal propagation path, it is necessary to track the changes of the dynamic target and optimize the calibration result.

[0050] S240. Adjust the transmission power of the RF transceiver module according to the transmission power requirements of the deployment scenario. Based on the static reflector position information and / or dynamic target information, select and execute the corresponding calibration mode, and output the calibrated information.

[0051] Specifically, adjust the transmission power of the RF transceiver module according to the transmission power requirements of the deployment scenario, which specifically includes configuring different transmission power back-off mechanisms and testing the effects of different transmission power back-off mechanisms in a deployment environment where multiple sensing modules coexist. Analyze based on multiple groups of test results (such as evaluating the impacts of different power back-off mechanisms on aspects such as signal coverage, interference level, and energy consumption to determine which mechanism is most suitable for the current environment); restore the digital gain by reporting the link gain, and optimize the configuration parameters of the transmission power based on the analysis results (such as determining the optimal power back-off value, power adjustment frequency, etc.) to ensure the effective transmission of signals in a specific environment, enabling the RF transceiver module to achieve stable and efficient signal transmission in the current deployment environment. Among them, the transmission power back-off mechanism refers to a strategy in the RF transceiver module that can dynamically adjust the transmission power according to actual needs. For example, in some scenarios, it may be necessary to reduce the transmission power to reduce interference or save energy consumption, while in other scenarios, it may be necessary to increase the transmission power to ensure signal coverage. Configuring different mechanisms means designing and applying multiple power adjustment strategies according to the specific requirements of the deployment scenario, such as fixed power back-off, dynamic power back-off, or adaptive power back-off based on environmental feedback.

[0052] Based on the static reflector position information and / or dynamic target information, select and execute the corresponding calibration mode: In a dynamic scenario, select and execute the leakage calibration mode based on the dynamic target information to detect dynamic targets and correct the time-delay error; in a static scenario, select and execute the calibration calibration mode based on the static reflector position information to detect stationary targets and correct the time-delay error; in a mixed scenario, select and execute the extended calibration mode based on the static reflector position information and dynamic target information to detect mixed targets and correct the angle error. The output of the calibrated information includes: in the leakage calibration mode, output the time-delay error information; in the calibration calibration mode, output the time-delay error information based on the static reflector; in the extended calibration mode, output the time-delay error and speed deviation information based on the dynamic target for further optimization and adjustment of the system.

[0053] In summary, the function of step S210 is to provide comprehensive input data for the calibration process, including system parameters, environmental information, and scenario requirements. The function of step S220 is to optimize the performance of the RF transceiver module by dynamically adjusting system parameters, ensuring that the system can adapt to different deployment scenarios and calibration requirements. The function of step S230 is to clean the data to ensure that the subsequent calibration and error correction processes are based on accurate and valid information. The function of step 240 is to improve the system's perception ability of static and dynamic targets through error correction and target tracking, ensuring the accuracy and real-time performance of the system in different scenarios. The function of step 250 is to ensure that the system can adapt to specific deployment scenarios and environmental requirements by adjusting the transmission power and selecting the calibration mode, and output the calibrated information to support the continuous optimization of the system.

[0054] Through the collaborative effect of the above steps, this application realizes a calibration method for a millimeter-wave sensing system, which can dynamically adjust system parameters according to the requirements of the deployment scenario and environmental information, filter invalid information, perform real-time error correction, and output the calibrated information to ensure the adaptability and robustness of the system in different scenarios.

[0055] The following is a specific description in conjunction with embodiments.

[0056] Embodiment 1:

[0057] In Embodiment 1, in the leakage calibration mode, the system obtains the shortest leakage path by scanning the beam and performs time-delay calibration based on this path. This method does not need to rely on target reflectors or exclude other reflection paths, and can directly correct the time delay between the transceiver devices independently of the device. 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.

[0058] Please refer to Figure 3a 、 Figure 3b , Figure 3a which is a schematic diagram of the scanning beam in Embodiment 1 of this application, Figure 3b and which is a flowchart of the calibration method in the leakage calibration mode in Embodiment 1 of this application. Figure 3a In , TX represents the transmitting module, RX represents the receiving module, and the two together constitute the core components of the RF transceiver module. The other beam emission directions represent the emission directions of other beams except the main beam, which can be used for multipath signal processing or interference suppression. The corrected beam direction represents the beam direction after calibration, which is used to optimize the signal transmission and reception performance. Figure 3b The calibration process of is as follows:

[0059] S301, scene information is sent down.

[0060] The system receives the beam configuration parameters and power parameters of the radio frequency transceiver module, as well as the position information of static reflectors and dynamic target information in the sensing environment. These information provide the basic data for subsequent calibration and optimization, ensuring that the calibration process can be dynamically adjusted according to the specific scenario. The scenario information includes the upper and lower thresholds of spatial path information (such as distance, time delay, angle, and speed), the transceiver angles of the leakage beam, and the shielding beam information, and also covers the transmission power requirements and beam coverage requirements of the deployment scenario. Among them, the transceiver angle of the leakage beam refers to the direction information of the leakage beam outside the main beam when the radio frequency transceiver module transmits or receives signals. The leakage beam is generated due to the non-ideal characteristics of the antenna array (such as sidelobe effect), which may cause interference or energy loss to signal transmission. The shielding beam information refers to the beam configuration parameters and direction information used to suppress interference signals. The purpose of the shielding beam is to block or weaken the interference signals from specific directions by adjusting the direction and parameters of the beam, thereby improving the signal quality of the main beam.

[0061] S302, Calibrate the beam configuration.

[0062] The system dynamically adjusts the beam configuration parameters and power parameters of the radio frequency transceiver module according to the preset calibration modes (such as leakage calibration mode, calibration calibration mode, and extended calibration mode), as well as the R-spectrum information and uplink power gain parameters corresponding to the beam coverage range sent by the upper computer. In order to obtain the shortest leakage path, the beam configuration needs to set the transceiver directions to opposite directions. 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.

[0063] S303, Filter out invalid spatial path information.

[0064] During the calibration beam configuration stage, the system dynamically adjusts the beam configuration parameters and power parameters of the radio frequency transceiver module according to the preset calibration modes, as well as the R-spectrum information and uplink power gain parameters corresponding to the beam coverage range sent by the upper computer. By filtering out invalid spatial path information (such as distance, time delay, angle, and speed), the system ensures the accuracy of the beam configuration and optimizes the efficiency and stability of signal transmission.

[0065] S304, Calibrate the shielding beam configuration.

[0066] The purpose of calibrating the shielding beam configuration is to suppress interference signals from other directions by configuring the direction and parameters of the shielding beam. The system filters out invalid spatial path information based on the adjusted beam configuration parameters and power parameters to ensure that the signal reception of the main beam is not interfered, thereby improving the overall signal quality. The shielding beam information has been clearly defined in the sent scenario information to ensure the accuracy of the shielding beam configuration.

[0067] S305, Calibrate the signal 1 configuration.

[0068] In the signal 1 calibration configuration phase, the system adjusts parameters such as the transmission power and frequency of signal 1 according to the scenario information and beam configuration. Considering that the co-deployment of the sensing modules is prone to saturation, the system can try different transmission power backoffs, and the signal processing module or the calibration function module synthesizes the results of multiple groups of power backoffs to optimize the transmission performance of signal 1. The calibration configuration is based on the static reflector position information and / or dynamic target information to select and execute the corresponding calibration mode to ensure that signal 1 remains stable and efficient during transmission.

[0069] S306, Signal 2 calibration configuration.

[0070] The signal 2 calibration configuration is similar to that of signal 1. The system adjusts parameters such as the transmission power and frequency of signal 2 according to the scenario information and beam configuration. Similarly, considering that the co-deployment of the sensing modules is prone to saturation, the system can try different transmission power backoffs, and the signal processing module or the calibration function module synthesizes the results of multiple groups of power backoffs 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 to select and execute the corresponding calibration mode to ensure that signal 2 remains stable and efficient during transmission.

[0071] S307, Calibration data transmission and reception.

[0072] In the calibration data transmission and reception phase, the system transmits and receives calibration data to test the effects of the beam configuration and calibration parameters. This step is used to verify the accuracy of the calibration to ensure that the signal transmission quality reaches the expected goal. The calibration 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 the subsequent reporting of calibration parameters. Considering that it is necessary to obtain the first effective path among multiple beams and different configurations, the system focuses on the accuracy of the first effective path when transmitting and receiving calibration data.

[0073] It should be noted that in wireless communication, the propagation path of a signal from the transmitter to the receiver usually has more than one. Due to phenomena such as reflection, refraction, and scattering, the signal will reach the receiver through multiple paths, and this phenomenon is called multipath propagation. The propagation distance, time delay, attenuation, and phase of each path are different, resulting in the signal received at the receiver being the superposition of signals from multiple paths. In a multipath propagation environment, the first effective path is the effective signal path that reaches the receiver first in the multipath propagation environment, characterized by the shortest propagation time, the strongest signal intensity, and the lowest time delay. It plays an important role in signal synchronization, channel estimation, and interference suppression, and is a key reference index in the calibration and optimization of the radio frequency transceiver module. By detecting and optimizing the first effective path, the system can significantly improve the signal transmission performance and adapt to complex wireless communication environments.

[0074] S308, Reporting of calibration parameters.

[0075] Based on the calibration data, the system generates calibration parameters and reports them. These parameters reflect the actual effect of 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 requirements of the deployment scenario. During the calibration parameter reporting phase, the system filters out invalid calibration parameters according to the issued scenario information to ensure the accuracy and effectiveness of the reported parameters.

[0076] S309, reporting gain parameters.

[0077] During the gain parameter reporting phase, the system reports link gain data, which reflects the gain situation of the signal during transmission. Based on these 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 to ensure that the system can continuously adapt to scenario changes. The RF module needs to report the link gain to facilitate the restoration of the digital gain and ensure the performance of the signal processing module.

[0078] Embodiment 2:

[0079] In the calibration mode of Embodiment 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 angles (A0 and A1) between the TX (transmitter) and the RX (receiver).

[0080] Please refer to Figure 4a 、 Figure 4b , Figure 4a which is a schematic diagram of the reflector in Embodiment 2 of the present application; Figure 4b which is a flowchart of the calibration method in the calibration mode of Embodiment 2 of the present application. Figure 4a The spatial relationship of the environmental reflector in Embodiment 2 is shown. The distance between the TX and the RX is D, and the environmental reflector (Object) is located between the TX and the RX, with a distance of d1-1 from the TX and a distance of d1-2 from the RX. From the perspective of the TX, the included angle between the RX and the environmental reflector is A0; from the perspective of the RX, the included angle between the TX and the environmental reflector is A1. Figure 4a It further shows two signal propagation paths: one is the target reflection path, that is, the signal is transmitted from the TX to the environmental reflector (distance d1-1), and then reflected to the RX (distance d1-2); the other is the direct path, that is, the signal is directly transmitted from the TX to the RX (distance d2). This path information provides a key spatial reference basis for subsequent beam configuration, signal calibration, and interference suppression. Figure 4b The calibration process of

[0081] S401, setting the environmental reflector.

[0082] The system sets the environmental reflector (Object) as the signal reflection target. The position and characteristics of the environmental reflector (such as distance, angle) are crucial for calibrating the signal propagation path (including the reflection path and the direct path). Specifically: the distance between the environmental reflector and the TX is d1-1, and the distance between the environmental reflector and the RX is d1-2. The angle between the TX and the RX is A0, and the angle between the RX and the TX is A1. After a single calibration, move the environmental reflector and re-measure its distance and angle to ensure the accuracy of the calibration data.

[0083] S402, Scene information distribution.

[0084] The scene information distributed by the system includes spatial path information, leakage beam transceiver angles, and shielding beam information. Among them, the spatial path information contains the upper and lower thresholds of distance, time delay, and angle, which are used to determine the effective range of the signal propagation path; the leakage beam transceiver angles clarify the transceiver angles of the leakage beam for subsequent calibration; the shielding beam information provides the configuration parameters of the shielding beam to suppress interference signals.

[0085] S403, Calibration beam configuration.

[0086] In the beam configuration stage, the system adopts an angle-by-angle scanning mode to calibrate the beams of the TX and the RX. It includes angle-by-angle scanning and convergence to the effective range. Angle-by-angle scanning is for the system to scan 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 is to filter out invalid calibration parameters according to the distributed scene information, so that the beam angle of the next scan converges to the range where static reflectors can be detected.

[0087] S404, Correction of shielding beam configuration.

[0088] In the shielding beam configuration stage, the system corrects the configuration parameters of the shielding beam according to the scene information and the beam scanning results. Specifically, it includes suppressing interference signals and dynamic adjustment. Suppressing interference signals is to reduce the influence of interference signals on the main beam by optimizing the direction and power of the shielding beam. Dynamic adjustment is to dynamically adjust the shielding beam configuration according to the movement of the environmental reflector and scene changes to ensure the stability of signal transmission.

[0089] S405, Reporting of correction parameters.

[0090] In the stage of reporting correction parameters, the system reports the calibration results and configuration parameters to provide a basis for subsequent signal processing. Specifically, it includes filtering out invalid parameters and convergence to the effective range. Filtering out invalid parameters is to filter out invalid calibration parameters according to the distributed scene information to ensure the accuracy of the reported data. Convergence to the effective range is to make the beam angle of the next scan converge to the range where static reflectors can be detected.

[0091] S406, Gain parameter reporting.

[0092] In the gain parameter reporting stage, the system reports link gain data, which reflects the gain situation of the signal during transmission. Specifically, it includes restoring digital gain and optimizing signal transmission. Among them, restoring digital gain is that the system restores digital gain according to 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 to reduce the influence of multipath interference and signal leakage.

[0093] S407, Combining multiple groups of power back-off results.

[0094] Considering that the co-deployment of the sensing modules is prone to saturation, the system tries different transmit power back-offs and combines multiple groups of power back-off results. Specifically, it includes power back-off testing and comprehensive optimization. Power back-off testing is that the system conducts tests at different transmit powers and records the signal transmission effects. Comprehensive optimization is that the signal processing module or the calibration function module combines multiple groups of power back-off results to optimize the beam configuration and signal transmission performance.

[0095] S408, Obtaining the first effective path.

[0096] Among multiple beams and different configurations, the system needs to obtain the first effective path, specifically including reporting link gain and optimizing signal processing. Reporting link gain is that the RF module reports the link gain to facilitate restoring digital gain. Optimizing signal processing is 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.

[0097] Embodiment Three:

[0098] In the extended calibration mode of Embodiment Three, the system calibrates by detecting a micro-moving target (i.e., a dynamic target), combines the velocity dimension data of the target (including the motion direction and velocity), and dynamically corrects the delay error in the signal propagation path, thereby improving the calibration accuracy and signal transmission performance. This mode is applicable to scenarios where the target is in a micro-moving or dynamic state. By adjusting the beam configuration and parameters in real time, it ensures the stability and efficiency of signal processing.

[0099] Please refer to Figure 5 , Figure 5 is the flowchart of the calibration method in the extended calibration mode of Embodiment Three of this application. In the dynamic target calibration mode, the system calibrates by detecting a dynamic target and combines the velocity dimension data to correct the delay error. Compared with Embodiment Two, the target in Embodiment Three is in a dynamic state, and its motion direction and velocity are known. Therefore, it is necessary to report the velocity dimension data to take effect. The specific calibration process is as follows:

[0100] S501, Scenario information distribution.

[0101] In the scenario information distribution stage, the system distributes the upper and lower thresholds including spatial path information (distance / delay, angle), the transceiver angles of the leakage beams, and the shielding beam information. The spatial path information is used to determine the effective range of the signal propagation path. The transceiver angles of the leakage beams clarify the transceiver directions of the leakage beams. The shielding beam information provides the configuration parameters of the shielding beam, which are used to suppress interference signals. In addition, since the target is in a dynamic state, the scenario information also needs to include velocity dimension data to correct the delay error in the subsequent calibration process.

[0102] S502, Standard beam configuration.

[0103] In the standard beam configuration stage, the system configures the beams into a scanning beam group and performs cyclic scanning in sequence and by angle. Specifically, it includes scanning beam group configuration and cyclic scanning. The scanning beam group configuration is that the system divides the beams into multiple scanning beam groups, and each group corresponds to a specific angle range. The cyclic scanning is 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 velocity dimension data to ensure the calibration accuracy.

[0104] S503, Calibration shielding beam configuration.

[0105] In the calibration shielding beam configuration stage, the system corrects the configuration parameters of the shielding beam according to the scenario information and the beam scanning results. Specifically, it includes suppressing interference signals and dynamic adjustment. Suppressing interference signals is to reduce the influence of interference signals on the main beam by optimizing the direction and power of the shielding beam. Dynamic adjustment is to dynamically adjust the shielding beam configuration according to the motion state of the dynamic target and the velocity dimension data to ensure the stability of signal transmission.

[0106] S504, Signal 1 calibration configuration.

[0107] In the signal 1 calibration configuration stage, the system calibrates the propagation path of signal 1. Specifically, it includes path detection and parameter optimization. Path detection is that the system detects the propagation path of signal 1 and corrects the delay error in combination with the velocity dimension data. Parameter optimization is to optimize the beam configuration and transmission parameters of signal 1 according to the detection results to ensure the stability and efficiency of signal transmission.

[0108] S505, Signal 2 calibration configuration.

[0109] In the signal 2 calibration configuration stage, the system calibrates the propagation path of signal 2. Specifically, it includes path detection and parameter optimization. Path detection is that the system detects the propagation path of signal 2 and corrects the delay error in combination with the velocity dimension data. Parameter optimization is to optimize the beam configuration and transmission parameters of signal 2 according to the detection results to ensure the stability and efficiency of signal transmission.

[0110] S506, Calibration data transceiver.

[0111] In the calibration data transceiver stage, the system conducts transceiver processing on calibration data. Specifically, it includes data reception and data transmission. Data reception is that the system receives signal data from dynamic targets and processes it in combination with velocity dimension data. Data transmission is that the system sends the processed calibration data to the signal processing module for subsequent optimization.

[0112] S507, Calibration parameter reporting.

[0113] In the calibration parameter reporting stage, the system reports calibration results and configuration parameters to provide a basis for subsequent signal processing. Specifically, it includes filtering invalid parameters and converging to the valid range. Filtering invalid parameters is to filter invalid calibration parameters according to the issued scenario information to ensure the accuracy of the reported data. Converging to the valid range is to make the next scan beam angle converge to the range where dynamic targets can be detected.

[0114] S508, Gain parameter reporting.

[0115] In the gain parameter reporting stage, the system reports link gain data, which reflects the gain situation of the signal during transmission. Specifically, it includes restoring digital gain and optimizing signal transmission. Restoring digital gain is that the system restores digital gain according to 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 gain parameters to reduce the influence of multipath interference and signal leakage.

[0116] In summary, the leakage calibration mode of Embodiment 1 is applicable to scenarios where there is leakage interference 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 transmitting equipment and the receiving equipment is the known installation engineering parameters. 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, delay calibration to optimize the beam configuration, and filtering invalid spatial path information to ensure calibration accuracy.

[0117] The calibration mode of Embodiment 2 is applicable to static scenarios where the target is, for example, environmental reflectors as calibration targets. By setting environmental reflectors as calibration targets, the beam angle is optimized to improve signal transmission performance. Its calibration process includes setting environmental reflectors as calibration targets, optimizing the beam angle to ensure the accuracy of the signal propagation path; and integrating multiple groups of power back-off results to obtain the first effective path.

[0118] The extended calibration mode of Embodiment 3 is applicable to scenarios where the target is in a micro-motion or dynamic state, such as mobile devices or dynamic targets. By detecting the motion direction and speed of the dynamic target, the time-delay error in the signal propagation path is dynamically corrected, improving the calibration accuracy and signal transmission performance. Its calibration process includes combining velocity dimension data to dynamically adjust the beam configuration; real-time correcting the time-delay error in the signal propagation path and optimizing the signal transmission path to ensure the stability and efficiency of signal processing.

[0119] Specifically as follows:

[0120] The specific differences between Embodiments 1 to 3 are as follows in the table:

[0121]

[0122] It can be seen that Embodiments 1 to 3 respectively solve the problems of interference, accuracy, and time delay in signal transmission from different perspectives and are applicable to different application scenarios and requirements. Embodiment 1 is for the scenario without a detected target. Through the leakage calibration mode, environmental multipath is excluded, the leakage path is found for time-delay calibration, and the self-calibration of the device is achieved. Embodiment 2 is for the signal transmission accuracy problem under a static target. The beam angle is optimized through the calibration mode of calibration. Embodiment 3 is for the time-delay error problem caused by a dynamic target. The signal propagation path is dynamically corrected through the extended calibration mode.

[0123] Next, the calibration device of the millimeter-wave sensing system provided by the present application will be described. The calibration device of the millimeter-wave sensing system described below can be correspondingly referred to the calibration method of the millimeter-wave sensing system described above.

[0124] Please refer to Figure 6 , Figure 6 which is the structural block diagram of the calibration device of the millimeter-wave sensing system provided by the present application. A calibration device 600 of a millimeter-wave sensing system includes a receiving module 610, an adjustment module 620, a correction module 630, and a calibration module 640.

[0125] Exemplarily, the receiving module 610 is configured to receive the beam configuration parameters and power parameters of the radio frequency transceiver module, the position information of static reflectors and dynamic target information in the sensing environment, as well as the transmission power requirement and beam coverage requirement of the deployment scenario.

[0126] Exemplarily, the adjustment module 620 is configured to dynamically adjust the beam configuration parameters and power parameters of the radio frequency transceiver module according to the preset calibration mode and the reported information feedback for each calibration to meet the beam coverage requirement of the deployment scenario; the reported information includes the R-spectrum information corresponding to the beam coverage sent by the upper computer, and the uplink power gain parameters corresponding to each beam.

[0127] Exemplarily, the correction module 630 is used to perform real-time time-delay error correction on the signal propagation path based on the adjusted beam configuration parameters and power parameters according to the type of the sensed scenario, and track its dynamic changes when a dynamic target exists to obtain its real-time dynamic target information.

[0128] Exemplarily, the calibration module 640 is used to adjust the transmission power of the radio frequency transceiver module according to the transmission power requirement of the deployment scenario, and select and execute the corresponding calibration mode based on the static reflector position information and / or the dynamic target information, and output the calibrated information.

[0129] Exemplarily, the calibration device 600 of the millimeter-wave sensing system further includes a filtering module 650, and the filtering module 650 is used to filter invalid spatial path information based on the adjusted beam configuration parameters and power parameters; the spatial path information includes distance, time delay, angle and speed.

[0130] Exemplarily, the correction module 630 is further used for:

[0131] Perform real-time time-delay error correction on the signal propagation path based on the filtered valid spatial path information according to the type of the sensed scenario.

[0132] Exemplarily, the calibration mode includes a leakage calibration mode, a calibration calibration mode and an extended calibration mode; wherein, the leakage calibration mode is used for dynamic target detection in a dynamic scenario, and the intensity, time delay and angle of the leakage signal are detected through the radio frequency transceiver module to correct the time-delay error and angle error in real time; the calibration calibration mode is used for static target detection in a static scenario, and the distance, time delay and angle of the static reflector are detected by scanning the beam angle by angle, and the time-delay error and angle error are corrected based on the known position of the static reflector; the extended calibration mode is used for multi-target detection in a mixed scenario, and the beam coverage range is expanded by configuring the maximum vertical or horizontal expansion angle, and the angle error is corrected based on the extended angle configuration.

[0133] Exemplarily, the receiving module 610 is further used for:

[0134] Receive and analyze the beam configuration parameters, power parameters, static reflector position information, dynamic target information, transmission power requirement and beam coverage range requirement through the host computer, confirm the conditions for transmitting the beam and the adjustment of the downlink gain; the radio frequency transceiver module filters the information beyond the range based on the beam coverage range requirement and the transmission power requirement; the host computer combines the transmission power requirement and the beam coverage range requirement, confirms the ranges of the beam configuration parameters and the power parameters, and issues them to the radio frequency transceiver module.

[0135] Exemplarily, the adjustment module 620 is further used for:

[0136] In the leakage calibration mode, a set of beams with a preset maximum horizontal or vertical angle range is configured to scan and report data; the host computer filters out the effective leakage beam range that meets the beam coverage requirements based on the reported information, and issues the adjusted beam configuration parameters and power parameters;

[0137] In the calibration mode, the beam is scanned angle by angle to detect static reflectors, and the time delay error is corrected based on the known positions of the static reflectors and the reported information;

[0138] In the extended calibration mode, the maximum vertical or horizontal expansion angle is configured to expand the beam coverage range, and the angle error is corrected based on the expansion angle and the reported information.

[0139] Exemplarily, the filtering module 650 is further configured to:

[0140] Filter out invalid spatial path information according to the preset upper and lower thresholds of distance, time delay, angle and speed; in the leakage calibration mode, report the R-spectrum information at the zero-speed position or the R-spectrum information greater than the threshold; in the calibration mode, based on the known positions of the static reflectors and the preset threshold, filter out invalid spatial path information and retain the spatial path information that conforms to the characteristics of static targets; in the extended calibration mode, use the speed dimension for further limitation to filter out stationary targets or targets with the same distance but different speeds.

[0141] Exemplarily, the correction module 630 is further configured to:

[0142] For a static scene, based on the known position information of the static reflector, perform real-time time delay error correction on the signal propagation path; for a dynamic scene, based on the speed dimension information, perform real-time time delay error correction on the signal propagation path and continuously track the dynamic changes of the dynamic target; for a mixed scene, combine the motion direction and speed information of the dynamic target to calibrate the speed deviation caused by the beam scanning period delay to obtain its real-time dynamic target information.

[0143] Exemplarily, the calibration module 640 is further configured to:

[0144] Configure different transmission power back-off mechanisms according to the transmission power requirements of the deployment scenario; in a deployment environment where multiple sensing modules coexist, test the effects of different transmission power back-off mechanisms, and comprehensively analyze multiple groups of test results; restore the digital gain by reporting the link gain, and optimize the configuration parameters of the transmission power based on the analysis results.

[0145] Exemplarily, the calibration module 640 is further configured to:

[0146] In a dynamic scenario, the leakage calibration mode is selected and executed based on dynamic target information; in a static scenario, the calibration mode is selected and executed based on static reflector position information; in a hybrid scenario, the extended calibration mode is selected and executed based on static reflector position information and dynamic target information.

[0147] Exemplarily, the calibration module 640 is further configured to:

[0148] In the leakage calibration mode, output delay error information; in the calibration mode, output delay error information based on static reflectors; in the extended calibration mode, output delay error and speed deviation information based on dynamic targets.

[0149] In summary, the calibration device of the millimeter-wave sensing system provided by the present application obtains the beam configuration parameters, power parameters of the radio frequency transceiver module, and the static reflector position information and dynamic target information in the sensing environment through the receiving module. The adjustment module dynamically adjusts the beam configuration and power parameters according to the preset leakage calibration mode, calibration mode, and extended calibration mode. The filtering module filters out invalid spatial path information based on the adjusted parameters. The correction module performs real-time delay error correction on stationary and dynamic targets according to the sensing scene type, and continuously tracks the changes of dynamic targets in dynamic or hybrid scenarios. The calibration module selects and executes 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 advantages are that it can adapt to static, dynamic, and hybrid scenarios, improve the calibration accuracy through dynamic adjustment and real-time correction, and at the same time optimize the beam coverage and transmit power configuration to ensure the stability and efficiency of the system in different deployment scenarios.

[0150] The above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate 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; wherein, the selection of the corresponding calibration mode based on the static reflector position information and / or the dynamic target information includes: in a dynamic scenario, a leakage calibration mode is selected based on the dynamic target information; in a static scenario, a calibration mode is selected based on the static reflector position information; in a mixed scenario, an extended calibration mode is selected based on the static reflector position information and the dynamic target 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 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.

10. 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; A 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 a corresponding calibration mode based on the static reflector position information and / or the dynamic target information, and output the calibrated information; wherein, the selection to execute a corresponding calibration mode based on the static reflector position information and / or the dynamic target information includes: in a dynamic scenario, selecting to execute a leakage calibration mode based on the dynamic target information; in a static scenario, selecting to execute a calibration mode based on the static reflector position information; in a mixed scenario, selecting to execute an extended calibration mode based on the static reflector position information and the dynamic target information.

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