A method for beam compensation of vehicle-mounted radar while in motion

Abstract

The application provides a kind of vehicle-mounted radar on-the-move beam compensation method, comprising: establishing vehicle coordinate system XYZ and array plane beam coordinate system X1Y1Z1, obtaining the yawing offset angle ψ of vehicle body, the roll offset angle θ, the antenna azimuth angle β, wherein the XoY plane of vehicle coordinate system and the X1oY1 plane of array plane beam coordinate system are the same plane;Angle information under array plane beam coordinate system is translated to vehicle coordinate system, and the pitch beam yawing offset compensation angle and actual array plane beam azimuth angle of each quadrant of XoY plane are obtained.

Description

TECHNICAL FIELD

[0001] The present application relates to a radar target tracking method, in particular to a vehicle-mounted radar beam compensation method during travel. BACKGROUND

[0002] For a vehicle-mounted search radar of machine scanning mode, when the antenna performs 360° azimuth scanning, if the vehicle body is in a leveled state, the search transmitting beam elevation starting position rotates in the whole horizontal plane, covering the whole low-altitude area; if the vehicle body is in a tilted state, the search beam elevation starting position rotates in a tilted plane, and the included angle between the search beam elevation starting position and the ground horizontal plane changes with the change of the antenna code disk azimuth angle. When the search antenna rotates to a certain azimuth angle, if the search transmitting beam is tilted upward, when the antenna rotates to the positive back of the current azimuth angle, the search transmitting beam will be tilted downward, which not only causes the change of the radar elevation coverage space, resulting in target missing detection, but also causes the deviation of the target elevation measurement value. SUMMARY

[0003] The present application provides a vehicle-mounted radar beam compensation method during travel, comprising:

[0004] Step S100, establishing a vehicle body coordinate system XYZ and an array plane beam coordinate system X1Y1Z1, obtaining the yaw offset angle ψ, the roll offset angle θ and the antenna azimuth angle β of the vehicle body, wherein the XoY plane of the vehicle body coordinate system and the X1oY1 plane of the array plane beam coordinate system are the same plane;

[0005] Step S200, translating the angle information under the array plane beam coordinate system to the vehicle body coordinate system to obtain the pitch beam yaw offset compensation angle and the actual array plane beam azimuth angle in each quadrant of the XoY plane.

[0006] Further, the pitch beam yaw offset compensation angle ψ1 and the actual array plane beam azimuth angle β1 in the first quadrant of the XoY plane are

[0007]

[0008] Further, the array plane pitch beam compensation angle ψ3 and the actual array plane beam azimuth angle β3 in the third quadrant of the XoY plane are

[0009]

[0010] Further, the array plane pitch beam compensation angle ψ3 and the actual array plane beam azimuth angle β3 in the fourth quadrant of the XoY plane are

[0011]

[0012] Furthermore, the elevation beam compensation angle ψ2 and the actual array beam azimuth angle β2 in the second quadrant of the XoY plane are obtained.

[0013]

[0014] The beam compensation method of this invention is based on a four-sided array of a vehicle-mounted radar, with the array faces located at the four corners of the vehicle body, forming a 45° angle with the vehicle's direction of travel. By collecting vehicle body information such as pitch offset angle and roll offset angle generated during vehicle movement through an inertial navigation system carried by the vehicle, the method outputs a compensation value for the pitch offset angle of the array face elevation beam, correcting the elevation angle when the radar transmits and receives beams. This method effectively solves the error in beam elevation angle caused by vehicle tilt and other factors during vehicle-mounted radar movement, and is a relatively effective method.

[0015] The present invention will now be further described with reference to the accompanying drawings. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the two coordinate systems of the present invention.

[0017] Figure 2 This is a schematic diagram of the first quadrant of the XOY quadrant of the present invention.

[0018] Figure 3 This is a schematic diagram of the fourth quadrant of the XOY quadrant of the present invention.

[0019] Figure 4 A comparison chart of beam compensation calculated values ​​and standard values ​​under different pitch and roll offset angles. Detailed Implementation

[0020] A method for in-travel beam compensation of vehicle-mounted radar includes:

[0021] Step S100, as follows Figure 1 Establish the vehicle body coordinate system XYZ and the array beam coordinate system X1Y1Z1, and obtain the vehicle body's pitch offset angle ψ, roll offset angle θ, and antenna azimuth angle β. The XoY plane of the vehicle body coordinate system and the X1oY1 plane of the array beam coordinate system are the same plane.

[0022] Step S200, combined Figure 2 The angle information in the array beam coordinate system is translated to the vehicle coordinate system to obtain the pitch beam roll offset compensation angle ψ1 and the actual array beam azimuth angle β1 in the first quadrant of the XoY plane.

[0023]

[0024] Where ψ1 is the pitch beam roll offset compensation angle;

[0025] Step S300: Obtain the elevation beam compensation angle ψ3 and the actual array beam azimuth angle β3 in the third quadrant of the XoY plane.

[0026]

[0027] Step S400, combined with Figure 3 Obtain the elevation beam compensation angle ψ3 and the actual array beam azimuth angle β3 in the fourth quadrant of the XoY plane; for the fourth quadrant, the vehicle's pitch angle is equivalent to the roll angle in the array coordinate system, and the vehicle's roll angle is equivalent to the pitch angle in the array coordinate system.

[0028]

[0029] Step S500: Obtain the elevation beam compensation angle ψ2 and the actual array beam azimuth angle β2 in the second quadrant of the XoY plane.

[0030]

[0031] In summary, the array elevation beam compensation angles for each quadrant of the XoY plane are as follows:

[0032]

[0033] The actual array beam azimuth angle is

[0034]

[0035] Example

[0036] Assuming the pitch offset angle ψ and roll offset angle θ are between 0 and 20°, taking the first quadrant array as an example, simulation experiments can yield the following results: Figure 4 The experimental results shown are as follows:

[0037] The simulation results show that the beam compensation angle obtained by the above beam compensation method is completely consistent with the actual angle to be compensated, which can effectively improve the beam angle error problem generated by vehicle radar while in motion.

Claims

1. A method for on-vehicle radar traveling beam compensation, characterized by, Comprising Step S100, establishing a vehicle body coordinate system XYZ and an array beam coordinate system X1Y1Z1, obtaining a yaw offset angle ψ, a roll offset angle θ, and an antenna azimuth angle β of the vehicle body, wherein the XoY plane of the vehicle body coordinate system and the X1oY1 plane of the array beam coordinate system are the same plane; Step S200, translating the angle information in the array beam coordinate system to the vehicle body coordinate system to obtain the pitch beam yaw offset compensation angle and the actual array beam azimuth angle of each quadrant in the XoY plane; The pitch beam yaw offset compensation angle ψ1 and the actual array beam azimuth angle β1 in the first quadrant of the XoY plane The array pitch beam compensation angle ψ3 and the actual array beam azimuth angle β3 in the third quadrant of the XoY plane The array pitch beam compensation angle ψ3 and the actual array beam azimuth angle β3 in the fourth quadrant of the XoY plane The array pitch beam compensation angle ψ2 and the actual array beam azimuth angle β2 in the second quadrant of the XoY plane

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