Correction method and device for angle error in multi-radar networking, storage medium and equipment

Abstract

The invention discloses an angle error correction method and device in multi-radar networking, a storage medium and equipment, and belongs to the technical field of radar angle error correction, and the method comprises the steps: obtaining the coordinates of a to-be-corrected millimeter wave radar and a detected first clutter map, and the coordinates of a reference radar and a detected second clutter map; extracting a distance, an azimuth angle and a pitch angle between the detected target and the millimeter wave radar to be corrected, and an azimuth angle between the target and the reference radar from the two clutter maps; calculating an angle error according to the detected distance between the target and the millimeter wave radar to be corrected, the pitch angle, the azimuth angle, the coordinate of the reference radar and the azimuth angle between the target and the reference radar; and correcting the azimuth angle between the target and the millimeter wave radar to be corrected according to the angle error. According to the method, the high-precision and high-resolution characteristics of the millimeter-wave radar clutter map are utilized, and the multi-radar angle error in the network is corrected by detecting static ground features.

Description

Technical Field

[0001] The present invention relates to a method, device, storage medium and equipment for correcting angle errors in multi-radar networking, and belongs to the technical field of radar angle error correction. Background Art

[0002] Multi-radar networking refers to an organic whole formed by appropriately deploying multiple radars or passive reconnaissance equipment with different systems, different frequency bands, different working modes, and different polarization modes, connecting them into a network by means of communication means, and uniformly dispatching them by a central station. Information (original signals, tracks, trajectories, etc.) of each radar and radar countermeasure reconnaissance equipment in the network is collected by the central station, and after comprehensive processing, intelligence information within the coverage of multi-radar networking is formed, and the working states of each radar in the multi-radar networking are adaptively adjusted according to environmental changes, giving play to the advantages of each radar and radar countermeasure reconnaissance equipment, so as to complete tasks such as detection, positioning, and tracking within the entire coverage range.

[0003] In multi-radar networking, since each radar is distributed in different position environments, some radars are easily affected by factors such as ground clutter and multipath effects, resulting in azimuth deviation of radar echoes and affecting the accuracy of ground object target detection. In addition, due to inherent defects in the Beidou satellite positioning and orientation system adopted by the radar, there will be a certain error in the positioning and orientation accuracy, especially in areas with interference factors such as mountainous areas, urban high-rise areas, tunnels, and under overpasses. Therefore, the angle values obtained when they observe the same ground object target often vary. This angle difference will directly affect the effect of data fusion. To solve this problem, an effective method is needed to correct the angle difference between each radar to ensure that the angle values for observing ground object targets are consistent. Summary of the Invention

[0004] The purpose of the present invention is to provide a method, device, storage medium and equipment for correcting angle errors in multi-radar networking, so as to solve the problem of angle errors that occur when observing targets in the prior art.

[0005] To achieve the above purpose, the present invention is implemented by adopting the following technical solutions:

[0006] In a first aspect, the present invention provides a method for correcting angle errors in multi-radar networking, including:

[0007] Obtain the coordinates of the millimeter-wave radar to be corrected and the reference radar in the multi-radar networking, and obtain the first clutter map detected by the millimeter-wave radar to be corrected and the second clutter map detected by the reference radar;

[0008] Extract the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected from the first clutter map, and extract the azimuth angle between the detected target and the reference radar from the second clutter map;

[0009] Calculate the coordinates of the target based on the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected. Calculate the azimuth angle between the real target and the reference radar based on the coordinates of the reference radar and the coordinates of the target. Calculate the angle error based on the azimuth angle between the real target and the reference radar and the azimuth angle between the detected target and the reference radar;

[0010] Correct the azimuth angle between the target and the millimeter-wave radar to be corrected according to the angle error to obtain the azimuth angle between the real target and the millimeter-wave radar to be corrected.

[0011] Further, the calculation of the coordinates of the target based on the distance, azimuth angle, and azimuth angle between the detected target and the millimeter-wave radar to be corrected is performed through the following formula:

[0012] ;

[0013] ;

[0014] Where, represents the abscissa of the millimeter-wave radar to be corrected in the local coordinate system, represents the ordinate of the millimeter-wave radar to be corrected in the local coordinate system, represents the vertical coordinate of the millimeter-wave radar to be corrected in the local coordinate system, represents the distance between the millimeter-wave radar to be corrected and the target, is the azimuth angle between the millimeter-wave radar to be corrected and the target, is the elevation angle between the millimeter-wave radar to be corrected and the target, represents the abscissa of the target in the geocentric rectangular coordinate system, represents the ordinate of the target in the geocentric rectangular coordinate system, represents the vertical coordinate of the target in the geocentric rectangular coordinate system, represents the abscissa of the millimeter-wave radar to be corrected in the geocentric rectangular coordinate system, represents the ordinate of the millimeter-wave radar to be corrected in the geocentric rectangular coordinate system, represents the vertical coordinate of the millimeter-wave radar to be corrected in the geocentric rectangular coordinate system, represents the longitude of the millimeter-wave radar to be corrected, represents the latitude of the millimeter-wave radar to be corrected.

[0015] Further, the calculation of the azimuth angle between the real target and the reference radar based on the coordinates of the reference radar and the coordinates of the target includes:

[0016] Convert the coordinates of the reference radar into the geocentric rectangular coordinate system coordinates of the reference radar, where the coordinates of the reference radar are the longitude, latitude, and altitude of the reference radar.

[0017] Calculate the true azimuth angle between the target and the reference radar based on the geocentric rectangular coordinate system coordinates of the reference radar and the coordinates of the target.

[0018] Furthermore, the conversion of the coordinates of the reference radar into the geocentric rectangular coordinate system coordinates of the reference radar is performed through the following formula:

[0019] ;

[0020] ;

[0021] where, represents the abscissa of the reference radar in the geocentric rectangular coordinate system, represents the ordinate of the reference radar in the geocentric rectangular coordinate system, represents the vertical coordinate of the reference radar in the geocentric rectangular coordinate system, represents the latitude of the reference radar, represents the longitude of the reference radar, represents the altitude of the reference radar, represents the radius of curvature in the prime vertical of the reference radar, is the semi-major axis of the earth, and e is the first eccentricity.

[0022] Furthermore, the calculation of the true azimuth angle between the target and the reference radar based on the geocentric rectangular coordinate system coordinates of the reference radar and the coordinates of the target is performed through the following formula:

[0023] ;

[0024] ;

[0025] ;

[0026] where, represents the true azimuth angle between the target and the reference radar, represents the abscissa of the target in the geocentric rectangular coordinate system, represents the ordinate of the target in the geocentric rectangular coordinate system, represents the vertical coordinate of the target in the geocentric rectangular coordinate system, represents the abscissa of the reference radar in the geocentric rectangular coordinate system, represents the ordinate of the reference radar in the geocentric rectangular coordinate system, represents the coordinate difference between the target and the reference radar on the x-axis in the geocentric rectangular coordinate system, Indicates the coordinate difference between the target and the reference radar on the y-axis of the geocentric rectangular coordinate system.

[0027] Further, calculating the angle error according to the azimuth angle between the real target and the reference radar and the azimuth angle between the detected target and the reference radar is performed through the following formula:

[0028] ;

[0029] Wherein, Indicates the azimuth angle between the real target and the reference radar, Indicates the azimuth angle between the detected target and the reference radar, Indicates the angle error.

[0030] Further, correcting the azimuth angle between the target and the millimeter-wave radar to be corrected according to the angle error to obtain the azimuth angle between the real target and the millimeter-wave radar to be corrected is performed through the following formula:

[0031] ;

[0032] Wherein, Indicates the azimuth angle between the real target and the millimeter-wave radar to be corrected, Indicates the azimuth angle between the detected target and the millimeter-wave radar to be corrected, Indicates the angle error.

[0033] In a second aspect, the present invention provides an apparatus for correcting angle errors in a multi-radar network, including:

[0034] A coordinate and clutter map acquisition module, configured to: acquire the coordinates of the millimeter-wave radar to be corrected and the reference radar in the multi-radar network, and acquire the first clutter map detected by the millimeter-wave radar to be corrected and the second clutter map detected by the reference radar;

[0035] An information extraction module, configured to: extract the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected from the first clutter map, and extract the azimuth angle between the detected target and the reference radar from the second clutter map;

[0036] An angle error calculation module, configured to: calculate the coordinates of the target according to the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected, calculate the azimuth angle between the real target and the reference radar according to the coordinates of the reference radar and the coordinates of the target, and calculate the angle error according to the azimuth angle between the real target and the reference radar and the azimuth angle between the detected target and the reference radar;

[0037] An angle correction module, configured to: correct the azimuth angle between the target and the millimeter-wave radar to be corrected according to the angle error, so as to obtain the true azimuth angle between the target and the millimeter-wave radar to be corrected.

[0038] In a third aspect, the present invention provides a computer-readable storage medium, on which a computer program / instructions are stored. When the computer program / instructions are executed by a processor, the steps of the method for correcting the angle error in multi-radar networking described in any one of the first aspects are implemented.

[0039] In a fourth aspect, the present invention provides a computer system, including:

[0040] A memory for storing computer programs / instructions;

[0041] A processor for executing the computer programs / instructions to implement the steps of the method for correcting the angle error in multi-radar networking described in any one of the first aspects.

[0042] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0043] The method, device, storage medium and equipment for correcting the angle error in multi-radar networking provided by the present invention utilize the high-precision and high-resolution characteristics of the millimeter-wave radar clutter map, do not rely on cooperative ground targets, and correct the angle errors of multiple radars in the network by detecting static ground objects, realizing the consistency of the angle values of the ground targets observed by multiple radars in the network, improving the accuracy and reliability of data fusion; and is applicable to various radar networking systems, with strong versatility and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flowchart of a method for correcting the angle error in multi-radar networking corresponding to Embodiment 1 of the present invention;

[0045] Figure 2 is a flowchart of a method for correcting the angle error in multi-radar networking corresponding to Embodiment 2 of the present invention;

[0046] Figure 3 is a schematic diagram of the working state of the radar provided by the embodiment of the present invention;

[0047] Figure 4 is a schematic diagram of the radar test scenario provided by the embodiment of the present invention;

[0048] Figure 5 is the clutter map image provided by the embodiment of the present invention;

[0049] Figure 6 is a schematic diagram of the geocentric rectangular coordinate system provided by the embodiment of the present invention;

[0050] Figure 7It is a schematic diagram of multi-radar testing provided by an embodiment of the present invention;

[0051] Figure 8 It is a schematic diagram of the process of converting the target into the geocentric rectangular coordinate system provided by an embodiment of the present invention;

[0052] Figure 9 It is a schematic diagram of the actual measurement of the radar provided by an embodiment of the present invention;

[0053] Figure 10 It is one of the schematic diagrams of the ground object target information detected by the radar A station provided by an embodiment of the present invention;

[0054] Figure 11 It is one of the schematic diagrams of the ground object target information detected by the radar B station provided by an embodiment of the present invention;

[0055] Figure 12 It is a schematic diagram of the actual measurement for verifying the radar angle error correction provided by an embodiment of the present invention;

[0056] Figure 13 It is the second schematic diagram of the ground object target information detected by the radar A station provided by an embodiment of the present invention;

[0057] Figure 14 It is the second schematic diagram of the ground object target information detected by the radar B station provided by an embodiment of the present invention. Detailed implementation manners

[0058] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and cannot be used to limit the protection scope of the present invention.

[0059] Embodiment 1

[0060] The present invention provides a method for correcting the angle error in multi-radar networking, including:

[0061] Obtain the coordinates of the millimeter-wave radar to be corrected and the reference radar in the multi-radar networking, and obtain the first clutter map detected by the millimeter-wave radar to be corrected and the second clutter map detected by the reference radar;

[0062] Extract the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected from the first clutter map, and extract the azimuth angle between the detected target and the reference radar from the second clutter map;

[0063] Calculate the coordinates of the target according to the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected, calculate the true azimuth angle between the target and the reference radar according to the coordinates of the reference radar and the coordinates of the target, and calculate the angle error according to the true azimuth angle between the target and the reference radar and the detected azimuth angle between the target and the reference radar;

[0064] Based on the angle error, correct the azimuth angle between the target and the millimeter-wave radar to be corrected, and obtain the true azimuth angle between the target and the millimeter-wave radar to be corrected.

[0065] The present invention utilizes the high-precision and high-resolution characteristics of the millimeter-wave radar clutter map, does not rely on cooperative ground targets, and corrects the angle errors of multiple radars in the network by detecting static ground objects, achieving the consistency of the angle values of ground targets observed by multiple radars in the network, improving the accuracy and reliability of data fusion; and is applicable to various radar networking systems, with strong versatility and adaptability.

[0066] Embodiment 2

[0067] This embodiment provides a method for correcting angle errors in a multi-radar network, which is specifically implemented through the following technical solutions:

[0068] A reference-point radar and multiple sample-point radars detect the same ground object (such as: river, road, high-rise building, etc.), and the measurement value of the reference-point radar is taken as the true value. Convert the distance and angle measured by the sample-point radar for the ground object into the coordinates of the ground object in the space coordinate system ( , , ), and perform calculation with the coordinates of the reference-point radar in the space coordinate system ( , , ) to calculate the distance and angle of the ground object relative to the reference-point radar. Compare the angle measured by the reference-point radar itself for the ground object to obtain the angle difference, which is used to correct the angle error of the sample-point radar for detecting the ground object. Thus, the consistency of the angle values of ground targets observed in the multi-radar network is achieved. In this embodiment, all radars are millimeter-wave radars.

[0069] In this embodiment, the specific steps include the reference-point radar power-on, clutter map scanning, ground object coordinate conversion, sample-point radar angle correction, and result verification.

[0070] Step 1: Reference-point radar power-on and clutter map scanning. The reference-point radar is deployed in the corresponding area according to the actual scenario, and the position and detection range of the radar are as Figure 3 shown. After the northward value is stable, power on and perform clutter map scanning to generate a clutter map image. The test scenario of the radar is as Figure 4 shown, and the generated clutter map image is as Figure 5 shown.

[0071] Step 2: Ground object coordinate conversion.

[0072] As Figure 6As shown in the figure, the Earth-Centered, Earth-Fixed (ECEF) coordinate system is an inertial coordinate system. The origin is selected at the center of the Earth. The X-axis points along the equatorial plane towards the prime meridian, the Z-axis points along the Earth's axis of rotation towards the North Pole, and the Y-axis is perpendicular to the X-axis in the equatorial plane, forming a right-handed coordinate system. The geographic coordinate system is represented by longitude, latitude, and altitude. Longitude is defined as the angle L between the projection of point T on the equatorial plane and the X-axis. The angle B between the perpendicular TM passing through a point M on the reference ellipsoid and the equatorial plane is the geodetic latitude (also known as the geodetic latitude). The angle between the line ON connecting a point N on the reference ellipsoid and the center of the Earth O and the equatorial plane is the geocentric latitude. Generally, the latitude is the geodetic latitude. Figure 6 In the figure, the coordinates of point T are (x, y, z).

[0073] The longitude of the radar is set to and the latitude of the radar is set to and the altitude of the radar is set to The radar is installed flat on the ground and is basically at the same altitude as the detected ground object.

[0074] The slant range of the target (the detected ground object) is set to R, the azimuth angle of the target is set to and the elevation angle of the target is set to The radar equipment detects horizontally, which is defaulted to 0.

[0075] The longitude, latitude, and altitude of the radar are converted into the Earth-Centered, Earth-Fixed coordinate system coordinates by the following method:

[0076] is the semi-major axis of the Earth (6,378,137 meters under the WGS84 standard), is the flattening of the Earth (1 / 298.257223563 under the WGS84 standard), , e is the first eccentricity, then the Earth-Centered, Earth-Fixed coordinate system coordinates of the radar are:

[0077] (1);

[0078] (2);

[0079] Among them, represents the abscissa of the radar in the Earth-Centered, Earth-Fixed coordinate system, represents the ordinate of the radar in the Earth-Centered, Earth-Fixed coordinate system, represents the vertical coordinate of the radar in the Earth-Centered, Earth-Fixed coordinate system, represents the radius of curvature in the prime vertical of the radar.

[0080] In the local coordinate system of the radar, the local coordinates of the target are:

[0081] (3);

[0082] Wherein, represents the abscissa of the radar in the local coordinate system, represents the ordinate of the radar in the local coordinate system, represents the vertical coordinate of the radar in the local coordinate system, and R represents the distance between the radar and the target, is the azimuth angle between the radar and the target, is the elevation angle between the radar and the target.

[0083] Convert the local coordinates of the target to the geocentric rectangular coordinate system coordinates:

[0084] (4);

[0085] Wherein, represents the abscissa of the target in the geocentric rectangular coordinate system, represents the ordinate of the target in the geocentric rectangular coordinate system, represents the vertical coordinate of the target in the geocentric rectangular coordinate system.

[0086] Convert the geocentric rectangular coordinate system coordinates of the target to longitude, latitude and altitude:

[0087] (5);

[0088] (6);

[0089] Wherein, represents the longitude of the target, represents the latitude of the target, represents the altitude of the target, represents the radius of curvature in the prime vertical of the target.

[0090] Through the above steps, the longitude , latitude and altitude of the target can be obtained.

[0091] Calculate the distance and angle of the target relative to the radar by the following method:

[0092] Given the longitude, latitude and altitude information of the radar and the target, the geocentric rectangular coordinate system coordinates of the radar and the target can be obtained respectively.

[0093] The distance is calculated by the following formula:

[0094] (7);

[0095] Wherein, R represents the distance between the radar and the target.

[0096] The azimuth angle is calculated by the following method:

[0097] First, calculate the coordinate difference between the target and the radar in the horizontal projection through the following formula:

[0098] (8);

[0099] (9);

[0100] Wherein, is the coordinate difference between the target and the radar on the x-axis of the geocentric rectangular coordinate system, is the coordinate difference between the target and the radar on the y-axis of the geocentric rectangular coordinate system.

[0101] Then calculate the azimuth angle through the following formula :

[0102] (10);

[0103] Wherein, is the azimuth angle between the radar and the target, and the azimuth angle is measured clockwise from the due north direction, with a range of [0, 2 ).

[0104] The elevation angle is calculated by the following formula:

[0105] (11);

[0106] (12);

[0107] Wherein, is the height difference between the radar and the target, is the elevation angle between the radar and the target.

[0108] Step 3: Angle correction.

[0109] When multiple radars work in a multi-radar network, the positions and coordinates are as Figure 7 shown. The longitude, latitude, and altitude of Radar Station A are ( ), the distance of the target detected by Radar Station A is , the azimuth angle of the target detected by Radar Station A is , then the target detected by Radar Station A is A ( , ), the longitude, latitude, and altitude of Radar Station B are ( ), the distance of the target detected by Radar Station B is , the azimuth angle of the target detected by Radar Station B is , then the target detected by Radar Station B is B ( , ). Taking the radar A station as the true value point, correct the angular error of the azimuth information measured by the radar B station to achieve the consistency of the angular values of the observed ground objects within the multi-radar network.

[0110] As Figure 8 shown, according to formulas (3) and (4), convert B ( , ) into a point ( ) in the geocentric rectangular coordinate system. According to the longitude, latitude, and altitude ( ) of the radar A station and the point ( ), first convert the longitude, latitude, and altitude ( ) of the radar A station into the geocentric rectangular coordinate system coordinates through formulas (1) and (2), and then calculate the distance ( ) between the point and the radar A station according to formula (7). Calculate the azimuth angle ( ) between the point and the radar A station through formulas (8), (9), and (10). Then, based on , and A ( , ), calculate the angular error according to formula (13) below. Add the angular error and to obtain the corrected azimuth angle between the radar B station and the target, and complete the correction of the angular error of the azimuth angle measured by the radar B station.

[0111] The angular error is calculated through the following formula:

[0112] (13).

[0113] Complete the correction of the angular error through steps one to three. To verify the effect of the present invention, the following tests are carried out:

[0114] Use the radar A station and the radar B station to detect the same ground object in the same area (since it is ground object detection, the altitude of the radar A station, the radar B station, and the ground object target is defaulted to be the same). The schematic diagram is as Figure 9 shown.

[0115] The longitude, latitude, and altitude of the radar A station are ( ). The detected position of the target G point is: distance 1710.47 meters, azimuth angle 197.37 degrees. The detection result is as Figure 10 shown.

[0116] The geodetic height of Radar Station B is ( ), and the detected position of target point G is: distance 1027.98 m, azimuth 128.29 degrees. The detection result is as Figure 11 shown.

[0117] After converting the detected position of target point G by Radar Station B into the geocentric rectangular coordinate system coordinates according to Formula (3) and Formula (4), the longitude and latitude of target point G are ( ).

[0118] Given the coordinates of Radar Station A and the longitude and latitude coordinates of the converted ground object target, the calculated distance between the ground object target and Radar Station A is 1710.64 m, and the azimuth angle is 197.08 degrees. The detected position of ground object target G by Radar Station A is: distance 1710.47 m, azimuth 197.37 degrees. The angle error is calculated to be 0.29 degrees through Formula (13). The azimuth angle of Radar Station B needs to be corrected by 0.29 degrees.

[0119] The following method is used to verify the corrected result:

[0120] Radar Station A and Radar Station B measure the same ground object target to verify whether the azimuths of measuring ground object target H by Radar Station B and Radar Station A are consistent. The schematic diagram is as Figure 12 shown.

[0121] The geodetic height of Radar Station A is ( ), and the detected position of ground object target point H is: distance 1076.36 m, azimuth angle 156.43 degrees. The detection result is as Figure 13 shown.

[0122] The geodetic height of Radar Station B is ( ), and the detected position of ground object target point H is: distance 1750.82 m, azimuth angle 89.58 degrees. The detection result is as Figure 14 shown.

[0123] The coordinates of ground object target H are obtained through coordinate conversion ( ). Similarly, according to the coordinates of Radar Station A, the calculated distance between the ground object target and Radar Station A is 1076.1 m, and the azimuth angle is 156.41 degrees. The detected position of ground object target point H by Radar Station A is: distance 1076.36 m, azimuth angle 156.43 degrees. The angle error is 0.02 degrees, proving that the angle error correction is effective.

[0124] Embodiment 3

[0125] Based on the same inventive concept as Embodiment 1, this embodiment provides a device for correcting angle error in multi-radar networking, including:

[0126] The coordinate and clutter map acquisition module is configured to: acquire the coordinates of the millimeter-wave radar to be corrected and the reference radar in the multi-radar network, and acquire the first clutter map detected by the millimeter-wave radar to be corrected and the second clutter map detected by the reference radar;

[0127] The information extraction module is configured to: extract the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected from the first clutter map, and extract the azimuth angle between the detected target and the reference radar from the second clutter map;

[0128] The angle error calculation module is configured to: calculate the coordinates of the target according to the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected, calculate the true azimuth angle between the target and the reference radar according to the coordinates of the reference radar and the coordinates of the target, and calculate the angle error according to the true azimuth angle between the target and the reference radar and the azimuth angle between the detected target and the reference radar;

[0129] The angle correction module is configured to: correct the azimuth angle between the target and the millimeter-wave radar to be corrected according to the angle error to obtain the true azimuth angle between the target and the millimeter-wave radar to be corrected.

[0130] Embodiment 4

[0131] Based on the same inventive concept as in Embodiment 1, this embodiment provides a computer-readable storage medium, on which a computer program / instructions are stored. When the computer program / instructions are executed by a processor, the steps of the method for correcting the angle error in the multi-radar network provided in Embodiment 1 are implemented:

[0132] Acquire the coordinates of the millimeter-wave radar to be corrected and the reference radar in the multi-radar network, and acquire the first clutter map detected by the millimeter-wave radar to be corrected and the second clutter map detected by the reference radar;

[0133] Extract the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected from the first clutter map, and extract the azimuth angle between the detected target and the reference radar from the second clutter map;

[0134] Calculate the coordinates of the target according to the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected, calculate the true azimuth angle between the target and the reference radar according to the coordinates of the reference radar and the coordinates of the target, and calculate the angle error according to the true azimuth angle between the target and the reference radar and the azimuth angle between the detected target and the reference radar;

[0135] Correct the azimuth angle between the target and the millimeter-wave radar to be corrected according to the angle error to obtain the true azimuth angle between the target and the millimeter-wave radar to be corrected.

[0136] Embodiment 5

[0137] Based on the same inventive concept as in Embodiment 1, this embodiment provides a computer system, including:

[0138] A memory for storing computer programs / instructions;

[0139] A processor for executing the computer programs / instructions to implement the steps of the method for correcting the angle error in the multi-radar networking provided in Embodiment 1:

[0140] Obtain the coordinates of the millimeter-wave radar to be corrected and the reference radar in the multi-radar networking, and obtain the first clutter map detected by the millimeter-wave radar to be corrected and the second clutter map detected by the reference radar;

[0141] Extract the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected from the first clutter map, and extract the azimuth angle between the detected target and the reference radar from the second clutter map;

[0142] Calculate the coordinates of the target according to the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected, calculate the true azimuth angle between the target and the reference radar according to the coordinates of the reference radar and the coordinates of the target, and calculate the angle error according to the true azimuth angle between the target and the reference radar and the azimuth angle between the detected target and the reference radar;

[0143] Correct the azimuth angle between the target and the millimeter-wave radar to be corrected according to the angle error to obtain the true azimuth angle between the target and the millimeter-wave radar to be corrected.

[0144] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0145] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate for implementing the processes Figure 1one or more processes and / or blocks Figure 1 means for the functions specified in one or more blocks

[0146] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction means that implements the functions in the process Figure 1 one or more processes and / or blocks Figure 1 the functions specified in one or more blocks

[0147] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions in the process Figure 1 one or more processes and / or blocks Figure 1 the functions specified in one or more blocks

[0148] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principles of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A method for correcting angle errors in multi-radar networking, characterized in that, Including: Obtain the coordinates of the millimeter-wave radar to be corrected and the reference radar in the multi-radar network, and obtain the first clutter map detected by the millimeter-wave radar to be corrected and the second clutter map detected by the reference radar; Extract the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected from the first clutter map, and extract the azimuth angle between the detected target and the reference radar from the second clutter map; Calculate the coordinates of the target according to the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected, calculate the true azimuth angle between the target and the reference radar according to the coordinates of the reference radar and the coordinates of the target, and calculate the angle error according to the true azimuth angle between the target and the reference radar and the azimuth angle between the detected target and the reference radar; Correct the azimuth angle between the target and the millimeter-wave radar to be corrected according to the angle error to obtain the true azimuth angle between the target and the millimeter-wave radar to be corrected.

2. The method for correcting the angle error in multi-radar networking according to claim 1, characterized in that The calculation of the coordinates of the target according to the distance, azimuth angle, and azimuth angle between the detected target and the millimeter-wave radar to be corrected is performed by the following formula: ； ； Among them, represents the abscissa of the millimeter-wave radar to be corrected in the local coordinate system, represents the ordinate of the millimeter-wave radar to be corrected in the local coordinate system, represents the vertical coordinate of the millimeter-wave radar to be corrected in the local coordinate system, represents the distance between the millimeter-wave radar to be corrected and the target, is the azimuth angle between the millimeter-wave radar to be corrected and the target, is the elevation angle between the millimeter-wave radar to be corrected and the target, represents the abscissa of the target in the geocentric rectangular coordinate system, represents the ordinate of the target in the geocentric rectangular coordinate system, represents the vertical coordinate of the target in the geocentric rectangular coordinate system, represents the abscissa of the millimeter-wave radar to be corrected in the geocentric rectangular coordinate system, represents the ordinate of the millimeter-wave radar to be corrected in the geocentric rectangular coordinate system, represents the vertical coordinate of the millimeter-wave radar to be corrected in the geocentric rectangular coordinate system, represents the longitude of the millimeter-wave radar to be corrected, represents the latitude of the millimeter-wave radar to be corrected.

3. The method for correcting the angle error in multi-radar networking according to claim 1, wherein, The calculation of the true azimuth angle between the target and the reference radar according to the coordinates of the reference radar and the coordinates of the target includes: Convert the coordinates of the reference radar into the geocentric rectangular coordinate system coordinates of the reference radar, and the coordinates of the reference radar are the longitude, latitude, and altitude of the reference radar; Calculate the true azimuth angle between the target and the reference radar according to the geocentric rectangular coordinate system coordinates of the reference radar and the coordinates of the target.

4. The method for correcting the angle error in multi-radar networking according to claim 3, characterized in that, The conversion of the coordinates of the reference radar into the geocentric rectangular coordinate system coordinates of the reference radar is performed by the following formula: ； ； Among them, represents the abscissa of the reference radar in the geocentric rectangular coordinate system, represents the ordinate of the reference radar in the geocentric rectangular coordinate system, represents the vertical coordinate of the reference radar in the geocentric rectangular coordinate system, represents the latitude of the reference radar, represents the longitude of the reference radar, represents the altitude of the reference radar, represents the radius of curvature in the prime vertical of the reference radar, is the semi-major axis of the earth, and e is the first eccentricity.

5. The method for correcting the angle error in the multi-radar networking according to claim 3, wherein, The calculation of the true azimuth angle between the target and the reference radar according to the geocentric rectangular coordinate system coordinates of the reference radar and the coordinates of the target is performed by the following formula: ； ； ； wherein, represents the azimuth angle between the true target and the reference radar, represents the abscissa of the target in the geocentric rectangular coordinate system, represents the ordinate of the target in the geocentric rectangular coordinate system, represents the vertical coordinate of the target in the geocentric rectangular coordinate system, represents the abscissa of the reference radar in the geocentric rectangular coordinate system, represents the ordinate of the reference radar in the geocentric rectangular coordinate system, represents the coordinate difference between the target and the reference radar on the x-axis of the geocentric rectangular coordinate system, represents the coordinate difference between the target and the reference radar on the y-axis of the geocentric rectangular coordinate system.

6. The method for correcting the angular error in multi-radar networking according to claim 1, characterized in that, The calculation of the angle error according to the true azimuth angle between the target and the reference radar and the azimuth angle between the detected target and the reference radar is performed by the following formula: ； Among them, represents the azimuth angle between the true target and the reference radar, represents the azimuth angle between the detected target and the reference radar, represents the angle error.

7. The method for correcting the angle error in multi-radar networking according to claim 1, characterized in that The correction of the azimuth angle between the target and the millimeter-wave radar to be corrected according to the angle error to obtain the true azimuth angle between the target and the millimeter-wave radar to be corrected is performed by the following formula: ； wherein, represents the azimuth angle between the real target and the millimeter wave radar to be corrected, represents the azimuth angle between the detected target and the millimeter wave radar to be corrected, represents the angle error.

8. A correction device for angle error in multi-radar networking, characterized in that, Including: A coordinate and clutter map acquisition module, configured to: obtain the coordinates of the millimeter-wave radar to be corrected and the reference radar in the multi-radar network, and obtain the first clutter map detected by the millimeter-wave radar to be corrected and the second clutter map detected by the reference radar; An information extraction module, configured to: extract the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected from the first clutter map, and extract the azimuth angle between the detected target and the reference radar from the second clutter map; An angle error calculation module, configured to: calculate the coordinates of the target according to the distance, azimuth angle, and elevation angle between the detected target and the millimeter-wave radar to be corrected, calculate the true azimuth angle between the target and the reference radar according to the coordinates of the reference radar and the coordinates of the target, and calculate the angle error according to the true azimuth angle between the target and the reference radar and the azimuth angle between the detected target and the reference radar; An angle correction module, configured to: correct the azimuth angle between the target and the millimeter-wave radar to be corrected according to the angle error, so as to obtain the true azimuth angle between the target and the millimeter-wave radar to be corrected.

9. A computer-readable storage medium having computer programs / instructions stored thereon, characterized in that, When the computer program / instructions are executed by a processor, the steps of the method for correcting angle errors in multi-radar networking described in any one of claims 1 to 7 are implemented.

10. A computer system, characterized in that, Including: A memory for storing computer programs / instructions; A processor for executing the computer programs / instructions to implement the steps of the method for correcting angle errors in multi-radar networking described in any one of claims 1 to 7.

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