Radar pitch angle determination method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a radar pitch angle determination method and device, electronic equipment and a storage medium, and relates to the technical field of data processing, and the method comprises the steps: obtaining first positions, detected by a radar, of a target object in a radar coordinate system at different moments; calculating a target error value of the pitch angle of the radar based on the first position of the target object in the radar coordinate system at each moment, the measured pitch angle of the radar obtained by measurement, and a function relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar; the target pitch angle of the radar is obtained based on the measured pitch angle of the radar and the target error value of the pitch angle of the radar, and the accuracy of the determined pitch angle of the radar is improved. And the efficiency of determining the pitch angle of the radar can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of data processing, and in particular, to a method, device, electronic device, and storage medium for determining the pitch angle of a radar. Background Art

[0002] A radar is a sensor that uses electromagnetic waves to detect the azimuth information of a target object. After obtaining the azimuth information of the target object through radar detection, the target object can be monitored based on other information such as the pitch angle and roll angle of the radar. The angle between the plane formed by the antenna array of the radar and the vertical direction is the pitch angle of the radar. For example, based on the pitch angle of the radar and multiple azimuth information of the target object detected by the radar, the moving speed of the target object can be calculated.

[0003] In the related art, when it is necessary to determine the pitch angle of a radar, after the radar is installed, a technician uses a high-precision professional instrument to measure and obtain the pitch angle of the radar. For example, the professional instrument may include a laser level, an inclinometer, etc. However, in the above process, the technician manually measures the pitch angle of the radar, which requires a high level of professional ability of the technician and the operation of the technician is complex, resulting in low efficiency in determining the pitch angle of the radar; moreover, the error of the pitch angle of the radar obtained by manual measurement is large, resulting in low accuracy of the obtained pitch angle of the radar. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method, device, electronic device, and storage medium for determining the pitch angle of a radar, so as to improve the accuracy of the determined pitch angle of the radar and improve the efficiency of determining the pitch angle of the radar. The specific technical solutions are as follows:

[0005] In the first aspect of the embodiments of the present application, first, a method for determining the pitch angle of a radar is provided, and the method includes:

[0006] Obtain the first position of the target object detected by the radar in the radar coordinate system at different times;

[0007] Based on the first position of the target object in the radar coordinate system at each time, the measured pitch angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar, calculate the target error value of the pitch angle of the radar;

[0008] Based on the measured pitch angle of the radar and the target error value of the pitch angle of the radar, obtain the target pitch angle of the radar.

[0009] Optionally, calculating the target error value of the elevation angle of the radar based on the function relationship between the first position of the target object in the radar coordinate system at each moment, the measured elevation angle of the radar, and the error value between the estimated height of the target object in the world coordinate system and the elevation angle of the radar includes:

[0010] Determining the target position of the target object in the radar coordinate system that meets the preset first screening condition from the respective first positions of the target object in the radar coordinate system at different moments;

[0011] Calculating the target error value of the elevation angle of the radar based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and the function relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar.

[0012] Optionally, the determining the target position of the target object in the radar coordinate system that meets the preset first screening condition from the respective first positions of the target object in the radar coordinate system at different moments includes:

[0013] For the first positions of the target object in the radar coordinate system at any two moments, if the distance between the two first positions in the radar coordinate system is greater than the first preset threshold, determining the two first positions as the target positions of the target object in the radar coordinate system.

[0014] Optionally, the calculating the target error value of the elevation angle of the radar based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and the function relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar includes:

[0015] Determining multiple error values to be calculated for the elevation angle of the radar based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and the function relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar;

[0016] Calculating the target error value of the elevation angle of the radar based on the multiple error values to be calculated.

[0017] Optionally, the calculating the target error value of the elevation angle of the radar based on the multiple error values to be calculated includes:

[0018] Determining the error values to be calculated that meet the preset second screening condition from the respective error values to be calculated as the error values to be statistically analyzed;

[0019] Calculate the first statistical value of each error value to be statistically analyzed to obtain the target error value of the elevation angle of the radar.

[0020] Optionally, determining multiple error values to be measured for the elevation angle of the radar based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar includes:

[0021] Based on two target positions of the target object in the radar coordinate system, calculate the difference between the estimated heights of the target object in the world coordinate system at these two target positions as the estimated height difference.

[0022] Based on the estimated height difference, the measured elevation angle of the radar, and the functional relationship between the estimated height difference of the target object and the error value of the elevation angle of the radar, determine the error value to be measured for the elevation angle of the radar.

[0023] Among them, the functional relationship is:

[0024]

[0025] Among them,

[0026]

[0027] represents the estimated height difference; ΔA j represents the first preset coefficient; ΔB j represents the second preset coefficient; represents the measured elevation angle obtained by the sensor; represents the error value to be measured; z m represents the coordinate value on the z-axis of the m-th position in the radar coordinate system; y m represents the coordinate value on the y-axis of the m-th position in the radar coordinate system; z n represents the coordinate value on the z-axis of the n-th position in the radar coordinate system; y n represents the coordinate value on the y-axis of the n-th position in the radar coordinate system.

[0028] Optionally, determining multiple error values to be measured for the elevation angle of the radar based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar includes:

[0029] Calculate the difference between the estimated heights of the target object in the world coordinate system at the two target positions in the radar coordinate system of the target object as the estimated height difference.

[0030] Based on the estimated height difference, the measured pitch angle of the radar, and the functional relationship between the estimated height difference of the target object and the error value of the pitch angle of the radar, determine the error value to be measured of the pitch angle of the radar.

[0031] Wherein, the functional relationship is:

[0032]

[0033] Wherein,

[0034] represents the estimated height difference; ΔA j represents the first preset coefficient; represents the measured pitch angle obtained by sensor measurement; represents the error value to be measured; z m represents the coordinate value on the z-axis of the m-th position in the radar coordinate system; y m represents the coordinate value on the y-axis of the m-th position in the radar coordinate system; z n represents the coordinate value on the z-axis of the n-th position in the radar coordinate system; y n represents the coordinate value on the y-axis of the n-th position in the radar coordinate system.

[0035] Optionally, obtaining the target pitch angle of the radar based on the measured pitch angle of the radar and the target error value of the pitch angle of the radar includes:

[0036] Calculate the difference between the measured pitch angle of the radar and the target error value of the pitch angle of the radar to obtain the target pitch angle of the radar.

[0037] Optionally, the origin of the radar coordinate system is: the center point of the antenna array of the radar;

[0038] The y-axis of the radar coordinate system is perpendicular to the plane formed by the antenna array of the radar; the positive direction of the y-axis of the radar coordinate system points to the ground in the vertical direction component;

[0039] The z-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and is located in the plane formed by the antenna array of the radar; the positive direction of the z-axis of the radar coordinate system points to the ground in the vertical direction component;

[0040] The x-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and perpendicular to the z-axis of the radar coordinate system.

[0041] In a second aspect of the embodiments of the present application, a device for determining the pitch angle of a radar is provided. The device includes:

[0042] An acquisition module, configured to acquire the first positions of a target object detected by the radar in the radar coordinate system at different times;

[0043] A first calculation module, configured to calculate a target error value of the pitch angle of the radar based on the first positions of the target object in the radar coordinate system at each time, the measured pitch angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar;

[0044] A second calculation module, configured to obtain the target pitch angle of the radar based on the measured pitch angle of the radar and the target error value of the pitch angle of the radar.

[0045] Optionally, the first calculation module is specifically configured to:

[0046] Determine the target position of the target object in the radar coordinate system that satisfies a preset first screening condition from the respective first positions of the target object in the radar coordinate system at different times;

[0047] Calculate a target error value of the pitch angle of the radar based on the target position of the target object in the radar coordinate system, the measured pitch angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar.

[0048] Optionally, the first calculation module is specifically configured to:

[0049] For the first positions of the target object in the radar coordinate system at any two times, if the distance between the two first positions in the radar coordinate system is greater than a first preset threshold, determine the two first positions as the target positions of the target object in the radar coordinate system.

[0050] Optionally, the first calculation module is specifically configured to:

[0051] Determine a plurality of error values to be measured for the pitch angle of the radar based on the target position of the target object in the radar coordinate system, the measured pitch angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar;

[0052] Based on the multiple error values to be measured, calculate the target error value of the elevation angle of the radar.

[0053] Optionally, the first calculation module is specifically configured to:

[0054] Determine, from the error values to be measured, the error values to be measured that meet the preset second screening condition as the error values to be statistically analyzed;

[0055] Calculate the first statistical value of each error value to be statistically analyzed to obtain the target error value of the elevation angle of the radar.

[0056] Optionally, the first calculation module is specifically configured to:

[0057] Based on two target positions of the target object in the radar coordinate system, calculate the difference between the estimated heights of the target object in the world coordinate system at the two target positions as the estimated height difference;

[0058] Based on the estimated height difference, the measured elevation angle of the radar, and the functional relationship between the estimated height difference of the target object and the error value of the elevation angle of the radar, determine the error value to be measured of the elevation angle of the radar;

[0059] Wherein, the functional relationship is:

[0060]

[0061] Wherein,

[0062]

[0063] represents the estimated height difference; ΔA j represents the first preset coefficient; ΔB j represents the second preset coefficient; represents the measured elevation angle obtained by sensor measurement; represents the error value to be measured; z m represents the coordinate value on the z-axis of the m-th position in the radar coordinate system; y m represents the coordinate value on the y-axis of the m-th position in the radar coordinate system; z n represents the coordinate value on the z-axis of the n-th position in the radar coordinate system; y n represents the coordinate value on the y-axis of the n-th position in the radar coordinate system.

[0064] Optionally, the first calculation module is specifically configured to:

[0065] Calculate the difference between the estimated heights of the target object in the world coordinate system at the two target positions in the radar coordinate system of the target object as the estimated height difference;

[0066] Based on the estimated height difference, the measured pitch angle of the radar, and the functional relationship between the estimated height difference of the target object and the error value of the pitch angle of the radar, determine the error value to be measured of the pitch angle of the radar;

[0067] Wherein, the functional relationship is:

[0068]

[0069] Wherein,

[0070] represents the estimated height difference; ΔA j represents the first preset coefficient; represents the measured pitch angle obtained by sensor measurement; represents the error value to be measured; z m represents the coordinate value on the z-axis of the m-th position in the radar coordinate system; y m represents the coordinate value on the y-axis of the m-th position in the radar coordinate system; z n represents the coordinate value on the z-axis of the n-th position in the radar coordinate system; y n represents the coordinate value on the y-axis of the n-th position in the radar coordinate system.

[0071] Optionally, the second calculation module is specifically configured to:

[0072] Calculate the difference between the measured pitch angle of the radar and the target error value of the pitch angle of the radar to obtain the target pitch angle of the radar.

[0073] Optionally, the origin of the radar coordinate system is: the center point of the antenna array of the radar;

[0074] The y-axis of the radar coordinate system is perpendicular to the plane formed by the antenna array of the radar; the positive direction of the y-axis of the radar coordinate system points to the ground in the vertical direction;

[0075] The z-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and is located in the plane formed by the antenna array of the radar; the positive direction of the z-axis of the radar coordinate system points to the ground in the vertical direction;

[0076] The x-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and perpendicular to the z-axis of the radar coordinate system.

[0077] In the third aspect of the embodiments of the present application, an electronic device is provided, including:

[0078] A memory for storing a computer program;

[0079] A processor, when executing the program stored in the memory, implements the method for determining the pitch angle of the radar according to any one of the above first aspects.

[0080] In the fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for determining the pitch angle of the radar according to any one of the above first aspects is implemented.

[0081] The embodiments of the present application further provide a computer program product containing instructions. When it runs on a computer, it causes the computer to execute the method for determining the pitch angle of the radar according to any one of the above.

[0082] For the method for determining the pitch angle of a radar provided by the embodiments of the present application, the electronic device acquires the first position of the target object detected by the radar in the radar coordinate system at different times; based on the first position of the target object in the radar coordinate system at each time, the measured pitch angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar, calculates the target error value of the pitch angle of the radar; based on the measured pitch angle of the radar and the target error value of the pitch angle of the radar, obtains the target pitch angle of the radar.

[0083] Based on the above processing, through the first position of the target object detected by the radar in the radar coordinate system at different times, the measured pitch angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar, the target error value of the pitch angle of the radar can be calculated. Correspondingly, based on the target error value, the measured pitch angle can be corrected to obtain the target pitch angle of the radar, improving the accuracy of the determined pitch angle of the radar. Moreover, there is no need for technicians to manually measure the pitch angle of the radar using high-precision professional instruments, the requirements for the professional ability of technicians are relatively low, the operation is simple, and the efficiency of determining the pitch angle of the radar can be improved.

[0084] Of course, implementing any product or method of the present application does not necessarily require achieving all the above advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other embodiments can also be obtained based on these drawings.

[0086] Figure 1 The first flowchart of the pitch angle determination method for the radar provided by the embodiment of the present application;

[0087] Figure 2 The second flowchart of the pitch angle determination method for the radar provided by the embodiment of the present application;

[0088] Figure 3 The third flowchart of the pitch angle determination method for the radar provided by the embodiment of the present application;

[0089] Figure 4 A schematic diagram of the radar coordinate system provided by the embodiment of the present application;

[0090] Figure 5 A structural diagram of the pitch angle determination system for the radar provided by the embodiment of the present application;

[0091] Figure 6 The fourth flowchart of the pitch angle determination method for the radar provided by the embodiment of the present application;

[0092] Figure 7 A structural diagram of the pitch angle determination device for the radar provided by the embodiment of the present application;

[0093] Figure 8 A structural diagram of the electronic device provided by the embodiment of the present application. Specific embodiments

[0094] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope protected by the present application.

[0095] When determining the pitch angle of the radar, it is necessary for technicians to manually measure the pitch angle of the radar, which requires a high level of professional ability of the technicians, and the operation of the technicians is complex, resulting in low efficiency in determining the pitch angle of the radar; moreover, the error of the pitch angle of the radar obtained by manual measurement is large, resulting in low accuracy of the obtained pitch angle of the radar.

[0096] To solve the above problems, an embodiment of the present application provides a method for determining the pitch angle of a radar, which is applied to an electronic device. The electronic device includes a radar and a sensor for measuring the pitch angle of the radar. The electronic device can obtain the measured pitch angle of the radar measured by the sensor, as well as multiple first positions of the target object detected by the radar, and determine the target error value of the pitch angle of the radar based on the multiple first positions, the measured pitch angle, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar. Furthermore, based on the target error value and the measured pitch angle, the target pitch angle of the radar is obtained. The accuracy of the determined pitch angle of the radar is improved. Moreover, it is not necessary for technicians to manually measure the pitch angle of the radar using high-precision professional instruments, the requirement for the professional ability of technicians is relatively low, the operation is simple, and the efficiency of determining the pitch angle of the radar can be improved. Subsequently, based on the target pitch angle of the radar, the azimuth information of other objects can be processed to improve the monitoring effect of other objects.

[0097] See Figure 1 , Figure 1 FIG. 1 is the first flowchart of the method for determining the pitch angle of the radar provided by the embodiment of the present application. The method may include the following steps:

[0098] S101: Obtain the first positions of the target object detected by the radar in the radar coordinate system at different times.

[0099] S102: Calculate the target error value of the pitch angle of the radar based on the first positions of the target object in the radar coordinate system at each time, the measured pitch angle of the radar obtained by measurement, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar.

[0100] S103: Obtain the target pitch angle of the radar based on the measured pitch angle of the radar and the target error value of the pitch angle of the radar.

[0101] Based on the method for determining the pitch angle of the radar provided by the embodiment of the present application, the target error value of the pitch angle of the radar can be calculated through the first positions of the target object detected by the radar in the radar coordinate system at different times, the measured pitch angle of the radar obtained by measurement, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar. Correspondingly, based on the target error value, the measured pitch angle can be corrected to obtain the target pitch angle of the radar, improving the accuracy of the determined pitch angle of the radar. Moreover, it is not necessary for technicians to manually measure the pitch angle of the radar using high-precision professional instruments, the requirement for the professional ability of technicians is relatively low, the operation is simple, and the efficiency of determining the pitch angle of the radar can be improved.

[0102] Regarding step S101, the radar is a sensor that uses electromagnetic waves for detection. For example, the radar can be a lidar, a millimeter-wave radar, an over-the-horizon radar, etc.

[0103] When it is necessary to monitor an object in a fixed scenario, a radar can be installed in the fixed scenario. For example, the fixed scenario can be a road monitoring scenario, and the radar is a fixed radar installed at a specified position on the road. The radar can monitor the speed of vehicles within the detection range to monitor whether the vehicles are speeding.

[0104] The radar includes a radar antenna for transmitting and receiving signals. The radar antenna is an antenna array composed of multiple coplanar antennas. The angle between the plane formed by the antenna array and the vertical direction is the pitch angle of the radar. The angle through which the radar rotates left and right in the horizontal plane is the roll angle of the radar. In the embodiments of the present application, taking the example that the radar does not rotate left and right in the horizontal plane, that is, taking the roll angle of the radar as 0°, the description is carried out.

[0105] The target object is an object in a moving state within the detection range of the radar. For example, the target object can be a pedestrian, a vehicle, etc. within the detection range of the radar.

[0106] The radar emits electromagnetic signals to a specified position within the detection range. When the target object moves within the detection range of the radar, the electromagnetic signal will irradiate the target object and be reflected at the target object, that is, the target object reflects an echo signal. The radar receives the echo signal reflected by the target object. Furthermore, the electronic device obtains the azimuth information of the target object based on the echo signal received by the radar. The azimuth information includes: the relative distance between the target object and the radar, the pitch angle and azimuth angle of the target object relative to the radar, etc. And, the radar can be a point ranging radar. Correspondingly, the azimuth information of the radar detection point in the target object can represent the azimuth information of the target object.

[0107] Exemplarily, when the target object is a pedestrian, the pedestrian walks at a normal speed from near to far once within the detection range of the radar. During the period when the pedestrian walks within the detection range of the radar, the radar can receive multiple echo signals reflected by the pedestrian. Furthermore, the electronic device obtains multiple azimuth information of the radar detection points of the pedestrian based on the multiple echo signals received by the radar. The radar detection point of the pedestrian can be the point on the top of the pedestrian's head, or it can also be the point of the pedestrian's center of gravity.

[0108] Furthermore, the electronic device converts the azimuth information of the target object to obtain the first position of the target object in the radar coordinate system.

[0109] In some embodiments, the origin of the radar coordinate system is: the center point of the antenna array of the radar; the y-axis of the radar coordinate system is perpendicular to the plane formed by the antenna array of the radar; the positive direction of the y-axis of the radar coordinate system points to the ground in the vertical direction; the z-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and is located in the plane formed by the antenna array of the radar; the positive direction of the z-axis of the radar coordinate system points to the ground in the vertical direction; the x-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and perpendicular to the z-axis of the radar coordinate system.

[0110] The x-axis of the radar coordinate system is parallel to the ground. In the embodiments of the present application, the positive direction of the x-axis of the radar coordinate system is not limited. For example, Figure 4 in, the positive direction of the x-axis of the radar coordinate system is: the direction pointing to the outside of the yoz plane.

[0111] The first position is the 3D (3-Dimension) coordinate of the target object in the radar coordinate system. For example, the first position can be denoted as P i (x i , y i , z i ), i ∈ {0, 1, …, N}. P i represents the i-th first position of the target object detected by the radar; x i represents the abscissa of the i-th first position of the target object in the radar coordinate system; y i represents the ordinate of the i-th first position of the target object in the radar coordinate system; z i represents the vertical coordinate of the i-th first position of the target object in the radar coordinate system; N represents the total number of first positions detected by the radar.

[0112] Since the target object is a moving object, at different times, the target object moves to different positions. Then, based on the echo signals reflected by the target object at different times, the electronic device determines multiple first positions of the target object in the radar coordinate system at different times.

[0113] For step S102, the measured pitch angle of the radar can be obtained by sensor measurement. The sensor can be set on the plane formed by the antenna array of the radar, or on a plane parallel to the plane formed by the antenna array of the radar. For example, the sensor can be a GSensor (Gravity Sensor), an angle sensor, etc. After the radar is installed, the gravity sensor directly outputs the measured pitch angle of the radar. There is an error between the measured pitch angle and the actual pitch angle of the radar.

[0114] Furthermore, in order to obtain a target pitch angle with relatively high accuracy, the electronic device needs to calculate the target error value of the pitch angle of the radar based on the obtained multiple first positions. Subsequently, the measured pitch angle is corrected using the target error value.

[0115] In some embodiments, the electronic device calculates the target error value based on each first position. For every two of the first positions, the electronic device obtains the estimated height difference of the estimated heights of the target object corresponding to each of the two first positions in the world coordinate system. Furthermore, the electronic device calculates the target error value of the pitch angle of the radar based on the multiple estimated height differences. Subsequently, the target pitch angle of the radar is calculated based on the target error value and the measured pitch angle. The efficiency of determining the pitch angle of the radar can be improved.

[0116] In some embodiments, the electronic device screens out some of the first positions from the multiple first positions as target positions. Subsequently, the target error value is calculated based on each target position.

[0117] In Figure 1 's basis, referring to Figure 2 , step S102 may include the following steps:

[0118] S1021: Determine the target position of the target object in the radar coordinate system that satisfies the preset first screening condition from each of the first positions of the target object in the radar coordinate system at different times.

[0119] S1022: Calculate the target error value of the pitch angle of the radar based on the target position of the target object in the radar coordinate system, the measured pitch angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar.

[0120] In order to improve the efficiency of determining the target error value and thus improve the efficiency of determining the pitch angle of the radar, the electronic device may screen the target positions from each of the first positions according to the preset first screening condition. Since the number of target positions is less than the number of first positions, subsequently determining the target error value based on the fewer number of target positions can improve the efficiency of determining the target error value.

[0121] In some embodiments, step S1021 may include the following steps: For the first positions of the target object in the radar coordinate system at any two times, if the distance between the two first positions in the radar coordinate system is greater than the first preset threshold, determine the two first positions as the target positions of the target object in the radar coordinate system.

[0122] When the distance between the first positions corresponding to two moments is small, the estimated heights of the target objects corresponding to the first positions at these two moments in the world coordinate system are relatively close, and thus the accuracy of the target error value calculated based on the first positions corresponding to these two moments is low. Therefore, the first screening condition can be set as follows: for the first positions of the target object in the radar coordinate system at any two moments, the distance between these two first positions in the radar coordinate system is greater than a first preset threshold.

[0123] According to the preset first screening condition, for the first position of the target object in the radar coordinate system at each moment, the electronic device can calculate the distance between this first position and other first positions in the radar coordinate system. Since the first position is the 3D coordinate of the target object in the radar coordinate system, the electronic device can directly calculate the distance between one first position and other first positions based on the distance formula between two points. Furthermore, the electronic device can determine the first positions whose distances from this first position are greater than the first preset threshold, and then this first position, as well as the first positions whose distances from this first position are greater than the first preset threshold, are the target positions of the target object in the radar coordinate system.

[0124] Based on the above processing, the electronic device determines the target positions that can more accurately calculate the target error value from each first position according to the distance between two first positions, and subsequently only calculates the target error value of the radar's pitch angle based on the target positions. Determining the target error value based on a smaller number of target positions can improve the efficiency of determining the target error value; determining the target error value based on the target positions that can more accurately calculate the target error value can improve the accuracy of determining the target error value, and thus improve the accuracy of determining the radar's pitch angle.

[0125] After the electronic device determines the target positions from multiple first positions, for each target position, it calculates the target error value of the radar's pitch angle according to the target positions whose distances from this target position are greater than the first preset threshold.

[0126] In some embodiments, for each first position, when the number of target positions determined by the electronic device according to the distance from this first position is large, in order to improve the efficiency of determining the radar's pitch angle, the electronic device can further screen out a preset number of target positions from multiple target positions. Subsequently, the target error value is calculated according to the preset number of screened target positions.

[0127] In some embodiments, when it is necessary to obtain a target error value with extremely high accuracy, on the basis of Figure 2 , referring to Figure 3 , step S1022 may include the following steps:

[0128] S10221: Determine multiple error values to be calculated for the elevation angle of the radar based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar.

[0129] S10222: Calculate the target error value of the elevation angle of the radar based on the multiple error values to be calculated.

[0130] Since for each first position, the electronic device filters the target position from multiple first positions according to the distance to the first position, for each filtered target position, the electronic device can calculate the error value to be calculated based on the target position, the target positions whose distances to the target position are greater than the first preset threshold, and the measured elevation angle.

[0131] In some embodiments, step S10221 may include the following steps:

[0132] Step 1: Calculate the difference between the estimated heights of the target object in the world coordinate system at the two target positions as the estimated height difference based on the two target positions of the target object in the radar coordinate system at different times.

[0133] Step 2: Determine the error value to be calculated for the elevation angle of the radar based on the estimated height difference, the measured elevation angle of the radar, and the functional relationship between the estimated height difference of the target object and the error value of the elevation angle of the radar.

[0134] Among them, the functional relationship is:

[0135]

[0136] Among them,

[0137]

[0138] represents the estimated height difference; ΔA j represents the first preset coefficient; ΔB j represents the second preset coefficient; represents the measured elevation angle obtained by the sensor; represents the error value to be calculated; z m represents the coordinate value on the z-axis of the m-th position in the radar coordinate system; y m represents the coordinate value on the y-axis of the m-th position in the radar coordinate system; z n represents the coordinate value on the z-axis of the n-th position in the radar coordinate system; y nRepresents the coordinate value of the nth position on the y-axis in the radar coordinate system.

[0139] For each target position, the estimated height of the target object corresponding to the target position in the world coordinate system is expressed by the following formula (2):

[0140]

[0141] Wherein, Represents the estimated height of the ith position of the target object in the world coordinate system; the value range of i is [1, N], and N represents the total number of the first positions; H represents the actual height of the radar.

[0142] Furthermore, based on two target positions of the target object in the radar coordinate system, the estimated height difference between the estimated heights of the target object at the two target positions in the world coordinate system can be calculated based on the following formula (3):

[0143]

[0144] That is, the value of the estimated height difference can be calculated.

[0145] Furthermore, based on the functional relationship between the estimated height difference of the target object and the error value of the pitch angle of the radar, the estimated height difference can be expressed using the error value to be measured.

[0146] Exemplarily, refer to Figure 4 , Figure 4 which is a schematic diagram of the radar coordinate system provided by an embodiment of the present application. Figure 4 In, O-XYZ is the world coordinate system; o-xyz is the radar coordinate system; o'-x'y'z' is the auxiliary coordinate system. Figure 4 Is a side view along the reverse direction of the x-axis of the radar coordinate system.

[0147] The origin of the radar coordinate system and the origin of the auxiliary coordinate system are both the center point of the plane formed by the antenna array of the radar (i.e., Figure 4 The point o (o') in); the origin of the world coordinate system is the projection point of the origin of the radar coordinate system on the horizontal ground (i.e., Figure 4 The point O in). The distance between the origin of the radar coordinate system and the origin of the world coordinate system is H, and this distance represents the actual height of the radar.

[0148] The z'-axis of the auxiliary coordinate system coincides with the Z-axis of the world coordinate system, and the positive directions are opposite; the y'-axis of the auxiliary coordinate system coincides with the Y-axis of the world coordinate system, and the positive directions are the same; the x'-axis of the auxiliary coordinate system coincides with the X-axis of the world coordinate system, and the positive directions are opposite.

[0149] The angle between the z-axis of the radar coordinate system and the z'-axis of the auxiliary coordinate system is the pitch angle of the radar (i.e.,Figure 4 the θ in [description]; the angle between the y-axis of the radar coordinate system and the y'-axis of the auxiliary coordinate system is also the pitch angle of the radar.

[0150] Figure 4 Taking the pedestrian as an example of the target object, the first position of the target object detected by the radar in the radar coordinate system is: the coordinates of the point at the top of the pedestrian's head. If the coordinates of the point at the top of the pedestrian's head detected by the radar in the auxiliary coordinate system are (y′1, z′1), then according to the conversion relationship between the radar coordinate system and the auxiliary coordinate system, the coordinates of the point at the top of the pedestrian's head in the radar coordinate system are (y1, z1), that is, the first position of the target object in the radar coordinate system is (y1, z1).

[0151] Denote Let θ represent the actual pitch angle of the radar. Based on the above formula (2), the estimated height of the target object corresponding to this target position in the world coordinate system can be expressed as the following formula (4):

[0152]

[0153] Furthermore, based on the above formula (4) and the trigonometric function formula, the estimated height of the target object corresponding to this target position in the world coordinate system can be expressed as the following formula (5):

[0154]

[0155] Since the error between the measured pitch angle and the actual pitch angle of the radar is less than 5°, that is less than 5°, so in the above formula (5) is approximately equal to 1, and the estimated value obtained based on formula (5) can be expressed as the following formula (6):

[0156]

[0157] Denote Z = H - z i cosθ - y i sinθ, Z represents the actual height of the target object in the world coordinate system. Therefore, based on formula (6), the following formula (7) can be obtained:

[0158]

[0159] Since then Furthermore, based on formula (7), the following formula (8) can be obtained:

[0160]

[0161] Based on the sum and difference formulas of trigonometric functions, according to formula (8), the following formula (9) can be obtained:

[0162]

[0163] Denote Based on formula (9), the following formula (10) can be obtained:

[0164]

[0165] Furthermore, the electronic device can calculate the estimated height difference of the target object corresponding to each of the two target positions in the world coordinate system based on the following formula (11):

[0166]

[0167] Furthermore, substituting the value of the estimated height difference calculated based on formula (3) into formula (11), the above function relationship is obtained. Subsequently, based on the known estimated height difference, the two target positions, and the measured pitch angle measured by the sensor, the error value to be calculated for the pitch angle of the radar can be calculated.

[0168] In some embodiments, step S10221 may include the following steps:

[0169] Step 1: Calculate the difference between the estimated heights of the target object in the world coordinate system at the two target positions based on the two target positions of the target object in the radar coordinate system at different times, and use it as the estimated height difference.

[0170] Step 2: Determine the error value to be calculated for the pitch angle of the radar based on the estimated height difference, the measured pitch angle of the radar, and the functional relationship between the estimated height difference of the target object and the error value of the pitch angle of the radar.

[0171] Wherein, the functional relationship is:

[0172]

[0173] Wherein,

[0174] represents the estimated height difference; ΔA j represents the first preset coefficient; represents the measured pitch angle measured by the sensor; represents the error value to be calculated; z m represents the coordinate value on the z-axis of the m-th position in the radar coordinate system; y m represents the coordinate value on the y-axis of the m-th position in the radar coordinate system; z nrepresents the coordinate value of the nth position on the z-axis in the radar coordinate system; y n represents the coordinate value of the nth position on the y-axis in the radar coordinate system.

[0175] For the method by which the electronic device calculates the numerical value of the estimated height difference of the estimated height of the target object in the world coordinate system at two target positions, refer to the relevant introduction in the foregoing embodiments.

[0176] Since Δθ is less than 5°, when the accuracy requirement for the target error value is relatively low, less than 0.01, that is is approximately equal to 0. The above formula (10) can be simplified based on the double-angle formula of trigonometric functions, and the obtained estimated value can be expressed as the following formula (13):

[0177]

[0178] Furthermore, when determining the error to be measured of the pitch angle of the radar based on two target positions, the difference in the estimated height of the target object corresponding to each of the two target positions in the world coordinate system is expressed as the following formula (14):

[0179]

[0180] Furthermore, substituting the numerical value of the estimated height difference calculated based on formula (3) into formula (14), the above functional relationship is obtained. Subsequently, based on the known estimated height difference, the two target positions, and the measured pitch angle measured by the sensor, the error value to be measured of the pitch angle of the radar can be calculated.

[0181] Based on the above processing, based on the first position of the target object detected by the radar at different times in the radar coordinate system, the measured pitch angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar, the target error value of the pitch angle of the radar can be calculated. Correspondingly, based on the target error value, the measured pitch angle can be corrected to obtain the target pitch angle of the radar, improving the accuracy of the determined pitch angle of the radar. Moreover, there is no need for technicians to manually measure the pitch angle of the radar using high-precision professional instruments, the requirement for the professional ability of technicians is relatively low, the operation is simple, and the efficiency of determining the pitch angle of the radar can be improved.

[0182] Furthermore, the electronic device can calculate the target error value of the pitch angle of the radar based on multiple error values to be measured.

[0183] In some embodiments, the electronic device can directly calculate the second statistical value of the plurality of error values to be measured, and use the calculation result as the target error value of the elevation angle of the radar. The second statistical value can be any one of the following: mean, maximum value, minimum value, etc., but is not limited thereto.

[0184] In some embodiments, in order to further improve the accuracy of the calculated target error value, the electronic device can screen out the error values to be statistically measured with higher accuracy from each error value to be measured, and calculate the target error value based on the error values to be statistically measured with higher accuracy. Step S10222 may include the following steps:

[0185] Step 1: Determine the error values to be measured that meet the preset second screening condition from each error value to be measured as the error values to be statistically measured.

[0186] Step 2: Calculate the first statistical value of each error value to be statistically measured to obtain the target error value of the elevation angle of the radar.

[0187] In one implementation, the second screening condition is: the difference from the third statistical value of each error value to be measured is less than the second preset threshold. The difference between an error value to be measured and the third statistical value can represent the accuracy of the error value to be measured. Exemplarily, the third statistical value of each error value to be measured can be the mean of each error value to be measured, the median of each error value to be measured, the mode of each error value to be measured, etc., but is not limited thereto.

[0188] In another implementation, the second screening condition is: the distance from the fitting line representing the data distribution of each error value to be measured is less than the third preset threshold. The distance between an error value to be measured and the fitting line representing the data distribution of each error value to be measured can represent the accuracy of the error value to be measured. Exemplarily, the electronic device can obtain the fitting line representing the data distribution of each error value to be measured by performing linear fitting on each error value to be measured based on the least squares method.

[0189] Furthermore, according to the second screening condition, the electronic device filters out the error values to be measured with lower accuracy from each error value to be measured. Then, the error values to be measured that meet the second screening condition are the error values to be statistically measured with higher accuracy. Furthermore, the electronic device can calculate the first statistical value of each error value to be statistically measured to obtain the target error value. The first statistical value can be any one of the following: mean, maximum value, minimum value, etc., but is not limited thereto.

[0190] Based on the above processing, the electronic device can determine the error values to be statistically measured with higher accuracy from each error value to be measured based on the data distribution of each error value to be measured, and subsequently determine the target error value of the elevation angle of the radar based on the error values to be statistically measured, which can improve the accuracy of the determined target error value, and further improve the accuracy of the determined elevation angle of the radar.

[0191] Regarding step S103, the target error value of the elevation angle of the radar represents the error between the measured elevation angle of the radar obtained through the sensor and the actual elevation angle of the radar. Therefore, the electronic device can use the target error value to correct the measured elevation angle to obtain the target elevation angle. Then, compared with the measured elevation angle, the error between the target elevation angle and the actual elevation angle of the radar is smaller, that is, the accuracy of the determined target elevation angle of the radar is higher.

[0192] In some embodiments, step S103 may include the following steps: calculating the difference between the measured elevation angle of the radar and the target error value of the elevation angle of the radar to obtain the target elevation angle of the radar.

[0193] Since the measured elevation angle obtained through the sensor includes the actual elevation angle of the radar and the error value introduced during the measurement process, the electronic device can directly calculate the difference between the measured elevation angle and the target error value to implement the correction of the measured elevation angle using the target error value and obtain a target elevation angle with higher accuracy.

[0194] Based on the above processing, through the function relationship between the first position of the target object detected by the radar in the radar coordinate system at different times, the measured elevation angle of the radar, and the error value between the estimated height of the target object in the world coordinate system and the elevation angle of the radar, the target error value of the elevation angle of the radar can be calculated. Correspondingly, based on the target error value, the measured elevation angle can be corrected to obtain the target elevation angle of the radar, improving the accuracy of the determined elevation angle of the radar. Moreover, there is no need for technicians to manually measure the elevation angle of the radar using high-precision professional instruments, the requirement for the professional ability of technicians is low, the operation is simple, and the efficiency of determining the elevation angle of the radar can be improved.

[0195] See Figure 5 , Figure 5 which is a structural diagram of the elevation angle determination system of the radar provided by the embodiment of the present application. Figure 5 The shown elevation angle determination system of the radar includes a monitoring device and a processing unit. The monitoring device includes a radar and a GSensor; the processing unit includes a target detection module and an inclination measurement module. The processing unit is used to execute the elevation angle determination method of the radar provided by the embodiment of the present application.

[0196] The radar can receive the echo signals reflected by the target object at different times and send the received multiple echo signals to the target detection module. After the target detection module obtains the multiple echo signals, it can obtain multiple azimuth information of the target object based on the echo signals, and then convert each azimuth information to obtain the first position of the target object in the radar coordinate system at different times. Furthermore, the target detection module sends the converted multiple first positions to the tilt angle measurement module.

[0197] Moreover, after the GSensor outputs the measured pitch angle of the radar, it can send the measured pitch angle to the tilt angle measurement module. The tilt angle measurement module receives the multiple first positions sent by the target detection module and the measured pitch angle sent by the GSensor. Furthermore, the tilt angle measurement module calculates the target error value of the pitch angle of the radar based on the multiple first positions, the measured pitch angle, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar; then, based on the measured pitch angle of the radar and the target error value of the pitch angle of the radar, it obtains the target pitch angle of the radar.

[0198] Based on the above processing, through the first position of the target object in the radar coordinate system at different times detected by the radar, the measured pitch angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar, the target error value of the pitch angle of the radar can be calculated. Correspondingly, based on the target error value, the measured pitch angle can be corrected to obtain the target pitch angle of the radar, improving the accuracy of the determined pitch angle of the radar. Moreover, there is no need for technicians to manually measure the pitch angle of the radar using high-precision professional instruments, the requirements for the professional capabilities of technicians are relatively low, the operation is simple, and the efficiency of determining the pitch angle of the radar can be improved.

[0199] See Figure 6 , Figure 6 which is the fourth flowchart of the method for determining the pitch angle of the radar provided by the embodiments of the present application.

[0200] S1: After the device is installed and powered on, the personnel target walks at a normal speed from near to far in the radar field of view, and during this period, the radar captures a series of echo signals of this personnel.

[0201] In this step, the installed and powered-on device is the installed radar in the foregoing embodiments, the personnel target is the target object in the foregoing embodiments, the radar field of view is the detection range of the radar in the foregoing embodiments, and the series of echo signals of this personnel captured by the radar are the echo signals reflected by the target object received by the radar in the foregoing embodiments.

[0202] The radar emits electromagnetic signals to a specified position within its detection range. When the target object moves within the radar's detection range, the electromagnetic signals irradiate the target object and are reflected at the target object, i.e., the target object reflects an echo signal. The radar receives the echo signal reflected by the target object.

[0203] S2: The target detection module processes the echo signal to obtain a series of coordinate data P of the personnel target in the radar coordinate system. r 。

[0204] In this step, the coordinate data P r is the first position in the foregoing embodiment. The radar receives the echo signal reflected by the target object and sends the echo signal to the target detection module, which processes the echo signal. That is, the target detection module obtains the azimuth information of the target object based on the echo signal, and then converts the azimuth information of the target object to obtain the first position of the target object in the radar coordinate system at different times.

[0205] S3: The tilt measurement module obtains a series of personnel height estimation values Z based on the P r data, the GSensor tilt reading and the radar coordinate system - world coordinate system conversion relationship.

[0206] In this step, the GSensor tilt reading is the measured pitch angle obtained by sensor measurement in the foregoing embodiment; the height estimation value Z is the estimated height of the target object in the world coordinate system in the foregoing embodiment. For each target position, the estimated height of the target object corresponding to the target position in the world coordinate system can be expressed by formula (2) in the foregoing embodiment.

[0207] S4: The tilt measurement module obtains an estimated tilt error value according to the personnel height estimation data Z and the relationship between the tilt error and the difference in target height estimation values at different positions.

[0208] In this step, the relationship between the tilt error and the difference in target height estimation values at different positions is the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar in the foregoing embodiment; the estimated tilt error value is the target error value in the foregoing embodiment.

[0209] For the first positions of the target object in the radar coordinate system at any two moments, if the distance between the two first positions in the radar coordinate system is greater than the first preset threshold, the electronic device can determine that the two first positions are the target positions of the target object in the radar coordinate system. The first preset threshold can be denoted as γ.

[0210] Then, the electronic device determines multiple error values to be calculated for the pitch angle of the radar based on the target position of the target object in the radar coordinate system and the measured pitch angle of the radar. Then, outliers are filtered out from the multiple error values to be calculated, that is, the error values to be statistically analyzed that meet the preset second screening condition are determined from the multiple error values to be calculated. Furthermore, based on the determined error values to be statistically analyzed, the target error value of the pitch angle of the radar is calculated.

[0211] S5: The inclination measurement module outputs as the accurate estimation result of the device inclination angle to the subsequent processing module for use.

[0212] In this step, the accurate estimation result of the device inclination angle is the target pitch angle in the foregoing embodiment. The electronic device corrects the measured pitch angle based on the target error value to obtain the target pitch angle of the radar. Subsequently, the azimuth information of other objects can be processed based on the target pitch angle of the radar to improve the monitoring effect of other objects.

[0213] Based on the above processing, through the function relationship between the first position of the target object detected by the radar in the radar coordinate system at different times, the measured pitch angle of the radar, and the error value between the estimated height of the target object in the world coordinate system and the pitch angle of the radar, the target error value of the pitch angle of the radar can be calculated. Correspondingly, the measured pitch angle can be corrected based on the target error value to obtain the target pitch angle of the radar. That is, the rough estimate value of the pitch angle of the radar is measured by the gravity sensor, the error value of the pitch angle of the radar is calculated in reverse in combination with the radar detection result, and then the rough estimate value is corrected using the error value to achieve accurate measurement of the pitch angle. Moreover, it is not necessary for technicians to manually measure the pitch angle of the radar using high-precision professional instruments, the requirement for the professional ability of technicians is relatively low, the operation is simple, and the efficiency of determining the pitch angle of the radar can be improved.

[0214] Furthermore, based on the method for determining the pitch angle of the radar provided in the embodiments of the present application, automatic accurate measurement of the pitch angle of the radar of personnel monitoring devices can be realized. Compared with the solution of measuring the pitch angle of the radar using high-precision professional instruments, it is not necessary to use high-precision professional instruments for measurement when installing the radar; the gravity sensor is a device with relatively low precision and simple operation method, so compared with the general solution of measuring the pitch angle of the radar using the gravity sensor, it is not necessary to perform high-precision calibration on the gravity sensor during the production of the gravity sensor. That is, based on the technical solution provided in the embodiments of the present application, while achieving accurate measurement of the pitch angle, complex measurement and calibration operations can be avoided, and the dependence on the quality of measurement or calibration operations can be effectively reduced.

[0215] Based on the same inventive concept as the above-mentioned radar elevation angle determination method, an embodiment of the present application further provides a radar elevation angle determination device. Refer to Figure 7 , Figure 7 which is a structural diagram of a radar elevation angle determination device provided by an embodiment of the present application. The device includes:

[0216] An acquisition module 701, configured to acquire the first positions of a target object detected by the radar in the radar coordinate system at different times;

[0217] A first calculation module 702, configured to calculate a target error value of the elevation angle of the radar based on the first positions of the target object in the radar coordinate system at each time, the measured elevation angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar;

[0218] A second calculation module 703, configured to obtain the target elevation angle of the radar based on the measured elevation angle of the radar and the target error value of the elevation angle of the radar.

[0219] Optionally, the first calculation module 702 is specifically configured to:

[0220] Determine the target position of the target object in the radar coordinate system that satisfies a preset first screening condition from the respective first positions of the target object in the radar coordinate system at different times;

[0221] Calculate the target error value of the elevation angle of the radar based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar.

[0222] Optionally, the first calculation module 702 is specifically configured to:

[0223] For any two first positions of the target object in the radar coordinate system, if the distance between the two first positions in the radar coordinate system is greater than a first preset threshold, determine the two first positions as the target positions of the target object in the radar coordinate system.

[0224] Optionally, the first calculation module 702 is specifically configured to:

[0225] Determine multiple error values to be measured for the elevation angle of the radar based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar;

[0226] Based on the multiple error values to be measured, calculate the target error value of the elevation angle of the radar.

[0227] Optionally, the first calculation module 702 is specifically configured to:

[0228] Determine, from the error values to be measured, the error values to be measured that meet a preset second screening condition as the error values to be statistically processed;

[0229] Calculate the first statistical value of each error value to be statistically processed to obtain the target error value of the elevation angle of the radar.

[0230] Optionally, the first calculation module 702 is specifically configured to:

[0231] Based on two target positions of the target object in the radar coordinate system, calculate the difference between the estimated heights of the target object in the world coordinate system at the two target positions as the estimated height difference;

[0232] Based on the estimated height difference, the measured elevation angle of the radar, and the functional relationship between the estimated height difference of the target object and the error value of the elevation angle of the radar, determine the error value to be measured of the elevation angle of the radar;

[0233] Wherein, the functional relationship is:

[0234]

[0235] Wherein,

[0236]

[0237] represents the estimated height difference; ΔA j represents the first preset coefficient; ΔB j represents the second preset coefficient; represents the measured elevation angle obtained by sensor measurement; represents the error value to be measured; z m represents the coordinate value on the z-axis of the m-th position in the radar coordinate system; y m represents the coordinate value on the y-axis of the m-th position in the radar coordinate system; z n represents the coordinate value on the z-axis of the n-th position in the radar coordinate system; y n represents the coordinate value on the y-axis of the n-th position in the radar coordinate system.

[0238] Optionally, the first calculation module 702 is specifically configured to:

[0239] Calculate the difference between the estimated heights of the target object in the world coordinate system at the two target positions in the radar coordinate system of the target object as the estimated height difference.

[0240] Based on the estimated height difference, the measured elevation angle of the radar, and the functional relationship between the estimated height difference of the target object and the error value of the elevation angle of the radar, determine the error value to be measured for the elevation angle of the radar.

[0241] Wherein, the functional relationship is:

[0242]

[0243] Wherein,

[0244] represents the estimated height difference; ΔA j represents the first preset coefficient; represents the measured elevation angle obtained by sensor measurement; represents the error value to be measured; z m represents the coordinate value on the z-axis of the m-th position in the radar coordinate system; y m represents the coordinate value on the y-axis of the m-th position in the radar coordinate system; z n represents the coordinate value on the z-axis of the n-th position in the radar coordinate system; y n represents the coordinate value on the y-axis of the n-th position in the radar coordinate system.

[0245] Optionally, the second calculation module 703 is specifically configured to:

[0246] Calculate the difference between the measured elevation angle of the radar and the target error value of the elevation angle of the radar to obtain the target elevation angle of the radar.

[0247] Optionally, the origin of the radar coordinate system is: the center point of the antenna array of the radar;

[0248] The y-axis of the radar coordinate system is perpendicular to the plane formed by the antenna array of the radar; the positive direction of the y-axis of the radar coordinate system points to the ground in the vertical direction component;

[0249] The z-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and is located in the plane formed by the antenna array of the radar; the positive direction of the z-axis of the radar coordinate system points to the ground in the vertical direction component;

[0250] The x-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and perpendicular to the z-axis of the radar coordinate system.

[0251] Based on the pitch angle determination device of the radar provided by the embodiments of the present application, through the first position of the target object detected by the radar in the radar coordinate system at different times, the measured pitch angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the pitch angle of the radar, the target error value of the pitch angle of the radar can be calculated. Accordingly, based on the target error value, the measured pitch angle can be corrected to obtain the target pitch angle of the radar, improving the accuracy of the determined pitch angle of the radar. Moreover, it is not necessary for technicians to manually measure the pitch angle of the radar using high-precision professional instruments, the requirement for the professional ability of technicians is relatively low, the operation is simple, and the efficiency of determining the pitch angle of the radar can be improved.

[0252] The embodiments of the present application also provide an electronic device, as Figure 8 shown, including:

[0253] A memory 801 for storing a computer program;

[0254] A processor 802 for implementing the steps of any of the pitch angle determination methods of the radar in the above embodiments when executing the program stored in the memory 801.

[0255] And the above electronic device may further include a communication bus and / or a communication interface, and the processor 802, the communication interface, and the memory 801 complete communication with each other through the communication bus.

[0256] The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0257] The communication interface is used for communication between the above electronic device and other devices.

[0258] The memory may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0259] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0260] In another embodiment provided by the present application, there is also provided a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of any of the above-mentioned pitch angle determination methods of the radar are implemented.

[0261] In another embodiment provided by the present application, there is also provided a computer program product containing instructions, and when it runs on a computer, it causes the computer to execute the pitch angle determination method of any of the radars in the above-mentioned embodiments.

[0262] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a Solid State Disk (SSD), etc.

[0263] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0264] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, electronic device, computer-readable storage medium, and computer program product, since they are basically similar to the method embodiments, the description is relatively simple, and reference can be made to the corresponding parts of the method embodiments for the relevant content.

[0265] The above are only the preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are included within the protection scope of the present application.

Claims

1. A method for determining the elevation angle of a radar, characterized in that, The method includes: Obtaining a first position of a target object detected by a radar in a radar coordinate system at different times; Calculating a target error value of the pitch angle of the radar based on the first positions of the target object in the radar coordinate system at various times, the measured pitch angle of the radar, and a functional relationship between the estimated height of the target object in a world coordinate system and the error value of the pitch angle of the radar; Obtaining a target pitch angle of the radar based on the measured pitch angle of the radar and the target error value of the pitch angle of the radar.

2. The method according to claim 1, wherein The calculating the target error value of the pitch angle of the radar based on the first positions of the target object in the radar coordinate system at various times, the measured pitch angle of the radar, and a functional relationship between the estimated height of the target object in a world coordinate system and the error value of the pitch angle of the radar includes: Determining a target position of the target object in the radar coordinate system that satisfies a preset first screening condition from the respective first positions of the target object in the radar coordinate system at different times; Calculating the target error value of the pitch angle of the radar based on the target position of the target object in the radar coordinate system, the measured pitch angle of the radar, and a functional relationship between the estimated height of the target object in a world coordinate system and the error value of the pitch angle of the radar.

3. The method according to claim 2, characterized in that, The determining the target position of the target object in the radar coordinate system that satisfies a preset first screening condition from the respective first positions of the target object in the radar coordinate system at different times includes: For the first positions of the target object in the radar coordinate system at any two times, if the distance between the two first positions in the radar coordinate system is greater than a first preset threshold, determining the two first positions as the target positions of the target object in the radar coordinate system.

4. The method according to claim 2, wherein The calculating the target error value of the pitch angle of the radar based on the target position of the target object in the radar coordinate system, the measured pitch angle of the radar, and a functional relationship between the estimated height of the target object in a world coordinate system and the error value of the pitch angle of the radar includes: Determining a plurality of to-be-calculated error values of the pitch angle of the radar based on the target position of the target object in the radar coordinate system, the measured pitch angle of the radar, and a functional relationship between the estimated height of the target object in a world coordinate system and the error value of the pitch angle of the radar; Calculating the target error value of the pitch angle of the radar based on the plurality of to-be-calculated error values.

5. The method according to claim 4, wherein The calculating the target error value of the pitch angle of the radar based on the plurality of to-be-calculated error values includes: Determining a to-be-calculated error value that satisfies a preset second screening condition from each to-be-calculated error value as a to-be-statistical error value; Calculating a first statistical value of each to-be-statistical error value to obtain the target error value of the pitch angle of the radar.

6. The method according to claim 4, wherein Determining a plurality of error values to be calculated for the elevation angle of the radar based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar, includes: Calculating the difference between the estimated heights of the target object in the world coordinate system at two target positions of the target object in the radar coordinate system as the estimated height difference; Determining the error value to be calculated for the elevation angle of the radar based on the estimated height difference, the measured elevation angle of the radar, and the functional relationship between the estimated height difference of the target object and the error value of the elevation angle of the radar; Wherein, the functional relationship is: Among them, Indicates the estimated height difference; ΔA j Indicates the first preset coefficient; ΔB j Indicates the second preset coefficient; Indicates the measured pitch angle obtained by the sensor; Indicates the error value to be calculated; z m Indicates the coordinate value of the m-th position on the z-axis in the radar coordinate system; y m Indicates the coordinate value of the m-th position on the y-axis in the radar coordinate system; z n Indicates the coordinate value of the n-th position on the z-axis in the radar coordinate system; y n Indicates the coordinate value of the n-th position on the y-axis in the radar coordinate system.

7. The method according to claim 4, characterized in that, Determining a plurality of error values to be calculated for the elevation angle of the radar based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar, includes: Calculating the difference between the estimated heights of the target object in the world coordinate system at two target positions of the target object in the radar coordinate system as the estimated height difference; Determining the error value to be calculated for the elevation angle of the radar based on the estimated height difference, the measured elevation angle of the radar, and the functional relationship between the estimated height difference of the target object and the error value of the elevation angle of the radar; Wherein, the functional relationship is: Among them, represents the predicted height difference; ΔA j represents the first preset coefficient; represents the measured pitch angle obtained by the sensor; represents the error value to be calculated; z m represents the coordinate value of the m-th position on the z-axis in the radar coordinate system; y m represents the coordinate value of the m-th position on the y-axis in the radar coordinate system; z n represents the coordinate value of the n-th position on the z-axis in the radar coordinate system; y n represents the coordinate value of the n-th position on the y-axis in the radar coordinate system.

8. The method according to claim 1, characterized in that, Obtaining the target elevation angle of the radar based on the measured elevation angle of the radar and the target error value of the elevation angle of the radar, includes: Calculating the difference between the measured elevation angle of the radar and the target error value of the elevation angle of the radar to obtain the target elevation angle of the radar.

9. The method according to any one of claims 1-8, characterized in that, The origin of the radar coordinate system is: the center point of the antenna array of the radar; The y-axis of the radar coordinate system is perpendicular to the plane formed by the antenna array of the radar; the positive direction of the y-axis of the radar coordinate system points to the ground in the vertical direction component; The z-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and is located in the plane formed by the antenna array of the radar; the positive direction of the z-axis of the radar coordinate system points to the ground in the vertical direction component; The x-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and perpendicular to the z-axis of the radar coordinate system.

10. A device for determining the elevation angle of a radar, characterized in that, The device includes: An acquisition module, configured to acquire the first position of the target object detected by the radar in the radar coordinate system at different times; A first calculation module, configured to calculate the target error value of the elevation angle of the radar based on the first position of the target object in the radar coordinate system at each time, the measured elevation angle of the radar, and the functional relationship between the estimated height of the target object in the world coordinate system and the error value of the elevation angle of the radar; A second calculation module, configured to obtain a target elevation angle of the radar based on a measured elevation angle of the radar and a target error value of the elevation angle of the radar.

11. The device according to claim 10, characterized in that, The first calculation module is specifically configured to: Determine a target position of the target object in the radar coordinate system that satisfies a preset first screening condition from each first position of the target object in the radar coordinate system at different times; Based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and a functional relationship between a predicted height of the target object in the world coordinate system and an error value of the elevation angle of the radar, calculate a target error value of the elevation angle of the radar; The first calculation module is specifically configured to: For any two first positions of the target object in the radar coordinate system, if the distance between the two first positions in the radar coordinate system is greater than a first preset threshold, determine the two first positions as the target positions of the target object in the radar coordinate system; The first calculation module is specifically configured to: Based on the target position of the target object in the radar coordinate system, the measured elevation angle of the radar, and a functional relationship between a predicted height of the target object in the world coordinate system and an error value of the elevation angle of the radar, determine a plurality of to-be-calculated error values of the elevation angle of the radar; Based on the plurality of to-be-calculated error values, calculate a target error value of the elevation angle of the radar; The first calculation module is specifically configured to: Determine a to-be-calculated error value that satisfies a preset second screening condition from each to-be-calculated error value as a to-be-statistical error value; Calculate a first statistical value of each to-be-statistical error value to obtain a target error value of the elevation angle of the radar; The first calculation module is specifically configured to: Based on two target positions of the target object in the radar coordinate system, calculate a difference between predicted heights of the target object in the world coordinate system at the two target positions as a predicted height difference; Based on the predicted height difference, the measured elevation angle of the radar, and a functional relationship between the predicted height difference of the target object and an error value of the elevation angle of the radar, determine a to-be-calculated error value of the elevation angle of the radar; Wherein, the functional relationship is: Among them, represents the predicted height difference; ΔA j represents the first preset coefficient; ΔB j represents the second preset coefficient; represents the measured pitch angle obtained by the sensor; represents the error value to be calculated; z m represents the coordinate value of the m-th position on the z-axis in the radar coordinate system; y m represents the coordinate value of the m-th position on the y-axis in the radar coordinate system; z n represents the coordinate value of the n-th position on the z-axis in the radar coordinate system; y n represents the coordinate value of the n-th position on the y-axis in the radar coordinate system; The first calculation module is specifically configured to: Based on two target positions of the target object in the radar coordinate system, calculate a difference between predicted heights of the target object in the world coordinate system at the two target positions as a predicted height difference; Based on the predicted height difference, the measured elevation angle of the radar, and a functional relationship between the predicted height difference of the target object and an error value of the elevation angle of the radar, determine a to-be-calculated error value of the elevation angle of the radar; Wherein, the functional relationship is: Among them, represents the estimated height difference; ΔA j represents the first preset coefficient; represents the measured pitch angle obtained by the sensor; represents the error value to be calculated; z m represents the coordinate value of the m-th position on the z-axis in the radar coordinate system; y m represents the coordinate value of the m-th position on the y-axis in the radar coordinate system; z n represents the coordinate value of the n-th position on the z-axis in the radar coordinate system; y n represents the coordinate value of the n-th position on the y-axis in the radar coordinate system; The second calculation module is specifically configured to: Calculate a difference between the measured elevation angle of the radar and the target error value of the elevation angle of the radar to obtain the target elevation angle of the radar; The origin of the radar coordinate system is: the center point of the antenna array of the radar; The y-axis of the radar coordinate system is perpendicular to the plane formed by the antenna array of the radar; the positive direction of the y-axis of the radar coordinate system points to the ground in the vertical direction component; The z-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and lies in the plane formed by the antenna array of the radar; the positive direction of the z-axis of the radar coordinate system points to the ground in the vertical direction component; The x-axis of the radar coordinate system is perpendicular to the y-axis of the radar coordinate system and perpendicular to the z-axis of the radar coordinate system.

12. An electronic device, characterized in that, Comprising: A memory for storing a computer program; A processor, when executing the program stored on the memory, implements the method according to any one of claims 1-9.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1-9 is implemented.

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