Millimeter wave radar northbound angle real-time correction method based on electronic map, electronic equipment and storage medium

Abstract

The invention discloses a millimeter wave radar northbound angle real-time correction method based on an electronic map, electronic equipment and a storage medium. The method comprises the following steps: marking a radar on the electronic map; setting a first comparison point and a second comparison point on the electronic map, and obtaining a first electronic map measurement value and a second electronic map measurement value; acquiring a first radar measurement value when the target reaches the first comparison point, and acquiring a second radar measurement value when the target reaches the second comparison point; and calculating a northbound angle correction value according to the first electronic map measurement value, the second electronic map measurement value, the first radar measurement value and the second radar measurement value. According to the method, on the premise that main indexes such as power, precision and resolution of the millimeter wave radar are guaranteed, the algorithm complexity is reduced, meanwhile, the working efficiency is greatly improved, and application in practical engineering is facilitated.

Description

Technical Field

[0001] The present invention relates to a method for real-time correction of the northward angle of a millimeter-wave radar based on an electronic map, an electronic device, and a storage medium, belonging to the technical field of radar measurement. Background Art

[0002] In many fields such as modern intelligent transportation and autonomous driving, millimeter-wave radars exhibit important value, and they can obtain key information such as the distance, speed, and angle of a target. However, due to the influence of various factors, the direction-finding angle of a millimeter-wave radar may have errors, which have an important impact on the stability and accuracy of the millimeter-wave radar.

[0003] Due to requirements such as the small size and light weight of the millimeter-wave radar itself, the baseline between two Beidou antennas is short. The short baseline will result in a small change range of the carrier phase difference, and the available phase difference information is less, thereby reducing the measurement accuracy of the azimuth angle; during the installation process of the millimeter-wave radar, if there are deviations in its installation angle and position, then there will also be differences between the measured azimuth data and the actual situation; internal thermal noise, amplifier noise, etc. in the millimeter-wave radar will interfere with signal reception, causing fluctuations in the phase and amplitude of the echo signal, and may also affect the target direction-finding accuracy. At this time, it is necessary to correct the direction-finding of the millimeter-wave radar to improve the measurement accuracy of the azimuth angle.

[0004] Currently commonly used methods for correcting the direction-finding of millimeter-wave radars include: clutter map method, multi-radar registration method, cooperative target response method, etc. The clutter map method has limited applicable scenarios and poor effects in open areas; the multi-radar registration method is applicable to radar networking systems and is not suitable for single millimeter-wave radars; the cooperative target response method is time-consuming and laborious and often fails to meet the requirements of real-time correction.

[0005] Moreover, when the millimeter-wave radar is working, it is very difficult to detect the azimuth deviation of the target. Even after the azimuth deviation is found, the device needs to be shut down during the calibration process, which affects the timeliness and continuity of radar information.

[0006] Therefore, there is an urgent need to improve the existing direction-finding correction methods. Summary of the Invention

[0007] Objective: In order to overcome the deficiencies in the prior art, the present invention provides a method for real-time correction of the northward angle of a millimeter-wave radar based on an electronic map, an electronic device, and a storage medium.

[0008] Technical Solution: To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0009] In a first aspect, a method for real-time correction of the northward angle of a millimeter-wave radar based on an electronic map specifically includes:

[0010] Obtain the electronic map of the target scene.

[0011] Obtain the coordinates of the radar in the geodetic coordinate system, and convert the coordinates of the radar in the geodetic coordinate system into the coordinates of the radar in the geocentric space rectangular coordinate system.

[0012] Mark the radar on the electronic map according to the coordinates of the radar in the geocentric space rectangular coordinate system.

[0013] Set a first comparison point and a second comparison point on the electronic map, and use a measuring tool to obtain the azimuth angle between the radar and the first comparison point as the first electronic map measurement value, and the azimuth angle between the radar and the second comparison point as the second electronic map measurement value.

[0014] When the target reaches the first comparison point, the radar measures the target to obtain the first measurement information, converts the first measurement information to the geocentric space rectangular coordinate system to obtain the converted first measurement information, and obtains the azimuth angle from the converted first measurement information as the first radar measurement value. When the target reaches the second comparison point, the radar measures the target to obtain the second measurement information, converts the second measurement information to the geocentric space rectangular coordinate system to obtain the converted second measurement information, and obtains the azimuth angle from the converted second measurement information as the second radar measurement value.

[0015] Calculate the northward angle correction value according to the first electronic map measurement value, the second electronic map measurement value, the first radar measurement value and the second radar measurement value.

[0016] As an optimal solution, it further includes: the radar measures the azimuth angle of the target in real time as the real-time azimuth angle measurement value, and obtains the real-time azimuth angle corrected measurement value according to the real-time azimuth angle measurement value and the northward angle correction value.

[0017] As an optimal solution, the electronic map of the target scene is obtained by loading through the display and control software of the control terminal.

[0018] As an optimal solution, the conversion of the coordinates of the radar in the geodetic coordinate system into the coordinates of the radar in the geocentric space rectangular coordinate system specifically includes:

[0019] The coordinates of the radar in the geodetic coordinate system are used to obtain the coordinates of the radar in the geocentric space rectangular coordinate system through the coordinate conversion formula between the geodetic coordinate system and the geocentric space rectangular coordinate system.

[0020] Among them, the expression of the coordinate conversion formula between the geodetic coordinate system and the geocentric space rectangular coordinate system is as follows:

[0021]

[0022] Among them: represents the longitude in the geodetic coordinate system, represents the latitude in the geodetic coordinate system, represents the altitude in the geodetic coordinate system, represents the coordinate of the x-axis in the geocentric space rectangular coordinate system, represents the coordinate of the y-axis in the geocentric space rectangular coordinate system, represents the coordinate of the z-axis in the geocentric space rectangular coordinate system, and e is the elliptical eccentricity, .

[0023] In the formula, , represents the semi-major axis of the earth.

[0024] As a preferred solution, the expression of the elliptical eccentricity is as follows:

[0025] , represents the semi-minor axis of the earth.

[0026] As a preferred solution, the expression of the coordinate conversion formula between the geodetic coordinate system and the geocentric space rectangular coordinate system is as follows:

[0027]

[0028] Among them, represents the longitude in the geodetic coordinate system, represents the latitude in the geodetic coordinate system, represents the altitude in the geodetic coordinate system, represents the coordinate of the x-axis in the geocentric space rectangular coordinate system, represents the coordinate of the y-axis in the geocentric space rectangular coordinate system, represents the coordinate of the z-axis in the geocentric space rectangular coordinate system, represents the radius of the earth.

[0029] As a preferred solution, the conversion of the first measurement information to the geocentric space rectangular coordinate system to obtain the converted first measurement information specifically includes:

[0030] The first measurement information is converted to the geocentric space rectangular coordinate system through the coordinate conversion formula between the space rectangular coordinate system of the radar and the geocentric space rectangular coordinate system to obtain the converted first measurement information.

[0031] The conversion of the second measurement information to the geocentric space rectangular coordinate system to obtain the converted second measurement information specifically includes:

[0032] The second measurement information is converted to the geocentric space rectangular coordinate system through the coordinate conversion formula between the space rectangular coordinate system of the radar and the geocentric space rectangular coordinate system to obtain the converted second measurement information.

[0033] Among them, the expression of the coordinate conversion formula between the space rectangular coordinate system of the radar and the geocentric space rectangular coordinate system is as follows:

[0034]

[0035] Among them, represents the coordinate of the x-axis in the geocentric space rectangular coordinate system, represents the coordinate of the y-axis in the geocentric space rectangular coordinate system, represents the coordinate of the z-axis in the geocentric space rectangular coordinate system, represents the origin of the space rectangular coordinate system of the radar coordinate of the x-axis in the geocentric space rectangular coordinate system, represents the origin of the space rectangular coordinate system of the radar coordinate of the y-axis in the geocentric space rectangular coordinate system, represents the origin of the space rectangular coordinate system of the radar coordinate of the z-axis in the geocentric space rectangular coordinate system, represents the origin of the space rectangular coordinate system of the radar longitude in the geocentric space rectangular coordinate system, represents the coordinate of the x-axis in the space rectangular coordinate system of the radar, represents the coordinate of the y-axis in the space rectangular coordinate system of the radar, represents the coordinate of the z-axis in the space rectangular coordinate system of the radar, , represents the semi-major axis of the earth, represents the semi-minor axis of the earth.

[0036] As a preferred solution, the , and expressions are as follows:

[0037]

[0038] Among them, is the altitude of the origin of the space rectangular coordinate system of the radar in the geocentric space rectangular coordinate system, the origin of the space rectangular coordinate system of the radar latitude in the geocentric space rectangular coordinate system, e is the eccentricity of the ellipse, , where, . .

[0039] As a preferred solution, the expression of the northward angle correction value is as follows:

[0040]

[0041] Among them, Represents the northward angle correction value, which is the azimuth average error.

[0042] In the formula, Δ θ = [( θ y 1 − θ d 1 ) + ( θ y 2 − θ d 2 )] / 2

[0043] Among them, is the first radar measurement value, is the second radar measurement value, is the first electronic map measurement value, is the second electronic map measurement value.

[0044] In a second aspect, a computer-readable storage medium stores a computer program thereon. When the computer program is executed by a processor, it implements a method for real-time correction of the northward angle of a millimeter-wave radar based on an electronic map as described in any one of the first aspects.

[0045] In a third aspect, a computer device includes:

[0046] A memory for storing instructions.

[0047] A processor for executing the instructions, enabling the computer device to perform operations of a method for real-time correction of the northward angle of a millimeter-wave radar based on an electronic map as described in any one of the first aspects.

[0048] Advantageous effects: The method for real-time correction of the northward angle of a millimeter-wave radar based on an electronic map, the electronic device, and the storage medium provided by the present invention can monitor the azimuth error value of the radar system in real time and online, and at the same time perform real-time correction on the occurring system azimuth error, thereby ensuring the accuracy of the azimuth measurement of the millimeter-wave radar, avoiding misinformation caused by azimuth measurement deviation of the radar, and having important application value for improving the quality of radar azimuth measurement information from the source.

[0049] On the premise of ensuring the main indicators such as the power, accuracy, and resolution of the millimeter-wave radar, the present invention reduces the algorithm complexity and at the same time greatly improves the work efficiency, which is beneficial to be applied in actual engineering. Compared with the prior art, the advantages of the present invention are as follows:

[0050] 1. The present invention solves the problem of poor azimuth measurement accuracy of the radar system caused by the short Beidou baseline.

[0051] 2. The present invention improves the azimuth deviation problem caused by installation errors.

[0052] 3. The present invention improves the azimuth measurement accuracy of the millimeter-wave radar in a complex environment.

[0053] 4. The present invention increases the direction-finding accuracy and stability of the millimeter-wave radar system.

[0054] 5. The present invention enhances the continuous tracking ability of the millimeter-wave radar system for targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a schematic flowchart of an embodiment of a method for real-time correction of the northward angle of a millimeter-wave radar based on an electronic map according to the present invention.

[0056] Figure 2 is an electronic map loading diagram of the millimeter-wave radar control terminal display and control software.

[0057] Figure 3 is a schematic diagram of the operation of the millimeter-wave radar.

[0058] Figure 4 is a schematic diagram of the space rectangular coordinate system of the radar.

[0059] Figure 5 is a schematic diagram of the geodetic coordinate system.

[0060] Figure 6 is a schematic diagram of the geocentric space rectangular coordinate system.

[0061] Figure 7 is a point in the radar rectangular coordinate system coordinate schematic diagram in the geocentric space rectangular coordinate system.

[0062] Figure 8 is a point in the radar rectangular coordinate system coordinate schematic diagram in the geocentric space rectangular coordinate system.

[0063] Figure 9 is a millimeter-wave radar detection target movement trajectory diagram with the northward angle uncorrected.

[0064] Figure 10 is an enlarged view of the millimeter-wave radar detection target movement trajectory diagram with the northward angle uncorrected.

[0065] Figure 11 is an azimuth angle measurement diagram between the radar station location and the target in the electronic map.

[0066] Figure 12 is a schematic diagram of the millimeter-wave radar northward angle correction interface, where Figure 12 in (a) is the interface diagram of the due north correction value, Figure 12 in (b) is the interface diagram of the value after Beidou angle correction.

[0067] Figure 13 is a millimeter-wave radar detection target movement trajectory diagram with the northward angle corrected.

[0068] Figure 14 is an enlarged view of the millimeter-wave radar detection target movement trajectory diagram with the northward angle corrected. Detailed implementation manners

[0069] Combined with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

[0070] The present invention will be further described in detail below with reference to specific embodiments.

[0071] Embodiment 1:

[0072] This embodiment introduces a real-time correction method for the northward angle of a millimeter-wave radar based on an electronic map. To achieve real-time correction of the azimuth of the millimeter-wave radar, after the millimeter-wave radar loads the electronic map, the azimuth angle is calculated using coordinate transformation, and the target traces are displayed in the electronic map in real time. Then, according to the target azimuth measured by the millimeter-wave radar, the azimuth deviation of the millimeter-wave radar is calculated online and compensated without shutting down, and real-time verification is carried out, which has important engineering application value for effectively ensuring the continuity of information, such as Figure 1 shown, the specific steps are as follows:

[0073] Step 1: As Figure 2 shown, open the display and control software of the control terminal and load the electronic map of the target scene.

[0074] Step 2: As Figure 3 shown, deploy the millimeter-wave radar in the corresponding area according to the actual target scene, and turn on the radar after the northward value is stable.

[0075] Step 3: Obtain the geographical location information, target detection scanning distance, and azimuth information of the millimeter-wave radar and transmit them to the control terminal. The control terminal calculates the ( , , ) of the millimeter-wave radar station site according to the coordinate conversion relationship between the geodetic coordinate system and the geocentric space rectangular coordinate system, and then converts the detected target of the radar to the geocentric space rectangular coordinate system according to the conversion relationship from the radar's space rectangular coordinate system to the geocentric space rectangular coordinate system, and displays it in real time on the electronic map.

[0076] Among them, as Figure 4 shown, the space rectangular coordinate system of the radar takes the installation position of the millimeter-wave radar as the origin , point, the due north and due west of the point are the X-axis and Y-axis respectively, and the Z-axis is constructed according to the right-hand rule. The coordinate value of any point P in the space rectangular coordinate system of the radar is uniquely determined by x, y, and z, denoted as: .

[0077] As Figure 5 shown, the geodetic coordinate system describes the spatial position by using geodetic latitude, longitude, and geodetic height. Latitude is the angle between the normal of the reference ellipsoid surface at a point in space and the equatorial plane; longitude is the angle between the plane passing through the self-rotation axis of the reference ellipsoid and the starting meridian plane of the reference ellipsoid at a point in space; geodetic height is the distance from a point in space along the normal direction of the reference ellipsoid to the reference ellipsoid surface.

[0078] As Figure 6 shown, the geocentric space rectangular coordinate system takes the geocenter as the origin , the north pole azimuth is the Z-axis, the intersection point of the prime meridian and the equator is denoted as , is the X-axis, and the Y-axis is uniquely determined by the right-hand rule. Any point A in the rectangular coordinate system is uniquely determined by x, y, and z, denoted as: .

[0079] Furthermore, the method for obtaining the ( , , ) of the millimeter-wave radar site is as follows:

[0080] Obtain the longitude, latitude, and height information of the millimeter-wave radar, and calculate the (X, Y, Z) of the millimeter-wave radar according to the mutual conversion relationship between the longitude and latitude coordinates (L, B, H) in the geodetic coordinate system and the coordinates (X, Y, Z) in the geocentric space rectangular coordinate system;

[0081] For the millimeter-wave radar (L, B, H), according to the conversion formula from the geodetic coordinate system to the space rectangular coordinate system, calculate the coordinates of the millimeter-wave radar in the geocentric space rectangular coordinate system as (X, Y, Z) respectively.

[0082] The expression of the conversion formula from the geodetic coordinate system to the space rectangular coordinate system is as follows:

[0083]

[0084] Where: represents the longitude in the geodetic coordinate system, represents the latitude in the geodetic coordinate system, represents the altitude in the geodetic coordinate system, represents the x-axis coordinate in the geocentric space rectangular coordinate system, represents the y-axis coordinate in the geocentric space rectangular coordinate system, represents the z-axis coordinate in the geocentric space rectangular coordinate system.

[0085]

[0086]

[0087] Among them, a = 6378.137 km, which is the semi-major axis of the earth, b = 6356.752 km, which is the semi-minor axis of the earth, and e is the eccentricity of the ellipse.

[0088] If the eccentricity is not considered (i.e., assuming the earth is a sphere with a radius of ), then the conversion formula is simplified to:

[0089]

[0090] The method for obtaining the conversion formula from the space rectangular coordinate system of the radar to the geocentric space rectangular coordinate system is as follows:

[0091] Step a: Let the origin of the known space rectangular coordinate system of the radar have the longitude , latitude , and altitude in the space rectangular coordinate system. Then the coordinates of the point in the geocentric space rectangular coordinate system are:

[0092]

[0093] Among them:

[0094]

[0095]

[0096]

[0097] a = 6378.137 km, which is the semi-major axis of the earth, b = 6356.752 km, which is the semi-minor axis of the earth, and e is the eccentricity of the ellipse.

[0098] As Figure 7 shown, step b: The coordinates of the point in the space rectangular coordinate system of the radar in the geocentric space rectangular coordinate system are:

[0099]

[0100] As Figure 8 shown, step c: The coordinates of the point in the space rectangular coordinate system of the radar in the geocentric space rectangular coordinate system are:

[0101]

[0102] Among them:

[0103]

[0104] Step d, the point in the space rectangular coordinate system of the radar The coordinates in the geocentric space rectangular coordinate system are:

[0105]

[0106] In summary, the point in the space rectangular coordinate system of the radar The coordinates in the geocentric space rectangular coordinate system The conversion formula is:

[0107]

[0108] Where:

[0109]

[0110] As Figure 9 , 10 shown, to achieve real-time correction of the azimuth of the millimeter-wave radar, an electronic map is loaded in the display and control of the control terminal. The azimuth angle is calculated using coordinate conversion and the target point track is displayed on the electronic map in real time. The radar operator can observe the target movement track in real time through the control software, and the point and track information of the target are updated in real time in the display table. It is difficult to detect the azimuth error of the target in time, but it is easy to visually find through the electronic map that the moving vehicle deviates from the actual course.

[0111] As Figure 11 shown, Step 4: Compare the azimuth detected by the radar with the azimuth in the electronic map

[0112] 1. In the electronic map, mark two azimuth comparison points and use the measurement tool in the electronic map to mark and draw lines. The azimuth angle between the millimeter-wave radar station and the 4850-meter (bending point) of the lake embankment road on the opposite bank is 72.48°, and the azimuth angle between the millimeter-wave radar station and the 5400-meter (water intake) of the lake embankment road on the opposite bank is 67.22°.

[0113] 2. Observe the target point track information in the display table and record the azimuth information of the target point track near the lake embankment road (4850m, 5400m) on the opposite bank.

[0114] Table 1 Target information of millimeter-wave radar point track

[0115]

[0116] According to the recorded data, it can be obtained that the azimuth angle of the target measured by the millimeter-wave radar near 4850m is about 74.41°, and the azimuth of the target near 5400m is about 69.74°.

[0117] As shown in Figure 12 in (a) below, the radar measurement values at 4,850 m and 5,400 m are shown in Table 2:

[0118] Table 2 Comparison Table of Target Azimuth Values and Electronic Map Measurement Values

[0119]

[0120] Calculate the azimuth error and correct the northward angle

[0121] Δ θ = [( θ y 1 − θ d 1 ) + ( θ y 2 − θ d 2 )] / 2

[0122] Among them, is the mean azimuth error, , are the radar measurement values, , the electronic map measurement values. Calculate the average azimuth error, take the inverse of this average value, and correct the northward angle with the inverted value. As shown in Figure 12 in (b) below, the corrected value of the radar measurement at 4,850 m is 71.09°.

[0123] Δ θ = [( 73 . 22 − 72 . 48 ) + ( 69 . 74 − 67 . 22 )] / 2 = 2 . 13 ∘

[0124] Northward Angle Correction Value

[0125] Example 2:

[0126] This example introduces a computer-readable storage medium with a computer program stored thereon. When the computer program is executed by a processor, it implements a real-time northward angle correction method for a millimeter-wave radar based on an electronic map as described in any one of Example 1.

[0127] Example 3:

[0128] This example introduces a computer device, including:

[0129] A memory for storing instructions.

[0130] A processor for executing the instructions, causing the computer device to perform the operations of a real-time northward angle correction method for a millimeter-wave radar based on an electronic map as described in any one of Example 1.

[0131] Example 4:

[0132] This example introduces a verification process for a real-time northward angle correction method for a millimeter-wave radar based on an electronic map, as shown in Figure 13 , 14As shown in the figure, after the northward angle of the millimeter-wave radar is corrected, the trajectory of the moving target on the lakeside embankment road on the opposite side is corrected on the normal lane. Observe the azimuth information of the moving target passing through the marked position on the electronic map. The verification results are as follows:

[0133] Table 3 Millimeter-wave Radar Point Target Information (After Northward Angle Correction)

[0134]

[0135] Table 4 Comparison Table of Target Azimuth Values and Electronic Map Measurement Values

[0136]

[0137] After the northward angle of the millimeter-wave radar is corrected, the average azimuth error is less than 0.15°, meeting the accuracy index requirements, improving the direction-finding stability and reliability of the millimeter-wave radar, and having high track quality.

[0138] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A real-time correction method for the northward angle of a millimeter-wave radar based on an electronic map, characterized in that: Specifically, it includes: Obtain the electronic map of the target scene; Obtain the coordinates of the radar in the geodetic coordinate system, and convert the coordinates of the radar in the geodetic coordinate system into the coordinates of the radar in the geocentric space rectangular coordinate system; Mark the radar on the electronic map according to the coordinates of the radar in the geocentric space rectangular coordinate system; Set a first comparison point and a second comparison point on the electronic map, and use a measuring tool to obtain the azimuth angle between the radar and the first comparison point as the first electronic map measurement value, and the azimuth angle between the radar and the second comparison point as the second electronic map measurement value; When the target reaches the first comparison point, the radar measures the target to obtain the first measurement information, converts the first measurement information into the geocentric space rectangular coordinate system to obtain the converted first measurement information, and obtains the azimuth angle from the converted first measurement information as the first radar measurement value. When the target reaches the second comparison point, the radar measures the target to obtain the second measurement information, converts the second measurement information into the geocentric space rectangular coordinate system to obtain the converted second measurement information, and obtains the azimuth angle from the converted second measurement information as the second radar measurement value; Calculate the northward angle correction value according to the first electronic map measurement value, the second electronic map measurement value, the first radar measurement value and the second radar measurement value.

2. A real-time correction method for the northward angle of a millimeter-wave radar based on an electronic map according to claim 1, characterized in that: It also includes: The radar measures the azimuth angle of the target in real time as the real-time azimuth angle measurement value, and obtains the corrected measurement value of the real-time azimuth angle according to the real-time azimuth angle measurement value and the northward angle correction value.

3. A real-time correction method for the northward angle of a millimeter-wave radar based on an electronic map according to claim 1, characterized in that: The conversion of the coordinates of the radar in the geodetic coordinate system into the coordinates of the radar in the geocentric space rectangular coordinate system specifically includes: The coordinates of the radar in the geodetic coordinate system are used to obtain the coordinates of the radar in the geocentric space rectangular coordinate system through the coordinate conversion formula between the geodetic coordinate system and the geocentric space rectangular coordinate system; Among them, the expression of the coordinate conversion formula between the geodetic coordinate system and the geocentric space rectangular coordinate system is as follows: ； Wherein: represents the longitude in the geodetic coordinate system, represents the latitude in the geodetic coordinate system, represents the altitude in the geodetic coordinate system, represents the coordinate of the x-axis in the geocentric space rectangular coordinate system, represents the coordinate of the y-axis in the geocentric space rectangular coordinate system, represents the coordinate of the z-axis in the geocentric space rectangular coordinate system, and e is the eccentricity of the ellipse, ; In the formula, , represents the semi-major axis of the Earth.

4. A real-time correction method for the northward angle of a millimeter-wave radar based on an electronic map according to claim 3, characterized in that: The expression of the elliptic eccentricity is as follows: , represents the semi-minor axis of the Earth.

5. A real-time correction method for the northward angle of a millimeter-wave radar based on an electronic map according to claim 3, characterized in that: The expression of the coordinate conversion formula between the geodetic coordinate system and the geocentric space rectangular coordinate system is as follows: ； Wherein, represents the longitude in the geodetic coordinate system, represents the latitude in the geodetic coordinate system, represents the altitude in the geodetic coordinate system, represents the coordinate of the x-axis in the geocentric space rectangular coordinate system, represents the coordinate of the y-axis in the geocentric space rectangular coordinate system, represents the coordinate of the z-axis in the geocentric space rectangular coordinate system, represents the radius of the earth.

6. The real-time correction method for the northward angle of a millimeter-wave radar based on an electronic map according to claim 1, wherein: The conversion of the first measurement information into the geocentric space rectangular coordinate system to obtain the converted first measurement information specifically includes: The first measurement information is converted into the geocentric space rectangular coordinate system through the coordinate conversion formula between the space rectangular coordinate system of the radar and the geocentric space rectangular coordinate system to obtain the converted first measurement information; The conversion of the second measurement information into the geocentric space rectangular coordinate system to obtain the converted second measurement information specifically includes: The second measurement information is converted into the geocentric space rectangular coordinate system through the coordinate conversion formula between the space rectangular coordinate system of the radar and the geocentric space rectangular coordinate system to obtain the converted second measurement information; Among them, the expression of the coordinate conversion formula between the space rectangular coordinate system of the radar and the geocentric space rectangular coordinate system is as follows: ； Among them, represents the coordinate of the x-axis in the geocentric space rectangular coordinate system, represents the coordinate of the y-axis in the geocentric space rectangular coordinate system, represents the coordinate of the z-axis in the geocentric space rectangular coordinate system, represents the origin of the space rectangular coordinate system of the radar in the geocentric space rectangular coordinate system, the coordinate of the x-axis, represents the origin of the space rectangular coordinate system of the radar in the geocentric space rectangular coordinate system, the coordinate of the y-axis, represents the origin of the space rectangular coordinate system of the radar in the geocentric space rectangular coordinate system, the coordinate of the z-axis, represents the origin of the space rectangular coordinate system of the radar in the geocentric space rectangular coordinate system, the longitude, represents the coordinate of the x-axis in the space rectangular coordinate system of the radar, represents the coordinate of the y-axis in the space rectangular coordinate system of the radar, represents the coordinate of the z-axis in the space rectangular coordinate system of the radar, , represents the semi-major axis of the earth, represents the semi-minor axis of the earth.

7. A real-time correction method for the northward angle of a millimeter-wave radar based on an electronic map according to claim 6, characterized in that: The said , and have the following expressions: ； Among them, is the origin of the space rectangular coordinate system of the radar is the altitude under the geocentric space rectangular coordinate system, is the origin of the space rectangular coordinate system of the radar is the latitude under the geocentric space rectangular coordinate system, e is the eccentricity of the ellipse, , where, .

8. A real-time correction method for the northward angle of a millimeter-wave radar based on an electronic map according to claim 1, characterized in that: The expression of the northward angle correction value is as follows: ； Among them, represents the northward angle correction value, is the azimuth average error; In the formula, ; Among them, is the first radar measurement value, is the second radar measurement value, is the first electronic map measurement value, is the second electronic map measurement value.

9. A computer-readable storage medium, characterized in that: It stores a computer program, which when executed by a processor, implements a method for real-time correction of the northward angle of a millimeter-wave radar based on an electronic map as described in any one of claims 1 to 8.

10. A computer device, characterized in that: It includes: A memory for storing instructions; A processor, configured to execute the instructions, so that the computer device performs the operations of a method for real-time correction of the northward angle of a millimeter-wave radar based on an electronic map according to any one of claims 1 to 8.

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