Millimeter wave radar transmit-receive array error calibration method and related equipment

Abstract

The embodiment of the invention provides a millimeter wave radar transmit-receive array error calibration method and related equipment. The method comprises the following steps: acquiring a target virtual channel complex value matrix; determining a target calibration phase matrix according to the target virtual channel complex value matrix; determining a target amplitude-phase calibration factor matrix according to the target virtual channel complex value matrix and the target calibration phase matrix; executing a target phase calibration operation according to the target calibration phase matrix; and executing a target amplitude and phase calibration operation according to the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix. In this way, the phase error between the transmitting antennas caused by the machining process and the like can be compensated, so that the transmitting gain after synthesis is improved, the probability of distortion of spatial synthesis of a transmitting directional diagram is reduced, the amplitude-phase error between the MIMO virtual arrays is compensated, the accuracy of an angle measurement result is improved, and therefore the spatial synthesis precision is improved; and the radar detection quality and detection precision are improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of radar technology, and in particular to a millimeter-wave radar transceiver array error calibration method and related equipment. Background Art

[0002] With the advancement of millimeter-wave radar technology, long-range millimeter-wave traffic radar is increasingly being used in traffic safety. Most radar systems spatially combine the directional patterns of multiple transmitting antennas within a group to create an equivalent, higher-gain composite transmitting antenna, enabling ultra-long-range target detection.

[0003] Most related technologies use multiple groups of identical transmitting antennas to form multiple synthetic transmitting antennas, and form a multiple-transmit multiple-receive (MIMO) virtual array with multiple receiving antennas to equivalently increase the aperture length and thus improve the angular resolution.

[0004] However, due to the limitations of existing antenna processing technology, there will be phase errors in the transmission signals between different transmitting antennas in the same transmitting antenna group, which will cause distortion in the spatial synthesis of the transmission radiation pattern and errors in angle estimation, resulting in low radar detection quality and accuracy. Summary of the Invention

[0005] According to an embodiment of the present application, a millimeter-wave radar transceiver array error calibration method and related equipment are provided, which can compensate for the phase error between transmitting antennas caused by processing technology and other reasons, so as to improve the transmission gain after synthesis, reduce the probability of distortion in the spatial synthesis of the transmission pattern, and compensate for the amplitude and phase errors between MIMO virtual arrays to improve the accuracy of the angle measurement results, thereby improving the spatial synthesis accuracy and improving the radar detection quality and detection accuracy.

[0006] In a first aspect of the present application, a millimeter wave radar transceiver array error calibration method is provided, comprising:

[0007] Get the target virtual channel complex value matrix;

[0008] Determining a target calibration phase matrix according to a target virtual channel complex value matrix;

[0009] Determining a target amplitude and phase calibration factor matrix according to a target virtual channel complex value matrix and a target calibration phase matrix;

[0010] performing a target phase calibration operation according to a target calibration phase matrix;

[0011] A target amplitude and phase calibration operation is performed according to the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix.

[0012] In some feasible implementations, the step of obtaining the target virtual channel complex-valued matrix includes:

[0013] The echo data is calibrated according to the target error to generate the target Doppler fast Fourier transform data;

[0014] Generate target range-Doppler spectrum according to target Doppler dimension fast Fourier transform data;

[0015] Determine the target virtual channel complex value matrix according to the target range-Doppler spectrum and preset information;

[0016] The preset information includes: preset distance information and preset speed information.

[0017] In some feasible implementations, determining the target calibration phase matrix based on the target virtual channel complex value matrix includes:

[0018] The target calibration phase matrix is determined according to the following formula:

[0019]

[0020] Among them, Phase m,k It is used to represent the target calibration phase corresponding to the kth target transmitting antenna in the mth group of target transmitting antennas; ΔP m,k,n It is used to indicate the target calibration phase corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; N is used to indicate the number of target receiving antennas;

[0021] Where ΔP m,k,n Determined according to the following formula:

[0022]

[0023] in, It is used to represent the original phase corresponding to the target reference antenna k0 and the nth target receiving antenna in the mth group of target transmitting antennas; P m,k,n Used to represent the original phase corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas;

[0024] Among them, P m,k,n Determined according to the following formula:

[0025]

[0026] Among them, P m,k,n It is used to represent the original phase corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; angle(·) is used to represent the phase operation; W m,k,nUsed to represent the target virtual channel complex value corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; Used to represent the azimuth coordinate of the kth target transmitting antenna relative to the target reference antenna k0; It is used to represent the elevation coordinate of the kth target transmitting antenna relative to the target reference antenna k0; θ is used to represent the first target angle; It is used to indicate the angle of the second target; λ is used to indicate the wavelength corresponding to the target radar; j is used to indicate the imaginary unit.

[0027] In some feasible implementations, determining the target amplitude-phase calibration factor matrix based on the target virtual channel complex value matrix and the target calibration phase matrix includes:

[0028] The target complex summation matrix is determined according to the following formula:

[0029]

[0030] Among them, B m,n Used to represent the target complex summation matrix; W m,k,n Used to represent the target virtual channel complex value corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; Used to represent the azimuth coordinate of the kth target transmitting antenna relative to the target reference antenna k0; It is used to represent the elevation coordinate of the kth target transmitting antenna relative to the target reference antenna k0; θ is used to represent the first target angle; It is used to indicate the second target angle; λ is used to indicate the wavelength corresponding to the target radar; j is used to indicate the imaginary unit; K is used to indicate the maximum index of the target transmitting antenna;

[0031] The target compensation matrix is determined according to the following formula:

[0032]

[0033] Among them, C m,n Used to represent the target compensation matrix; XX m,n It is used to represent the azimuth distance of the virtual channel formed by the mth group of target transmitting antennas and the nth group of target receiving antennas relative to the reference virtual channel; ZZ m,n It is used to represent the elevation distance of the virtual channel formed by the mth group of target transmitting antennas and the nth target receiving antenna relative to the reference virtual channel; j is used to represent the imaginary unit;

[0034] Determine the target amplitude and phase calibration factor matrix according to the following formula:

[0035]

[0036] Among them, AmpPha m,n Used to represent the target amplitude and phase calibration factor matrix; Used to represent the phase compensation matrix corresponding to the target reference channel.

[0037] In some feasible implementations, performing the target phase calibration operation according to the target calibration phase matrix includes:

[0038] The target phase calibration signal is determined according to the following formula:

[0039] SP m,k (η, τ) = S m,k (η, τ)·exp(j·Phase m,k )

[0040] Among them, SP m,k (η, τ) is used to represent the mth target transmitting antenna group T m The kth target transmitting antenna T in m,k The target phase calibration signal to be transmitted; S m,k (η, τ) is used to represent the mth target transmitting antenna group T m The kth target transmitting antenna T in m,k The original signal to be transmitted; j is used to represent the imaginary unit;

[0041] A target phase calibration operation is performed according to the target phase calibration signal.

[0042] In some feasible implementations, performing the target phase calibration operation according to the target calibration phase matrix further includes:

[0043] According to the target waveform modulation signal, the target transmitting antenna group inter-group signal is controlled to perform the target orthogonal operation to perform the target phase calibration operation;

[0044] The target waveform modulation signal includes: a time division multiple access waveform modulation signal, a doppler division multiple access waveform modulation signal, and / or a code division multiple access waveform modulation signal.

[0045] In some feasible implementations, the target amplitude and phase calibration operation is performed according to the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix, including:

[0046] Determine the target amplitude and phase calibration matrix according to the following formula:

[0047] BVC m,n =BV m,n ·AmpPha m,n

[0048] Among them, BVCm,n Used to represent the target amplitude and phase calibration matrix; BV m,n Used to represent the original amplitude and phase matrix; AmpPha m,n Used to represent the target amplitude and phase calibration factor matrix;

[0049] Target amplitude and phase calibration operations are performed according to the target amplitude and phase calibration matrix.

[0050] In a second aspect of the present application, a millimeter wave radar transceiver array error calibration device is provided, comprising:

[0051] An acquisition unit, used for acquiring a target virtual channel complex value matrix;

[0052] A first determining unit is configured to determine a target calibration phase matrix according to a target virtual channel complex value matrix;

[0053] A second determining unit is configured to determine a target amplitude and phase calibration factor matrix according to a target virtual channel complex value matrix and a target calibration phase matrix;

[0054] A first execution unit, configured to perform a target phase calibration operation according to a target calibration phase matrix;

[0055] The second execution unit is configured to perform a target amplitude and phase calibration operation according to the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix.

[0056] In a third aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements any of the above methods when executing the computer program.

[0057] In a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method as described in any one of the above items is implemented.

[0058] The embodiment of the present application provides a millimeter wave radar transceiver array error calibration method and related equipment, wherein the method includes: obtaining a target virtual channel complex value matrix; determining a target calibration phase matrix based on the target virtual channel complex value matrix; determining a target amplitude and phase calibration factor matrix based on the target virtual channel complex value matrix and the target calibration phase matrix; performing a target phase calibration operation based on the target calibration phase matrix; performing a target amplitude and phase calibration operation based on the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix. The present application can compensate for the phase error between transmitting antennas caused by reasons such as processing technology to improve the transmission gain after synthesis, reduce the probability of distortion in the spatial synthesis of the transmission pattern, compensate for the amplitude and phase errors between MIMO virtual arrays to improve the accuracy of the angle measurement results, thereby improving the spatial synthesis accuracy and improving the radar detection quality and detection accuracy.

[0059] It should be understood that the contents described in the Summary of the Invention are not intended to limit the key or important features of the embodiments of the present application, nor are they intended to limit the scope of the present application. Other features of the present application will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The above and other features, advantages and aspects of the embodiments of the present application will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0061] Figure 1 A schematic diagram of the process of calibrating a millimeter-wave radar transceiver array error according to an embodiment of the present application;

[0062] Figure 2 A schematic structural diagram of a radar system provided according to an embodiment of the present application;

[0063] Figure 3 Schematic diagram of the structure of a millimeter wave radar transceiver array error calibration device provided according to an embodiment of the present application;

[0064] Figure 4 It is a structural diagram of an electronic device suitable for implementing the embodiments of the present application. DETAILED DESCRIPTION

[0065] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.

[0066] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0067] In a first aspect of the present application, a millimeter wave radar transceiver array error calibration method is provided. Figure 1 A schematic diagram of a process of calibrating a millimeter wave radar transceiver array error 100 provided in an embodiment of the present application is shown as follows: Figure 1 As shown, the method 100 includes:

[0068] Step S1: Obtain a target virtual channel complex value matrix.

[0069] Exemplarily, the target virtual channel complex value matrix may be determined according to all target transmit antennas and target virtual channel complex values corresponding to all target antennas.

[0070] In some feasible implementations, the above step S1: obtaining a target virtual channel complex value matrix includes:

[0071] Step S11: calibrating the echo data according to the target error to generate target Doppler fast Fourier transform data.

[0072] In some feasible implementations, the above method further includes:

[0073] Step S111: acquiring target error calibration echo data according to the target waveform modulation signal, wherein the target error calibration echo data includes: target orthogonal echo data.

[0074] In some possible implementations, Figure 2 FIG. 1 is a structural diagram of a radar system provided according to an embodiment of the present application. Figure 2 As shown, the radar system can be designed to include: M target transmitting antenna groups and 1 target receiving antenna group. The M target transmitting antenna groups may include: target transmitting antenna group T1, target transmitting antenna group T2, ..., and target transmitting antenna group T M Each target transmitting antenna group includes K identical target transmitting antennas. For example, target transmitting antenna group T1 includes: target transmitting antennas T 1,1 、Target launch space T 1,2 , ..., and the target launch sky T 1,K . Thus, it can be seen that the target transmitting antenna group includes L target transmitting antennas in total, where L is equal to the product of M and K. Among them, the target receiving antenna group R can include: N target receiving antennas, namely: target receiving antenna R1, target receiving antenna R2, ..., target receiving antenna R N .

[0075] For example, the following Figure 2 The radar system shown is set in a target scene, and a target angle reflector is set at the target position of the above radar system to obtain the above target error calibration echo data, wherein the above target scene may include: a target dark box scene.

[0076] Exemplarily, all target transmitting antennas can be controlled to transmit mutually orthogonal signals, and different receiving antennas can be controlled to receive target echo signals orthogonally transmitted by all target antennas and reflected by the target, so as to obtain the above-mentioned target error calibration echo data, wherein the target error calibration echo data includes: target orthogonal echo data.

[0077] Specifically, all target transmitting antennas can be controlled to transmit time division multiple access waveform modulation signals (TDMA), Doppler division multiple access waveform modulation signals (DDMA), and / or code division multiple access waveform modulation signals (CDMA), etc., and different target receiving antennas can be controlled to receive target echo signals orthogonally transmitted by all target antennas and reflected by the target to obtain target error calibration echo data, wherein the target error calibration echo data includes: target orthogonal echo data.

[0078] Therefore, the above method can realize the accurate acquisition of target error calibration echo data according to the target waveform modulation signal, which is conducive to improving the acquisition accuracy of target error calibration echo data, thereby improving the generation accuracy of the target virtual channel complex value matrix, so as to improve the execution accuracy of the target phase calibration operation, and then improve the phase error compensation accuracy, increase the transmission gain after synthesis, reduce the probability of distortion in the spatial synthesis of the transmission pattern, improve the spatial synthesis accuracy, and improve the radar detection quality and detection accuracy.

[0079] Exemplarily, a range-dimensional Fast Fourier Transform (FFT) may be performed on the target error calibration echo data received by each target antenna to generate target Doppler-dimensional Fast Fourier Transform data.

[0080] Step S12: Generate a target range-Doppler spectrum based on the target Doppler dimension fast Fourier transform data.

[0081] Exemplarily, a target range-Doppler spectrum, ie, RD spectrum, may be generated according to the target Doppler-dimensional fast Fourier transform data.

[0082] Step S13: Determine the target virtual channel complex value matrix according to the target range-Doppler spectrum and preset information; wherein the preset information includes: preset distance information and preset speed information.

[0083] For example, the target virtual channel complex values corresponding to all target transmitting antennas and all target receiving antennas can be extracted based on the above RD spectrum, preset distance information, and preset speed information. m The target transmitting antenna T m,k and the target receiving antenna R n The corresponding virtual channel complex value can be expressed as W m,k,nWherein, m=1,2,...,M; k=1,2,...,K; n=1,2,...,N; M is used to indicate the total number of target transmit antenna groups; K is used to indicate the number of target transmit antennas contained in each target transmit antenna group; N is used to indicate the total number of target receive antennas.

[0084] Therefore, the above method can realize the calibration of echo data according to the target error, accurately generate the target Doppler fast Fourier transform data, accurately generate the target range-Doppler spectrum according to the target Doppler fast Fourier transform data, and accurately generate the target virtual channel complex value matrix according to the target range-Doppler spectrum, preset distance information and preset speed information, thereby improving the determination accuracy of the target calibration phase matrix, so as to improve the execution accuracy of the target phase calibration operation, and then improve the phase error compensation accuracy, improve the transmission gain after synthesis, reduce the probability of distortion in the spatial synthesis of the transmission pattern, improve the spatial synthesis accuracy, and improve the radar detection quality and detection accuracy.

[0085] Step S2: Determine a target calibration phase matrix according to the target virtual channel complex value matrix.

[0086] Exemplarily, the target virtual channel complex values corresponding to all target transmitting antennas and all target receiving antennas may be determined according to the target virtual channel complex value matrix, thereby determining the calibration phase of each target transmitting antenna in each group of target transmitting antennas.

[0087] In some feasible implementations, the above step S2: determining a target calibration phase matrix according to a target virtual channel complex value matrix, includes:

[0088] Step S21: Determine the target calibration phase matrix according to the following formula:

[0089]

[0090] Among them, Phase m,k It is used to represent the target calibration phase corresponding to the kth target transmitting antenna in the mth group of target transmitting antennas; ΔP m,k,n It is used to indicate the target calibration phase corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; N is used to indicate the number of target receiving antennas;

[0091] Where ΔP m,k,n Determined according to the following formula:

[0092]

[0093] in, It is used to represent the original phase corresponding to the target reference antenna k0 and the nth target receiving antenna in the mth group of target transmitting antennas; P m,k,n Used to represent the original phase corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas;

[0094] Among them, P m,k,n Determined according to the following formula:

[0095]

[0096] Among them, P m,k,n It is used to represent the original phase corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; angle(·) is used to represent the phase operation; W m,k,n Used to represent the target virtual channel complex value corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; Used to represent the azimuth coordinate of the kth target transmitting antenna relative to the target reference antenna k0; It is used to represent the elevation coordinate of the kth target transmitting antenna relative to the target reference antenna k0; θ is used to represent the first target angle; It is used to indicate the angle of the second target; λ is used to indicate the wavelength corresponding to the target radar; j is used to indicate the imaginary unit.

[0097] It should be noted that any one target transmitting antenna in each group of target transmitting antennas can be selected as the target reference antenna k0. The first target angle θ corresponds to the azimuth angle of the known target relative to the radar normal. The second target angle The wavelength λ corresponding to the target radar corresponds to the operating wavelength of the target radar.

[0098] Exemplarily, the phases of all target transmitting antennas in each group of target transmitting antennas corresponding to each target receiving antenna can be extracted from the target virtual channel complex values corresponding to all target transmitting antennas and all target receiving antennas, so as to accurately determine the target calibration phase according to the above formulas (1) to (3) and generate a target calibration phase matrix.

[0099] Therefore, the above method can accurately determine the target calibration phase matrix according to the above formulas (1) to (3), improve the determination accuracy of the target calibration phase matrix, and thus improve the execution accuracy of the target phase calibration operation, thereby accurately compensating for the phase error between the transmitting antennas caused by reasons such as processing technology, improving the transmission gain after synthesis, and reducing the probability of distortion in the spatial synthesis of the transmission pattern, thereby improving the spatial synthesis accuracy and improving the radar detection quality and detection accuracy.

[0100] Step S3: Determine a target amplitude and phase calibration factor matrix according to the target virtual channel complex value matrix and the target calibration phase matrix.

[0101] In some feasible implementations, the above step S3: determining the target amplitude-phase calibration factor matrix according to the target virtual channel complex value matrix and the target calibration phase matrix, includes:

[0102] Step S31: Determine the target complex summation matrix according to the following formula:

[0103]

[0104] Among them, B m,n Used to represent the target complex summation matrix; W m,k,n Used to represent the target virtual channel complex value corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; Used to represent the azimuth coordinate of the kth target transmitting antenna relative to the target reference antenna k0; It is used to represent the elevation coordinate of the kth target transmitting antenna relative to the target reference antenna k0; θ is used to represent the first target angle; Used to indicate the second target angle; λ is used to indicate the wavelength corresponding to the target radar; j is used to indicate the imaginary unit; K is used to indicate the maximum index of the target transmitting antenna;.

[0105] Exemplarily, the virtual channel complex values of all target transmitting antennas in each target transmitting antenna group corresponding to each target receiving antenna can be extracted for phase calibration, and the complex summation of the target virtual channel complex values after phase calibration corresponding to each target transmitting antenna in the target transmitting antenna group can be performed to determine the above-mentioned target complex summation matrix according to the above-mentioned formula (4).

[0106] Step S32: Determine the target compensation matrix according to the following formula:

[0107]

[0108] Among them, C m,n Used to represent the target compensation matrix; XX m,n It is used to represent the azimuth distance of the virtual channel formed by the mth group of target transmitting antennas and the nth group of target receiving antennas relative to the reference virtual channel; ZZ m,n It is used to represent the elevation distance of the virtual channel formed by the mth group of target transmitting antennas and the nth target receiving antenna relative to the reference virtual channel; j is used to represent the imaginary unit.

[0109] Exemplarily, any virtual antenna can be selected as the above-mentioned reference virtual channel, and the complex value of the target virtual channel formed by each target receiving antenna and each target transmitting antenna group is compensated for the phase difference caused by the azimuth and pitch angle of the known target, so as to determine the above-mentioned target compensation matrix according to the above-mentioned formula (5).

[0110] It should be noted that the azimuth dimension of the virtual channel formed by the mth group of target transmitting antennas and the nth target receiving antenna relative to the reference virtual channel is XX. m,n It can be determined according to the following formula:

[0111]

[0112] in, Used to indicate the relative position of the mth group of target transmitting antennas in azimuth dimension with the m1th group of target transmitting antennas as reference; Used to indicate the relative position of the nth target receiving antenna in azimuth with reference to the n1th target receiving antenna.

[0113] The distance ZZ from the virtual channel formed by the mth group of target transmitting antennas and the nth target receiving antenna to the reference virtual channel is m,n It can be determined according to the following formula:

[0114]

[0115] in, Used to indicate the relative position of the mth group of target transmitting antennas in the elevation dimension with the m1th group of target transmitting antennas as a reference; Used to indicate the relative position in elevation of the nth target receiving antenna with respect to the n1th target receiving antenna.

[0116] Step S33: Determine the target amplitude and phase calibration factor matrix according to the following formula:

[0117]

[0118] Among them, AmpPha m,n Used to represent the target amplitude and phase calibration factor matrix; Used to represent the phase compensation matrix corresponding to the target reference channel.

[0119] Exemplarily, the target amplitude and phase calibration factor values of the virtual channel formed by the mth group of target transmitting antennas and the nth target receiving antenna can be determined according to the above formula (8), thereby determining the above target amplitude and phase calibration factor matrix.

[0120] Therefore, the above method can accurately determine the target amplitude and phase calibration factor matrix according to the above formulas (4) to (8), thereby improving the execution accuracy of the target amplitude and phase calibration operation, compensating for the amplitude and phase errors between the MIMO virtual arrays, and improving the accuracy of the angle measurement results, thereby further improving the spatial synthesis accuracy and further improving the radar detection quality and detection accuracy.

[0121] Step S4: Perform a target phase calibration operation according to the target calibration phase matrix.

[0122] In some feasible implementations, the above step S4: performing a target phase calibration operation according to the target calibration phase matrix, includes:

[0123] In some feasible implementations, performing the target phase calibration operation according to the target calibration phase matrix includes:

[0124] Step S41: Determine the target phase calibration signal according to the following formula:

[0125] SP m,k (η, τ) = S m,k (η, τ)·exp(j·Phase m,k )(9)

[0126] Among them, SP m,k (η, τ) is used to represent the mth target transmitting antenna group T m The kth target transmitting antenna T in m,k The target phase calibration signal to be transmitted; S m,k (η, τ) is used to represent the mth target transmitting antenna group T m The kth target transmitting antenna T in m,k The original signal to be transmitted; j is used to represent the imaginary unit.

[0127] Exemplarily, the target phase calibration signal can be accurately determined according to the above formula (9).

[0128] Step S42: Execute a target phase calibration operation according to the target phase calibration signal.

[0129] Exemplarily, each target transmitting antenna in each group of target transmitting antennas may be controlled to transmit the target phase calibration signal, so as to further improve the execution accuracy of the target phase calibration operation.

[0130] Therefore, the above method can achieve the goal of accurately determining the phase calibration signal according to the above formula (9); accurately performing the target phase calibration operation according to the above target phase calibration signal, thereby improving the execution accuracy of the target phase calibration operation, and then improving the phase error compensation accuracy, improving the transmission gain after synthesis, reducing the probability of distortion in the spatial synthesis of the transmission pattern, improving the spatial synthesis accuracy, and improving the radar detection quality and detection accuracy.

[0131] In some feasible implementations, the above step S4: performing a target phase calibration operation according to the target calibration phase matrix, further includes:

[0132] Step S43: According to the target waveform modulation signal, control the target transmitting antenna group inter-group signal to perform the target orthogonal operation to perform the target phase calibration operation; wherein the target waveform modulation signal includes: a time division multiple access waveform modulation signal, a Doppler division multiple access waveform modulation signal, and / or a code division multiple access waveform modulation signal.

[0133] Exemplarily, different target transmission groups can be controlled to be orthogonal to each other based on target waveform modulation signals such as time division multiple access waveform modulation signals (TDMA), Doppler division multiple access waveform modulation signals (DDMA), and / or code division multiple access waveform modulation signals (CDMA), so that each target transmitting antenna in the group performs a target phase calibration operation, and all target receiving antennas are controlled to receive the target echo signal transmitted by the target transmitting antenna and reflected by the target, so as to perform the above-mentioned target phase calibration operation.

[0134] Therefore, the above method can achieve the precise execution of target orthogonal operations by controlling the signals between target transmitting antenna groups according to the time division multiple access waveform modulation signal, the Doppler division multiple access waveform modulation signal, and / or the code division multiple access waveform modulation signal, thereby further improving the execution accuracy of the target phase calibration operation, improving the phase error compensation accuracy, improving the synthesized transmission gain, reducing the probability of distortion in the spatial synthesis of the transmission pattern, further improving the spatial synthesis accuracy, and further improving the radar detection quality and detection accuracy.

[0135] Step S5: Perform a target amplitude and phase calibration operation according to the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix.

[0136] In some feasible implementations, the above step S5: performing a target amplitude and phase calibration operation according to the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix, includes:

[0137] Step S51: Determine the target amplitude and phase calibration matrix according to the following formula;

[0138] BVC m,n =BV m,n ·AmpPham,n (10)

[0139] Among them, BVC m,n Used to represent the target amplitude and phase calibration matrix; BV m,n Used to represent the original amplitude and phase matrix; AmpPha m,n Used to represent the target amplitude and phase calibration factor matrix.

[0140] Step S52: Execute target amplitude and phase calibration operation according to the target amplitude and phase calibration matrix.

[0141] For example, the target amplitude-phase calibration matrix can be accurately determined according to the above formula (10) to perform the above target amplitude-phase calibration operation.

[0142] Therefore, the above method can accurately determine the target amplitude and phase calibration matrix according to the above formula (10) to improve the execution accuracy of the target amplitude and phase calibration operation, thereby compensating for the amplitude and phase errors between the MIMO virtual arrays, improving the accuracy of the angle measurement results, further improving the spatial synthesis accuracy, and further improving the radar detection quality and detection accuracy.

[0143] Based on this, the millimeter-wave radar transceiver array error calibration method provided by the present application includes: obtaining a target virtual channel complex value matrix; determining a target calibration phase matrix based on the target virtual channel complex value matrix; determining a target amplitude-phase calibration factor matrix based on the target virtual channel complex value matrix and the target calibration phase matrix; performing a target phase calibration operation based on the target calibration phase matrix; performing a target amplitude-phase calibration operation based on the target virtual channel complex value matrix and the target amplitude-phase calibration factor matrix. The present application can compensate for the phase error between transmitting antennas caused by processing technology and other reasons, improve the coherence between the transmitted signals of the same group of transmitting antennas, so as to improve the transmission gain after synthesis and reduce the probability of distortion in the spatial synthesis of the transmission pattern. Compensate for the amplitude-phase errors between MIMO virtual arrays to improve the accuracy of the angle measurement results. This improves the accuracy of spatial synthesis and improves the radar detection quality and detection accuracy.

[0144] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0145] The above is an introduction to the method embodiment. The following is a system embodiment to further illustrate the solution described in this application.

[0146] Figure 3 FIG. 1 shows a structural diagram of a millimeter wave radar transceiver array error calibration device 200 proposed in an embodiment of the present application, as shown in FIG. Figure 3 The millimeter-wave radar transceiver array error calibration device 200 shown includes: an acquisition unit 210 , a first determination unit 220 , a second determination unit 230 , a first execution unit 240 and a second execution unit 250 .

[0147] An acquisition unit 210 is configured to acquire a target virtual channel complex value matrix;

[0148] A first determining unit 220 is configured to determine a target calibration phase matrix according to a target virtual channel complex value matrix;

[0149] A second determining unit 230 is configured to determine a target amplitude and phase calibration factor matrix according to a target virtual channel complex value matrix and a target calibration phase matrix;

[0150] A first execution unit 240 is configured to perform a target phase calibration operation according to a target calibration phase matrix;

[0151] The second execution unit 250 is configured to perform a target amplitude and phase calibration operation according to the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix.

[0152] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0153] In a third aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements any of the above methods when executing the computer program.

[0154] Figure 4 A structural schematic diagram of an electronic device suitable for implementing the embodiments of the present application is shown.

[0155] like Figure 4 As shown, the electronic device includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 302 or the program loaded from the storage part 308 into the random access memory (RAM) 303. Various programs and data required for the operation of the electronic device are also stored in the RAM 303. The CPU 301, ROM 302 and RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0156] The following components are connected to the I / O interface 305: an input section 306 including a keyboard, a mouse, and the like; an output section 307 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 308 including a hard disk; and a communication section 309 including a network interface card such as a LAN card or a modem. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as needed. Removable media 311, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 310 as needed, so that computer programs read therefrom can be installed into the storage section 308 as needed.

[0157] In particular, according to an embodiment of the present application, the above method flow steps can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a machine-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network via the communication part 309, and / or installed from the removable medium 311. When the computer program is executed by the central processing unit (CPU) 301, the above-mentioned functions defined in the system of the present application are executed.

[0158] In a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method as described in any one of the above items is implemented.

[0159] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0160] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the aforementioned module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0161] The units or modules involved in the embodiments described in this application may be implemented in software or hardware. The units or modules described may also be provided in a processor. The names of these units or modules do not, in certain circumstances, constitute limitations on the units or modules themselves.

[0162] As another aspect, the present application further provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device. The computer-readable storage medium stores one or more programs, which, when used by one or more processors, execute the method described in the present application.

[0163] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of application involved in this application is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the aforementioned application concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions applied for in this application.

Claims

1. A millimeter wave radar transceiver array error calibration method, characterized in that: include: Get the target virtual channel complex value matrix; Determining a target calibration phase matrix according to the target virtual channel complex value matrix; Determining a target amplitude-phase calibration factor matrix according to the target virtual channel complex-valued matrix and the target calibration phase matrix; performing a target phase calibration operation according to the target calibration phase matrix; A target amplitude and phase calibration operation is performed according to the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix.

2. The millimeter wave radar transceiver array error calibration method according to claim 1, characterized in that: The obtaining of the target virtual channel complex value matrix includes: The echo data is calibrated according to the target error to generate the target Doppler fast Fourier transform data; generating a target range-Doppler spectrum according to the target Doppler dimension fast Fourier transform data; Determining a target virtual channel complex value matrix according to the target range-Doppler spectrum and preset information; The preset information includes: preset distance information and preset speed information.

3. The millimeter wave radar transceiver array error calibration method according to claim 1, characterized in that: The determining of a target calibration phase matrix according to the target virtual channel complex value matrix includes: The target calibration phase matrix is determined according to the following formula: Among them, Phase m,k It is used to represent the target calibration phase corresponding to the kth target transmitting antenna in the mth group of target transmitting antennas; ΔP m,k,n It is used to indicate the target calibration phase corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; N is used to indicate the number of target receiving antennas; Where ΔP m,k,n Determined according to the following formula: in, It is used to represent the original phase corresponding to the target reference antenna k0 and the nth target receiving antenna in the mth group of target transmitting antennas; P m,k,n Used to represent the original phase corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; Among them, P m,k,n Determined according to the following formula: Among them, P m,k,n It is used to represent the original phase corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; angle(·) is used to represent the phase operation; W m,k,n Used to represent the target virtual channel complex value corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; Used to represent the azimuth coordinate of the kth target transmitting antenna relative to the target reference antenna k0; It is used to represent the elevation coordinate of the kth target transmitting antenna relative to the target reference antenna k0; θ is used to represent the first target angle; It is used to indicate the angle of the second target; λ is used to indicate the wavelength corresponding to the target radar; j is used to indicate the imaginary unit.

4. The millimeter wave radar transceiver array error calibration method according to claim 3, characterized in that: The determining of a target amplitude-phase calibration factor matrix according to the target virtual channel complex-valued matrix and the target calibration phase matrix includes: The target complex summation matrix is determined according to the following formula: Among them, B m,n Used to represent the target complex summation matrix; W m,k,n Used to represent the target virtual channel complex value corresponding to the kth target transmitting antenna and the nth target receiving antenna in the mth group of target transmitting antennas; Used to represent the azimuth coordinate of the kth target transmitting antenna relative to the target reference antenna k0; It is used to represent the elevation coordinate of the kth target transmitting antenna relative to the target reference antenna k0; θ is used to represent the first target angle; It is used to indicate the second target angle; λ is used to indicate the wavelength corresponding to the target radar; j is used to indicate the imaginary unit; K is used to indicate the maximum index of the target transmitting antenna; The target compensation matrix is determined according to the following formula: Among them, C m,n Used to represent the target compensation matrix; XX m,n It is used to represent the azimuth distance of the virtual channel formed by the mth group of target transmitting antennas and the nth group of target receiving antennas relative to the reference virtual channel; ZZ m,n It is used to represent the elevation distance of the virtual channel formed by the mth group of target transmitting antennas and the nth target receiving antenna relative to the reference virtual channel; j is used to represent the imaginary unit; Determine the target amplitude and phase calibration factor matrix according to the following formula: Among them, AmpPha m,n Used to represent the target amplitude and phase calibration factor matrix; Used to represent the phase compensation matrix corresponding to the target reference channel.

5. The millimeter wave radar transceiver array error calibration method according to claim 3, characterized in that: The performing a target phase calibration operation according to the target calibration phase matrix includes: The target phase calibration signal is determined according to the following formula: SP m,k (η, τ)=S m,k (η,τ)·exp(j·Phase m,k ) Among them, SP m,k (η, τ) is used to represent the mth target transmitting antenna group T m The kth target transmitting antenna T in m,k The target phase calibration signal to be transmitted; S m,k (η, τ) is used to represent the mth target transmitting antenna group T m The kth target transmitting antenna T in m,k The original signal to be transmitted; j is used to represent the imaginary unit; The target phase calibration operation is performed according to the target phase calibration signal.

6. The millimeter wave radar transceiver array error calibration method according to claim 5, characterized in that: The performing a target phase calibration operation according to the target calibration phase matrix further includes: Controlling the target transmitting antenna group inter-group signal to perform the target orthogonal operation to perform the target phase calibration operation according to the target waveform modulation signal; The target waveform modulation signal includes: a time division multiple access waveform modulation signal, a doppler division multiple access waveform modulation signal, and / or a code division multiple access waveform modulation signal.

7. The millimeter wave radar transceiver array error calibration method according to claim 1, characterized in that: The performing a target amplitude and phase calibration operation according to the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix includes: Determine the target amplitude and phase calibration matrix according to the following formula: BVC m,n =BV m,n ·AmpPha m,n Among them, BVC m,n Used to represent the target amplitude and phase calibration matrix; BV m,n Used to represent the original amplitude and phase matrix; AmpPha m,n Used to represent the target amplitude and phase calibration factor matrix; The target amplitude and phase calibration operation is performed according to the target amplitude and phase calibration matrix.

8. A millimeter wave radar transceiver array error calibration device, characterized in that: include: An acquisition unit, used for acquiring a target virtual channel complex value matrix; A first determining unit is configured to determine a target calibration phase matrix according to the target virtual channel complex value matrix; A second determining unit is configured to determine a target amplitude-phase calibration factor matrix according to the target virtual channel complex value matrix and the target calibration phase matrix; A first execution unit, configured to perform a target phase calibration operation according to the target calibration phase matrix; The second execution unit is configured to perform a target amplitude and phase calibration operation according to the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix.

9. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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