Millimeter wave radar transceiver array error calibration method and related devices

Abstract

Embodiments of the present application provide a millimeter wave radar transceiving array error calibration method and related equipment. The above method comprises: obtaining 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 and phase calibration factor matrix according to the target virtual channel complex value matrix and the target calibration phase matrix; performing a target phase calibration operation according to the target calibration phase matrix; and 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. In this way, the present application can compensate for the phase error between the transmitting antennas caused by the processing process and the like, improve the synthesized transmitting gain, reduce the probability of distortion of the spatial synthesis of the transmitting directional diagram, compensate for the amplitude and phase error between the MIMO virtual arrays, improve the accuracy of the angle measurement result, thereby improving the spatial synthesis accuracy, improving the radar detection quality and detection accuracy.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of radar, and in particular to a millimeter wave radar transceiving array error calibration method and related equipment. BACKGROUND

[0002] At present, with the development of millimeter wave radar technology, long-distance millimeter wave traffic radar is increasingly widely used in the field of traffic safety. Most radar systems perform spatial synthesis according to the directional patterns of multiple transmitting antennas in a group of transmitting antennas to form an equivalent composite transmitting antenna with higher transmitting gain, so as to realize super-long distance target detection.

[0003] Most related technologies use multiple groups of completely identical transmitting antennas to form multiple composite transmitting antennas, and form multiple transmitting and receiving (MIMO) virtual arrays with multiple receiving antennas, so as to equivalently increase the aperture length and improve the angle resolution.

[0004] However, due to the processing technology problem of existing antennas, there is a phase error between different transmitting antennas in the same transmitting antenna group, which causes distortion in the spatial synthesis of the transmitting directional pattern and error in the angle estimation, resulting in low radar detection quality and precision. SUMMARY

[0005] According to embodiments of the present application, a millimeter wave radar transceiving array error calibration method and related equipment are provided, which can compensate for the phase error between transmitting antennas caused by processing technology and the like, improve the composite transmitting gain, reduce the probability of distortion in the spatial synthesis of the transmitting directional pattern, compensate for the amplitude and phase error between MIMO virtual arrays, improve the accuracy of angle measurement results, and thus improve the spatial synthesis precision, improve the radar detection quality and detection precision.

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

[0007] obtaining a target virtual channel complex value matrix;

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

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

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

[0011] 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.

[0012] In some possible implementations, the obtaining the target virtual channel complex value matrix comprises:

[0013] generating target Doppler velocity fast Fourier transform data according to the target error calibration echo data;

[0014] generating a target range-Doppler spectrum according to the target Doppler velocity fast Fourier transform data;

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

[0016] The preset information comprises preset range information and preset velocity information.

[0017] In some possible implementations, the determining the target calibration phase matrix according to the target virtual channel complex value matrix comprises:

[0018] determining the target calibration phase matrix according to the following formula:

[0019]

[0020] wherein, Phase m,k is used to represent a target calibration phase corresponding to the kth target transmitting antenna in the mth group of target transmitting antennas; ΔP m,k,n is used to represent a 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 represent a number of target receiving antennas.

[0021] wherein, ΔP m,k,n is determined according to the following formula:

[0022]

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

[0024] wherein, P m,k,n is determined according to the following formula:

[0025]

[0026] wherein, P m,k,n is used to represent an original phase corresponding to the kth target transmitting antenna in the mth group of target transmitting antennas and the nth target receiving antenna; angle(·) is used to represent a phase operation; W m,k,na target virtual channel complex value representing a kth target transmit antenna in the mth group of target transmit antennas and an nth target receive antenna pair; a target azimuth coordinate representing the kth target transmit antenna relative to a target reference antenna k0; a target elevation coordinate representing the kth target transmit antenna relative to the target reference antenna k0; θ represents a first target angle; a second target angle; λ represents a wavelength corresponding to the target radar; j represents an imaginary unit.

[0027] In some possible implementations, determining the target amplitude and phase calibration factor matrix according to the target virtual channel complex value matrix and the target calibration phase matrix includes:

[0028] determining a target complex summation matrix according to the following formula:

[0029]

[0030] wherein B m,n represents the target complex summation matrix; W m,k,n a target virtual channel complex value representing a kth target transmit antenna in the mth group of target transmit antennas and an nth target receive antenna pair; a target azimuth coordinate representing the kth target transmit antenna relative to a target reference antenna k0; a target elevation coordinate representing the kth target transmit antenna relative to the target reference antenna k0; θ represents a first target angle; a second target angle; λ represents a wavelength corresponding to the target radar; j represents an imaginary unit; K represents a maximum index of the target transmit antennas;

[0031] determining a target compensation matrix according to the following formula:

[0032]

[0033] wherein C m,n represents the target compensation matrix; XX m,n a target azimuth distance representing a virtual channel formed by the mth group of target transmit antennas and the nth target receive antenna relative to a reference virtual channel; ZZ m,n a target elevation distance representing the virtual channel formed by the mth group of target transmit antennas and the nth target receive antenna relative to the reference virtual channel; j represents an imaginary unit;

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

[0035]

[0036] wherein, AmpPha m,n is used to represent the target amplitude and phase calibration factor matrix; is used to represent the phase compensation matrix corresponding to the target reference channel.

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

[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] wherein, SP m,k (η, τ) is used to represent the target phase calibration signal to be transmitted by the kth target transmitting antenna Tk m in the mth target transmitting antenna group Tm m,k ; S m,k (η, τ) is used to represent the original signal to be transmitted by the kth target transmitting antenna Tk m in the mth target transmitting antenna group Tm m,k ; and j is used to represent the imaginary unit.

[0041] The performing the target phase calibration operation according to the target phase calibration signal.

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

[0043] controlling the target transmitting antenna group inter-signal to perform the target quadrature operation according to the target waveform modulation signal to perform the target phase calibration operation;

[0044] wherein, the target waveform modulation signal comprises 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 possible implementations, the performing the target amplitude and phase calibration operation according to the target virtual channel complex value matrix and the target amplitude and phase calibration factor matrix comprises:

[0046] The target amplitude and phase calibration matrix is determined according to the following formula:

[0047] BVC m,n = BV m,n · AmpPha m,n

[0048] wherein, BVCm,n for representing a target amplitude and phase calibration matrix; BV m,n for representing a original amplitude and phase matrix; AmpPha m,n for representing a target amplitude and phase calibration factor matrix;

[0049] performing a target amplitude and phase calibration operation according to the target amplitude and phase calibration matrix.

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

[0051] an acquisition unit, configured to acquire a target virtual channel complex value matrix;

[0052] a first determination unit, configured to determine a target calibration phase matrix according to the target virtual channel complex value matrix;

[0053] a second determination unit, configured to determine a target amplitude and phase calibration factor matrix according to the target virtual channel complex value matrix and the target calibration phase matrix;

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

[0055] a second execution unit, 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 executes the computer program to realize the method according to any one of the above aspects.

[0057] In a fourth aspect of the present application, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to realize the method according to any one of the above aspects.

[0058] The embodiments of the present application provide a millimeter wave radar transceiving array error calibration method and related devices, wherein the method comprises: 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 and phase calibration factor matrix according to the target virtual channel complex value matrix and the target calibration phase matrix; performing a target phase calibration operation according to the target calibration phase matrix; and 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. The present application can compensate for the phase error between the transmitting antennas caused by the processing technology, etc., to improve the synthesized transmitting gain, reduce the probability of distortion of the spatial synthesis of the transmitting directional diagram, compensate for the amplitude and phase error between the MIMO virtual arrays, improve the accuracy of the angle measurement result, thereby improving the spatial synthesis accuracy, improving the radar detection quality and detection accuracy.

[0059] It is to be understood that the description in the summary is not intended to identify key or essential features of embodiments of the application, nor is it intended to limit the scope of the application. Other aspects of the application will be evident from the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0060] The above and other features, aspects, and advantages of embodiments of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings. In the drawings similar or common elements of the drawings are denoted by like reference numbers, wherein:

[0061] Figure 1 A flowchart of a millimeter wave radar transceiving array error calibration method according to embodiments of the present application;

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

[0063] Figure 3 A structural schematic diagram of a millimeter wave radar transceiving array error calibration device according to embodiments of the present application;

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

[0065] In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present disclosure.

[0066] In addition, the term "and / or" herein is merely a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0067] In a first aspect of the present application, a millimeter wave radar transceiving array error calibration method is provided. Figure 1 A flowchart of a millimeter wave radar transceiving array error calibration method 100 according to embodiments of the present application is shown as follows, Figure 1 The method 100 includes:

[0068] Step S1; obtaining a target virtual channel complex value matrix.

[0069] Exemplarily, the target virtual channel complex value matrix can be determined according to target virtual channel complex values corresponding to all target transmitting antennas and all target antenna pairs.

[0070] In some possible implementation manners, the step S1; obtaining the target virtual channel complex value matrix, comprises:

[0071] Step S11; generating target Doppler velocity fast Fourier transform data according to the target error calibration echo data.

[0072] In some possible implementation manners, the method further comprises:

[0073] Step S111; obtaining target error calibration echo data according to the target waveform modulation signal, wherein the target error calibration echo data comprises target quadrature echo data.

[0074] In some possible implementation manners, Figure 2 A structural schematic diagram of a radar system according to an embodiment of the present application is provided. As shown in the figure, Figure 2 The radar system can be designed to include M groups of target transmitting antenna groups and 1 group of target receiving antenna groups. The M groups of target transmitting antenna groups can include target transmitting antenna group T1, target transmitting antenna group T2, …, and target transmitting antenna group T M . Each of the target transmitting antenna groups includes K target transmitting antennas that are identical, for example, the target transmitting antenna group T1 includes target transmitting antenna T 1,1 , target transmitting antenna T 1,2 , …, and target transmitting antenna T 1,K . Thus, it can be known that the target transmitting antenna group includes L target transmitting antennas in total, where L is the product of M and K. The target receiving antenna group R can include N target receiving antennas, which are target receiving antenna R1, target receiving antenna R2, …, and target receiving antenna R N .

[0075] Exemplarily, the radar system as shown in the figure Figure 2 can be arranged in a target scene, and a target corner reflector is arranged at a target position of the radar system to obtain the target error calibration echo data. The target scene can include a target dark box scene.

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

[0078] Therefore, the above method can accurately obtain target error calibration echo data according to target waveform modulation signals, which is beneficial to improve the accuracy of obtaining target error calibration echo data, thereby improving the accuracy of generating target virtual channel complex value matrix, improving the accuracy of target phase calibration operation, and further improving the accuracy of phase error compensation, improving the transmission gain after synthesis, reducing the probability of distortion of spatial synthesis of the transmission pattern, improving the spatial synthesis accuracy, and improving the radar detection quality and detection accuracy.

[0079] Exemplarily, distance dimension fast Fourier transform (FFT) can be performed on the target error calibration echo data received by each target antenna, so as to generate target Doppler dimension fast Fourier transform data.

[0080] Step S12: generating target range-Doppler spectrum according to the target Doppler dimension fast Fourier transform data.

[0081] Exemplarily, the target range-Doppler spectrum (RD spectrum) can be generated according to the target Doppler dimension fast Fourier transform data.

[0082] Step S13: determining target virtual channel complex value matrix according to the target range-Doppler spectrum and preset information; wherein the preset information comprises preset range information and preset velocity information.

[0083] Exemplarily, the target virtual channel complex value corresponding to all target transmitting antennas and all target receiving antennas can be extracted according to the RD spectrum, the preset range information, and the preset velocity information. Wherein, the target transmitting antenna group T m The target transmitting antenna T m,k and the target receiving antenna R n corresponding virtual channel complex value can be represented as W m,k,nWherein, m = 1, 2, …, M; k = 1, 2, …, K; n = 1, 2, …, N; M is used to represent the total number of target transmitting antenna groups; K is used to represent the number of target transmitting antennas contained in each target transmitting antenna group; and N is used to represent the total number of target receiving antennas.

[0084] Therefore, the above method can realize the calibration of echo data according to the target error, accurate generation of target Doppler velocity fast Fourier transform data, accurate generation of target range-Doppler spectrum according to the target Doppler velocity fast Fourier transform data, accurate generation of a target virtual channel complex value matrix according to the target range-Doppler spectrum, preset range information, and preset velocity information, thereby improving the determination accuracy of the target calibration phase matrix, improving the execution accuracy of the target phase calibration operation, further improving the phase error compensation accuracy, improving the synthesized transmitting gain, reducing the probability of distortion of the spatial synthesis of the transmitting pattern, improving the spatial synthesis accuracy, and improving the radar detection quality and detection accuracy.

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

[0086] Exemplarily, the target virtual channel complex value corresponding to each target transmitting antenna and each target receiving antenna can be determined according to the target virtual channel complex value matrix, and then the calibration phase of each target transmitting antenna in each target transmitting antenna group can be determined.

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

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

[0089]

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

[0091] Wherein, ΔP m,k,n is determined according to the following formula:

[0092]

[0093] Wherein, 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; determining 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 possible implementations, the step S3; determining a target amplitude and phase calibration factor matrix according to the target virtual channel complex value matrix and the target calibration phase matrix, comprises:

[0102] Step S31; determining a target complex summation matrix according to the following formula:

[0103]

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

[0105] Exemplarily, the virtual channel complex values of all the target transmitting antennas in each target transmitting antenna group corresponding to each target receiving antenna can be extracted for phase calibration, and the phase calibrated target virtual channel complex values corresponding to each target transmitting antenna within the target transmitting antenna group are complex summed to achieve the determination of the target complex summation matrix according to the above formula (4).

[0106] Step S32; determining a target compensation matrix according to the following formula:

[0107]

[0108] wherein, C m,n is used to represent the target compensation matrix; XX m,n is used to represent the azimuth dimension 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; ZZ m,n is used to represent the elevation dimension 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 one virtual antenna can be selected as the 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 known target azimuth and elevation angle, so as to determine the target compensation matrix according to the above formula (5).

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

[0111]

[0112] Wherein, for indicating the azimuth dimension relative position of the mth target transmitting antenna group relative to the m1th target transmitting antenna group; for indicating the azimuth dimension relative position of the nth target receiving antenna relative to the n1th target receiving antenna.

[0113] The elevation dimension distance ZZ of the virtual channel formed by the mth target transmitting antenna group and the nth target receiving antenna relative to the reference virtual channel is m,n The target amplitude and phase calibration factor matrix can be determined according to the following formula:

[0114]

[0115] Wherein, for indicating the elevation dimension relative position of the mth target transmitting antenna group relative to the m1th target transmitting antenna group; for indicating the elevation dimension relative position of the nth target receiving antenna relative 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] Wherein, AmpPha m,n for indicating the target amplitude and phase calibration factor matrix; for indicating the phase compensation matrix corresponding to the target reference channel.

[0119] Exemplarily, the value of the target amplitude and phase calibration factor of the virtual channel formed by the mth target transmitting antenna group and the nth target receiving antenna can be determined according to the above formula (8), so as to determine the 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 formula (4) to formula (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, improving the accuracy of the angle measurement result, thereby further improving the spatial synthesis accuracy, and further improving the radar detection quality and detection accuracy.

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

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

[0123] In some possible implementations, the step S4 of performing the target phase calibration operation according to the target calibration phase matrix includes:

[0124] Step S41: determining a 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] wherein SP m,k (η, τ) is used to represent a target phase calibration signal to be transmitted by the kth target transmitting antenna T m in the mth target transmitting antenna group T m,k ; S m,k (η, τ) is used to represent an original signal to be transmitted by the kth target transmitting antenna T m in the mth target transmitting antenna group T m,k ; and j is used to represent an imaginary unit.

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

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

[0129] Exemplarily, each target transmitting antenna in each target transmitting antenna group can 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 method can accurately determine the target phase calibration signal according to the formula (9), accurately perform the target phase calibration operation according to the target phase calibration signal, thereby improving the execution accuracy of the target phase calibration operation, and further improving the phase error compensation accuracy, the synthesized transmission gain, the probability of distortion of the spatial synthesis of the transmission pattern, the spatial synthesis accuracy, and the radar detection quality and detection accuracy.

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

[0132] The step S43 of performing the target phase calibration operation according to the target waveform modulation signal includes: performing the target phase calibration operation according to 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] For example, the different target transmitting groups can be controlled to be orthogonal to each other according to a time division multiple access waveform modulation signal (TDMA), a Doppler division multiple access waveform modulation signal (DDMA), and / or a code division multiple access waveform modulation signal (CDMA), so that each target transmitting antenna in the group performs the target phase calibration operation, and all target receiving antennas receive the target echo signal reflected by the target transmitting antenna to perform the target phase calibration operation.

[0134] Therefore, the method can accurately control the target transmitting antenna group signal to perform the target orthogonal operation 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, further improve the execution accuracy of the target phase calibration operation, improve the phase error compensation accuracy, improve the synthesized transmission gain, reduce the probability of distortion of the spatial synthesis of the transmission pattern, further improve the spatial synthesis accuracy, and further improve the radar detection quality and detection accuracy.

[0135] The step S5 of performing the 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:

[0136] In some possible implementations, the step S5 of performing the 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] The step S51 of determining the target amplitude and phase calibration matrix according to the following formula includes:

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

[0139] wherein, BVC m,n for representing target amplitude and phase calibration matrix; BV m,n for representing original amplitude and phase matrix; AmpPha m,n for representing target amplitude and phase calibration factor matrix.

[0140] Step S52; performing target amplitude and phase calibration operation according to target amplitude and phase calibration matrix.

[0141] Exemplarily, the target amplitude and phase calibration matrix can be accurately determined according to the above formula (10) to perform the target amplitude and 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 result, further improving the spatial synthesis accuracy, and further improving the radar detection quality and detection accuracy.

[0143] Based on this, the millimeter wave radar transceiving array error calibration method provided in the present application comprises: 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 and phase calibration factor matrix according to the target virtual channel complex value matrix and the target calibration phase matrix; performing a target phase calibration operation according to the target calibration phase matrix; and 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. The present application can compensate for the phase errors between the transmitting antennas caused by the processing technology and the like, improve the coherence between the signals transmitted by the same group of transmitting antennas, improve the synthesized transmitting gain, and reduce the probability of distortion in the spatial synthesis of the transmitting directional diagram. The amplitude and phase errors between the MIMO virtual arrays are compensated for to improve the accuracy of the angle measurement result. Thus, the spatial synthesis accuracy, the radar detection quality, and the detection accuracy are improved.

[0144] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0145] The above is the introduction of the method embodiment, and the scheme described in the present application will be further described through the system embodiment.

[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 part 306 including a keyboard, a mouse, etc.; an output part 307 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage part 308 including a hard disk, etc.; and a communication part 309 including a network interface card such as a LAN card, a modem, etc. The communication part 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as necessary. A removable media 311 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 310 as necessary, so that a computer program read out therefrom is installed in the storage part 308 as necessary.

[0157] In particular, according to embodiments of the present application, the above method flow steps can be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program carried on a machine-readable medium, the computer program containing program code for executing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication part 309, and / or installed from the removable media 311. When the computer program is executed by the central processing unit (CPU) 301, the above-described functions defined in the system of the present application are performed.

[0158] In a fourth aspect of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the above.

[0159] It should be noted that the computer-readable medium shown in the 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 may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, 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, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In this application, the computer-readable signal medium can include a data signal carried in a baseband or as a carrier wave in a carrier wave, which carries computer-readable program code. Such a propagated data signal can take many forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0160] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment, or a portion of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders than that shown in the drawings. For example, two blocks that are shown in succession can actually be executed substantially concurrently, or they can sometimes be executed in reverse order, depending on the involved functions. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0161] The units or modules described in the embodiments of the present application can be implemented in the form of software or in the form of hardware. The units or modules described can also be arranged in a processor. In some cases, the names of the units or modules do not constitute a limitation on the units or modules themselves.

[0162] As another aspect, the present application also provides a computer readable storage medium, which can be included in the electronic device described in the above embodiments, or can exist separately without being assembled into the electronic device. The computer readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the methods described in the present application.

[0163] The above description is merely preferred embodiments of the present application and a description of the principles of the technology used. Those skilled in the art should understand that the scope of the application described in the present application is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by the combinations of the above technical features or their equivalent features without departing from the above application concept. For example, the technical solutions formed by the mutual replacement of the above features and the technical features applied in the present application (but not limited to) having similar functions.

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; 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 second target angle; λ is used to indicate the wavelength corresponding to the target radar; j is used to indicate the imaginary unit; Determine a target amplitude-phase calibration factor matrix based on the target virtual channel complex value matrix and the target calibration phase matrix; and determine a target complex summation matrix based on 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; 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 performing a target phase calibration operation according to the target calibration phase matrix includes: Determine the target phase calibration signal 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.

4. The millimeter wave radar transceiver array error calibration method according to claim 1, 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.

5. 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.

6. 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; 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 second target angle; λ is used to indicate the wavelength corresponding to the target radar; j is used to indicate the imaginary unit; The 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; and determine a target complex summation matrix 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; 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.

7. 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 5 is implemented.

8. 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 5 is implemented.

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