Radar antenna abnormal channel correction method and device and storage medium

Abstract

The application provides a radar antenna abnormal channel correction method and device and a storage medium, and relates to the field of radars.The method comprises the following steps: acquiring an amplitude array matrix and a phase array matrix of a radar for detecting a target; determining an amplitude abnormal channel according to the clustering distribution of amplitudes in the amplitude array matrix; correcting the amplitude of the amplitude abnormal channel by using the amplitude of a non-amplitude abnormal channel in the amplitude array matrix, so as to obtain a corrected amplitude array matrix; determining a phase abnormal channel according to the clustering distribution of phase differences between two adjacent channels in the phase array matrix; correcting the phase of the phase abnormal channel by using the phase of a non-phase abnormal channel in the phase array matrix, so as to obtain a corrected phase array matrix; and obtaining corrected channel data according to the corrected amplitude array matrix and the corrected phase array matrix.The method is suitable for the radar detection process and can be used to solve the problem that the measurement angle result is not ideal.

Description

Technical Field

[0001] This application relates to the field of radar, and in particular to a method, apparatus and storage medium for correcting abnormal channels of a radar antenna. Background Technology

[0002] Radar is typically used to sense various information about a target, such as distance, speed, and angle.

[0003] Distance and velocity can be obtained using data from a single channel, while angle requires data from multiple channels in a fixed-arrangement antenna array. Therefore, the accuracy of the channel data for each channel determines the accuracy of the angle obtained from the target.

[0004] However, due to factors such as differences in transmit power between different channels in the antenna array, inconsistent spacing between adjacent channels, and poor isolation between channels, the measured angle results are not ideal. Summary of the Invention

[0005] Based on the above-mentioned technical problems, this application provides a method, device and storage medium for correcting abnormal channels of radar antennas. It can detect abnormal channels based on the amplitude and the phase difference between adjacent channels, and correct the data of abnormal channels using the data of adjacent channels, thereby optimizing the measurement angle results.

[0006] In a first aspect, this application provides a method for correcting anomalous radar antenna channels. The method includes: acquiring an amplitude array matrix and a phase array matrix for a target; elements in the amplitude array matrix representing the amplitude of different antenna channels of the radar at the target range and target velocity units; elements in the phase array matrix representing the phase of different antenna channels of the radar at the target range and target velocity units; determining anomalous amplitude channels based on the clustering distribution of amplitudes in the amplitude array matrix; correcting the amplitude of the anomalous amplitude channels using the amplitudes of non-anomalous amplitude channels in the amplitude array matrix to obtain a corrected amplitude array matrix; determining anomalous phase channels based on the clustering distribution of phase differences between adjacent channels in the phase array matrix; correcting the phase of the anomalous phase channels using the phases of non-anomalous phase channels in the phase array matrix to obtain a corrected phase array matrix; and obtaining corrected channel data based on the corrected amplitude array matrix and the corrected phase array matrix.

[0007] Optionally, based on the clustering distribution of amplitudes in the amplitude array matrix, abnormal amplitude channels are determined, including: using amplitude magnitude as a clustering feature, clustering the channels corresponding to each element in the amplitude array matrix to obtain amplitude feature clustering results; the amplitude feature clustering results include multiple amplitude feature clusters; each amplitude feature cluster includes one or more channels; channels in the amplitude feature clusters other than the target amplitude feature cluster are determined as abnormal amplitude channels; the target amplitude feature cluster is the amplitude feature cluster with the most channels among the multiple amplitude feature clusters.

[0008] Optionally, the amplitude of the amplitude-abnormal channel is corrected using the amplitude of the non-amplitude-abnormal channel in the amplitude array matrix, including: for any amplitude-abnormal channel, weighting the amplitudes of multiple non-amplitude-abnormal channels in the adjacent channels according to a first preset weight to obtain a corrected amplitude; the coordinates of the amplitude corresponding to the amplitude-abnormal channel in the amplitude array matrix are (x, y), and the coordinates of the amplitudes corresponding to the channels adjacent to the amplitude-abnormal channel in the amplitude array matrix include: (x, y+1), (x, y-1), (x-1, y), and (x+1, y), or (x-1, y+1), (x, y+1), (x+1, y+1), (x-1, y), (x+1, y), (x-1, y-1), (x, y-1), (x+1, y-1); and replacing the amplitude of the amplitude-abnormal channel with the corrected amplitude.

[0009] Optionally, based on the clustering distribution of the phase difference between two adjacent channels in the phase array matrix, the phase anomalous channels are determined, including: converting the elements in the phase array matrix into radians to obtain a transformed array matrix; using the magnitude of the phase difference between adjacent channels in the azimuth direction and the magnitude of the phase difference between adjacent channels in the pitch direction as clustering features, and clustering the channels corresponding to each element in the transformed array matrix to obtain a first phase clustering result and a second phase clustering result; both the first and second phase clustering results include multiple phase feature clusters; each phase feature cluster includes one or more channels; and the multiple phase feature clusters of the first phase clustering result are clustered... In the clusters, channels in the phase feature clusters other than the first target phase feature cluster are identified as first phase anomalous channels; the first target phase feature cluster is the amplitude feature cluster with the most channels among the multiple phase feature clusters of the first phase clustering result; channels in the phase feature clusters other than the second target phase feature cluster among the multiple phase feature clusters of the second phase clustering result are identified as second phase anomalous channels; the second target phase feature cluster is the amplitude feature cluster with the most channels among the multiple phase feature clusters of the second phase clustering result; the union of the first phase anomalous channels and the second phase anomalous channels is taken as the phase anomalous channel.

[0010] Optionally, the phase of a phase-abnormal channel is corrected using the phase of a non-phase-abnormal channel in the phase array matrix, including: for any phase-abnormal channel, the phases corresponding to multiple non-phase-abnormal channels in the adjacent channels are weighted according to a second preset weight to obtain a corrected phase; the phase corresponding to the phase-abnormal channel has coordinates (x, y) in the phase array matrix, and the coordinates of the phases corresponding to the adjacent channels in the phase array matrix include: (x, y+1), (x, y-1), (x-1, y), and (x+1, y); the phase of the phase-abnormal channel is replaced with the corrected phase.

[0011] Optionally, after converting the elements in the phase array matrix into radian form to obtain the transformed array matrix, the method further includes performing phase unwinding on the transformed array matrix once in the azimuth direction and once in the pitch direction.

[0012] Optionally, acquiring the amplitude array matrix and phase array matrix of the target includes: acquiring the original digital signal; performing fast-time Fourier transform and slow-time Fourier transform on the original digital signal to obtain the three-dimensional original matrix of the target in different range cells, different velocity cells, and different channels; extracting target channel data of the target in the target range cell, target velocity cell, and different channels from the three-dimensional original matrix; converting the target channel data into a two-dimensional original matrix according to the antenna channel arrangement structure of the radar; and extracting the amplitude array matrix and phase array matrix from the two-dimensional original matrix.

[0013] The radar antenna anomalous channel correction method provided in this application can acquire the amplitude array and phase array of the target, and determine the amplitude anomalous channel and phase anomalous channel based on the clustering distribution of amplitude in the amplitude array and the clustering distribution of phase difference between adjacent channels in the phase matrix. Correction is then performed using the amplitude and phase of the non-amplitude anomalous channel and the non-phase anomalous channel. This can compensate for the differences between different channels and optimize the measurement angle results.

[0014] Furthermore, the radar antenna abnormal channel correction method provided in this application only requires the amplitude and phase obtained by radar detection for detection and correction, without the need for preset a priori information, and is simple and easy to implement.

[0015] Secondly, this application provides a radar antenna abnormal channel correction device, which includes various functional modules for the method described in the first aspect above.

[0016] Thirdly, this application provides a radar antenna abnormal channel correction device, which includes a processor and a memory; the memory stores instructions executable by the processor; when the processor is configured to execute the instructions, the radar antenna abnormal channel correction device implements the method described in the first aspect above.

[0017] Fourthly, this application provides a computer program product that, when run in a radar antenna abnormal channel correction device, causes the radar antenna abnormal channel correction device to perform the steps of the related method described in the first aspect, so as to implement the method described in the first aspect.

[0018] Fifthly, this application provides a readable storage medium comprising: software instructions; when the software instructions are executed in a radar antenna abnormal channel correction device, the radar antenna abnormal channel correction device performs the method described in the first aspect above.

[0019] The beneficial effects of the second to fifth aspects mentioned above can be referred to the first aspect, and will not be repeated here. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic flowchart illustrating the radar antenna abnormal channel correction method provided in this application embodiment; Figure 2 This is a schematic diagram of an array matrix provided in an embodiment of this application; Figure 3 This is a schematic diagram of adjacent channels provided in an embodiment of this application; Figure 4 Another flowchart illustrating the radar antenna abnormal channel correction method provided in the embodiments of this application; Figure 5 This is a schematic diagram of the extraction of the three-dimensional original matrix provided in an embodiment of this application; Figure 6 This is another flowchart illustrating the radar antenna abnormal channel correction method provided in the embodiments of this application; Figure 7 This is another flowchart illustrating the radar antenna abnormal channel correction method provided in the embodiments of this application; Figure 8 This is another flowchart illustrating the radar antenna abnormal channel correction method provided in the embodiments of this application; Figure 9 This is another flowchart illustrating the radar antenna abnormal channel correction method provided in the embodiments of this application; Figure 10 This is a schematic diagram of the radar antenna abnormal channel correction process provided in the embodiments of this application; Figure 11 A schematic diagram illustrating the composition of the radar antenna abnormal channel correction device (virtual device) provided in the embodiments of this application; Figure 12 This is a schematic diagram of the composition of the radar antenna abnormal channel correction device (physical device) provided in the embodiments of this application. Detailed Implementation

[0022] Hereinafter, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," or "third," etc., may explicitly or implicitly include one or more of that feature.

[0023] First, the terminology used in the embodiments of this application will be introduced.

[0024] 1. Two-dimensional Fast Fourier Transform (2DFFT): A time-frequency transformation method that can quickly analyze the main frequencies of a time-domain signal. In radar signal processing, it is applied as range-dimensional and velocity-dimensional Fourier transforms, which can accumulate higher peak values ​​in the target range and velocity cells, facilitating subsequent differentiation of these cells.

[0025] 2. Range unit: refers to the basic unit used by radar to measure the distance to a target.

[0026] 3. Velocity unit: refers to the basic unit used by radar to measure and detect the velocity of a target.

[0027] 4. Constant False Alarm Rate (CFAR): This refers to the technique by which radar distinguishes between channel data and noise in the channel output while maintaining a constant false alarm probability to determine whether a target signal exists. It can be used to determine the target range cell and target velocity cell where the target is located.

[0028] 5. Density-based spatial clustering of applications with noise (DBSCAN) algorithm: This algorithm divides regions with sufficient density into clusters and discovers clusters of arbitrary shapes in a noisy spatial database. It organizes density-reachable objects together to form a cluster and considers density-connected regions to belong to the same cluster.

[0029] As described in the background section, the measured angle results are not ideal due to factors such as differences in transmit power between different channels in the antenna array, inconsistent spacing between adjacent channels, and poor isolation between channels.

[0030] Based on this, embodiments of this application provide a method, apparatus, and storage medium for correcting abnormal channels in a radar antenna. Abnormal channels can be detected based on amplitude and phase difference between adjacent channels, and the data of the abnormal channel can be corrected using data from adjacent channels, thereby optimizing the measurement angle results.

[0031] The radar antenna abnormal channel correction method provided in this application is executed by a radar antenna abnormal channel correction device (hereinafter referred to as the correction device). This correction device can be a radar, a component within the radar, or other equipment connected to the radar. This application does not impose any limitations on this.

[0032] The following description is provided in conjunction with the accompanying drawings.

[0033] Figure 1 This is a flowchart illustrating the radar antenna abnormal channel correction method provided in an embodiment of this application. Figure 1 As shown, the method includes S101 to S106.

[0034] S101, The correction device acquires the amplitude array matrix and phase array matrix of the radar for the target being detected.

[0035] In this matrix, the elements of the amplitude array matrix represent the amplitude values ​​of different antenna channels of the radar at the target range and target velocity elements. Similarly, the elements of the phase array matrix represent the phase values ​​of different antenna channels of the radar at the target range and target velocity elements.

[0036] For example, Figure 2 This is a schematic diagram of an array matrix provided in an embodiment of this application. Figure 2 As shown, the radar's antenna array consists of four rows and four columns of antennas ( Figure 2(Using a dot to represent one antenna as an example), assuming one antenna corresponds to one channel, there are a total of 4 × 4 = 16 channels. Taking the x-axis as the azimuth direction and the y-axis as the elevation direction, the coordinates of the azimuth can be represented as Tx, and the coordinates of the elevation can be represented as Ry. In this case, the amplitude array matrix and phase array matrix obtained by the correction device are both 4x4 matrices. The element with coordinates (Tx, Ry) in the amplitude array matrix can be used to represent the amplitude of the channel corresponding to the antenna with coordinates (Tx, Ry) in the antenna array. The element with coordinates (Tx, Ry) in the phase array matrix can be used to represent the phase of the channel corresponding to the antenna with coordinates (Tx, Ry) in the antenna array.

[0037] The specific process of S101 can be referred to below. Figure 4 As described in S1011 to S1015, they will not be repeated here.

[0038] S102. The correction device determines the abnormal amplitude channel based on the clustering distribution of amplitudes in the amplitude array matrix.

[0039] The specific process of S102 can be referred to below. Figure 6 As mentioned above, it will not be repeated here.

[0040] S103. The correction device uses the amplitude of the non-amplitude abnormal channel in the amplitude array matrix to correct the amplitude of the amplitude abnormal channel, thereby obtaining the corrected amplitude array matrix.

[0041] Optionally, the correction device can use the amplitude of a non-amplitude-abnormal channel in the adjacent channel to correct the amplitude of the amplitude-abnormal channel.

[0042] For example, taking the antenna array as a square, the channels adjacent to the amplitude anomaly channel can include all channels on the sides of a square with a side length of three channels centered on the amplitude anomaly channel.

[0043] For example, Figure 3 This is a schematic diagram of adjacent channels provided in an embodiment of this application. Figure 3 As shown, assume the channel with abnormal amplitude is red, the channel directly adjacent to the abnormal channel is yellow, and the channel diagonally adjacent to the abnormal channel is blue. Figure 3 The four yellow channels and the four blue channels can all be considered as channels adjacent to the channels with abnormal amplitudes.

[0044] The specific process of S103 can be referred to below. Figure 7 As mentioned above, it will not be repeated here.

[0045] S104. The correction device determines the phase-abnormal channel based on the clustering distribution of the phase difference between two adjacent channels in the phase array matrix.

[0046] The specific process of S104 can be referred to below. Figure 8 As described in S1041 to S1045, they will not be repeated here.

[0047] S105. The correction device uses the phase of the non-phase abnormal channel in the phase array matrix to correct the phase of the phase abnormal channel, thereby obtaining the corrected phase array matrix.

[0048] Optionally, the correction device can use the amplitude of a non-phase-abnormal channel in a channel adjacent to the phase-abnormal channel to correct the phase of the phase-abnormal channel.

[0049] The channels adjacent to the phase anomaly channel can be referred to as described above for the channels adjacent to the amplitude anomaly channel, and will not be repeated here.

[0050] The specific process of S105 can be referred to below. Figure 9 As described in S1051 to S1052, they will not be repeated here.

[0051] S106. The correction device obtains the correction channel data based on the correction amplitude array matrix and the correction phase array matrix.

[0052] S106 can be described with reference to the following embodiments, and will not be repeated here.

[0053] In the radar antenna anomalous channel correction method provided in this application embodiment, the correction device can acquire the amplitude array and phase array of the target, and determine the amplitude anomalous channel and phase anomalous channel based on the clustering distribution of amplitude in the amplitude array and the clustering distribution of phase difference between two adjacent channels in the phase matrix. Correction is then performed using the amplitude and phase of the non-amplitude anomalous channel and the non-phase anomalous channel. This can compensate for the differences between different channels and optimize the measurement angle results.

[0054] Furthermore, in the radar antenna abnormal channel correction method provided in this application embodiment, the correction device only needs to use the amplitude and phase obtained by radar detection for detection and correction, without the need for preset prior information, and is simple and easy to implement.

[0055] The following is a description of S101.

[0056] In some possible embodiments, Figure 4 This is another schematic flowchart illustrating the radar antenna abnormal channel correction method provided in this application embodiment. Figure 4 As shown, S101 can specifically include S1011 to S1015.

[0057] S1011, The correction device acquires the original digital signal.

[0058] For example, radar emits electromagnetic waves and receives signals reflected back from the target. The reflected signals are analog signals, which are then digitized by an analog-to-digital converter (ADC) in the radar to obtain the original digital signals.

[0059] S1012 The correction device performs fast-time Fourier transform and slow-time Fourier transform on the original digital signal to obtain the three-dimensional original matrix of the target in different distance units, different velocity units, and different channels.

[0060] Each element in the three-dimensional original matrix represents target information at a specific range cell, velocity cell, and channel. Target information may include the amplitude, phase, or other parameters related to the characteristics of the target.

[0061] For example, the three-dimensional primitive matrix can be represented as f(a, b, m), where the first dimension 'a' represents different distance units, a = 1, 2, ..., Na. The second dimension 'b' represents different velocity units, b = 1, 2, ..., Nb, where Na represents the number of points in the fast-time Fourier transform and Nb represents the number of points in the slow-time Fourier transform. The third dimension 'm' represents different channels.

[0062] S1013, the correction device extracts the target distance unit, target velocity unit, and target channel data in different channels of the detected target from the three-dimensional original matrix.

[0063] For example, if the target distance unit is represented as a_tar and the target velocity unit is b_tar, then the target channel data can be represented as f(a_tar, b_tar, m).

[0064] For example, Figure 5 This is a schematic diagram illustrating the extraction of the three-dimensional original matrix provided in an embodiment of this application. Figure 5 As shown, the three-dimensional original matrix can be represented by a cuboid, which can include multiple information blocks. These information blocks can be divided into three directions: distance unit direction, velocity unit direction, and channel direction. After determining that the distance unit is the target distance unit and the velocity unit is the target velocity unit, an information block can be extracted from this cuboid (three-dimensional original matrix) as the target channel data.

[0065] Optionally, prior to S1013, the correction device can also use a constant false alarm rate (CFAR) algorithm or other target detection algorithms to identify the target range cell and target velocity cell where the detected target is located. The specific identification process can be found in related technologies and will not be elaborated here.

[0066] S1014 The correction device converts the target channel data into a two-dimensional original matrix according to the radar's antenna channel arrangement structure.

[0067] For example, the same as above Figure 2 Taking the four-row, four-column antenna array as an example, assuming that one antenna corresponds to one channel, the correction device can place the information block corresponding to each channel in the target channel data at the position of the antenna corresponding to that channel in the antenna array to obtain the two-dimensional original matrix.

[0068] S1015, The correction device extracts the amplitude array matrix and the phase array matrix from the two-dimensional original matrix.

[0069] For example, as mentioned above, the elements in the three-dimensional original matrix can represent target information, including amplitude and phase. The target channel data extracted from the three-dimensional original matrix, as well as the converted two-dimensional original matrix, can also include amplitude and phase. The correction device can extract the amplitude of different channels from the two-dimensional original matrix and place it at the position of the antenna corresponding to the channel in the antenna array to obtain an amplitude array matrix. It can also extract the phase of different channels from the two-dimensional original matrix and place it at the position of the antenna corresponding to the channel in the antenna array to obtain a phase array matrix.

[0070] The following is a description of S102.

[0071] According to the radar equation, the received power received by the radar antenna can be expressed as the following formula (1): Formula (1) In formula (1), This indicates the received power. Indicates the transmission power. This indicates the antenna gain. Indicates the wavelength of electromagnetic waves. This represents the cross-sectional area of ​​the target in the direction of the radar beam. This indicates the distance between the target and the radar.

[0072] For the same target, the difference in transmission and reception distances between channels is only the difference in transmission line length, which is negligible compared to the distance between the target and the radar. Therefore, it can be assumed that the power levels received by each channel should be almost identical. That is, if there are no anomalies in any channel of the amplitude array matrix Mamp(Tx, Ry), the amplitude difference should be small. If the amplitude of some channels differs significantly from that of other channels, it can be assumed that there is an anomaly in those channels.

[0073] In some possible embodiments, the correction device can cluster channels using amplitude magnitude as a clustering feature, thereby filtering out scattered channels with abnormal amplitude. In this case, Figure 6This is another schematic flowchart illustrating the radar antenna abnormal channel correction method provided in the embodiments of this application. Figure 6 As shown, the above S102 may specifically include S1021 to S1022.

[0074] S1021. The correction device uses the amplitude magnitude as a clustering feature to cluster the channels corresponding to each element in the amplitude array matrix, and obtains the amplitude feature clustering result.

[0075] The amplitude feature clustering results include multiple amplitude feature clusters, and each amplitude feature cluster includes one or more channels.

[0076] Optionally, the correction device can use the DBSCAN clustering algorithm or other clustering algorithms to cluster the channels corresponding to the elements in the amplitude array matrix to obtain the amplitude feature clustering results. The specific clustering process can be found in related technologies and will not be elaborated here.

[0077] Optionally, before clustering the channels corresponding to the elements in the amplitude array matrix, the correction device can also determine the minimum number of channels for the cluster based on the number of channels, and determine the neighborhood radius based on the mean or variance of the amplitude.

[0078] For example, the correction device can use 60% of the number of channels as the minimum number of channels for the cluster, and use the mean of the amplitude plus or minus 20% as the range radius.

[0079] S1022, The correction device identifies channels in amplitude feature clusters other than the target amplitude feature cluster as amplitude anomalous channels.

[0080] Among them, the target amplitude feature cluster is the amplitude feature cluster with the most channels among multiple amplitude feature clusters.

[0081] In other possible embodiments, the correction device may select multiple elements (amplitudes) in the amplitude array matrix that differ from a preset amplitude threshold, calculate the average value of the selected multiple amplitudes as a reference threshold, and then use the channel corresponding to the element (amplitude) in the amplitude array matrix that differs significantly from the reference threshold (e.g., the absolute value of the difference from the reference threshold is greater than the preset amplitude threshold) as the amplitude abnormal channel.

[0082] The following is a description of S103.

[0083] In some possible embodiments, the correction device may replace the amplitude of the abnormal amplitude channel with a weighted average of the amplitudes of the non-abnormal amplitude channels adjacent to the abnormal amplitude channel. In this case, Figure 7 This is another schematic flowchart illustrating the radar antenna abnormal channel correction method provided in the embodiments of this application. Figure 7 As shown, the above S103 may specifically include S1031 to S1032.

[0084] S1031. For any channel with abnormal amplitude, the correction device weights the amplitudes of multiple non-abnormal amplitude channels in the channels adjacent to the abnormal amplitude channel according to the first preset weight, and obtains the corrected amplitude.

[0085] Among them, non-amplitude abnormal channels are those other than the amplitude abnormal channels. The first preset weight can be preset in the correction device by the administrator. The specific value of the preset weight is not limited in the embodiments of this application. Taking the amplitude of the amplitude abnormal channel as (x, y) in the amplitude array matrix as an example, the coordinates of the amplitude of the channel adjacent to the amplitude abnormal channel in the amplitude array matrix include: (x, y+1), (x, y-1), (x-1, y), and (x+1, y), or (x-1, y+1), (x, y+1), (x+1, y+1), (x-1, y), (x+1, y), (x-1, y-1), (x, y-1), (x+1, y-1).

[0086] S1032. Replace the amplitude of the abnormal amplitude channel with the corrected amplitude.

[0087] In other possible embodiments, the correction device can directly replace the amplitude of the amplitude abnormal channel with the average, median, maximum, or minimum value of the amplitude of the non-amplitude abnormal channel adjacent to the amplitude abnormal channel.

[0088] The following is a description of S104.

[0089] Assuming that the antennas in both the azimuth and elevation directions are uniformly arranged, the distance between two adjacent antennas in the azimuth direction can be expressed as: The elevation distance between two adjacent antennas can be expressed as: The phase difference in the azimuth direction caused by the antenna distance can be expressed as: , The azimuth angle of the radar incident on the target, and the phase difference in elevation caused by the antenna distance, can be expressed as: , This represents the elevation angle of the radar incident on the target. As stated in the aforementioned formula for phase difference, regardless of the azimuth and elevation angles of the radar incident on the target, the phase difference between the channels corresponding to two adjacent antennas is only related to the distance between the two adjacent antennas. Since the distance between the two adjacent antennas is a fixed value, the phase difference between the channels corresponding to two adjacent antennas is theoretically always fixed (without considering errors). Therefore, the phase anomaly channel can be determined based on the phase difference.

[0090] In some possible embodiments, Figure 8 This is another schematic flowchart illustrating the radar antenna abnormal channel correction method provided in the embodiments of this application. Figure 8 As shown, the above S104 may specifically include S1041 to S1045.

[0091] S1041, The correction device converts the elements in the phase array matrix into radian form to obtain the transformation array matrix.

[0092] The elements in the phase array are complex numbers with an amplitude of 1. Therefore, it is necessary to transform the elements in the phase array from the Cartesian coordinate system to the polar coordinate system, that is, to represent the phase in radians.

[0093] Alternatively, the correction device can be converted specifically using the following formula (2): Formula (2) in, This represents the transformation array matrix. This represents the phase array matrix. This indicates the extraction of the imaginary part from a complex number. This indicates the extraction of the real part from a complex number.

[0094] Optionally, after obtaining the transformed array matrix, considering general applicability, the azimuth distance between two adjacent antennas is... and the distance between two adjacent antennas in elevation They are not necessarily exactly the same, resulting in phase difference in the azimuth direction. Phase difference with pitch The results may differ, therefore the correction device can perform phase unwrapping on the transformation array matrix once each in the azimuth and pitch directions. The specific phase unwrapping process can be found in related technical documents and will not be elaborated upon here.

[0095] S1042 The correction device uses the magnitude of the phase difference between adjacent channels in the azimuth direction and the magnitude of the phase difference between adjacent channels in the pitch direction as clustering features to cluster the channels corresponding to each element in the transformation array matrix, thereby obtaining the first phase clustering result and the second phase clustering result.

[0096] The first phase clustering result and the second phase clustering result both include multiple phase feature clusters, and each phase feature cluster includes one or more channels.

[0097] Optionally, the correction device can use the DBSCAN clustering algorithm or other clustering algorithms for clustering. The specific clustering process can be found in related technical documents and will not be repeated here.

[0098] S1043. The correction device identifies the channels in the phase feature clusters other than the first target phase feature cluster in the multiple phase feature clusters of the first phase clustering result as the first phase abnormal channels.

[0099] Among them, the first target phase feature cluster is the amplitude feature cluster with the most channels among the multiple phase feature clusters of the first phase clustering result.

[0100] S1044. The correction device identifies the channels in the phase feature clusters other than the second target phase feature cluster in the multiple phase feature clusters of the second phase clustering result as the second phase abnormal channels.

[0101] Among them, the second target phase feature cluster is the amplitude feature cluster with the most channels among the multiple phase feature clusters of the second phase clustering result.

[0102] S1045, The correction device takes the union of the first phase abnormal channel and the second phase abnormal channel as the phase abnormal channel.

[0103] In other possible embodiments, the correction device can select multiple elements (phases) in the azimuth direction of the phase array matrix whose phase differences are less than a preset phase difference threshold, calculate the average phase difference as a reference threshold based on the phase differences between the selected multiple phases, and then use the channel corresponding to the element (phase) in the phase array matrix whose phase difference with the adjacent element in the azimuth direction is significantly different from the reference threshold (e.g., the absolute value of the difference with the reference threshold is greater than the preset phase difference threshold) as the phase abnormal channel.

[0104] The following is a description of S105.

[0105] In some possible embodiments, the correction device may replace the phase of the phase-abnormal channel with a weighted average of the phases of the non-phase-abnormal channels adjacent to the phase-abnormal channel. In this case, Figure 9 This is another schematic flowchart illustrating the correction method provided in an embodiment of this application. For example... Figure 9 As shown, the above S105 may specifically include S1051 to S1052.

[0106] S1051. For any phase abnormality channel, the correction device weights the phases corresponding to multiple non-phase abnormality channels in the adjacent channels according to the second preset weight to obtain the corrected phase.

[0107] Among them, non-phase-abnormal channels are those other than phase-abnormal channels. The second preset weight can be preset in the correction device by the administrator. This application embodiment does not limit the specific value of the preset weight. Taking the phase corresponding to the phase-abnormal channel as (x, y) in the phase array matrix as an example, the phases corresponding to the channels adjacent to the phase-abnormal channel in the phase array matrix include: (x, y+1), (x, y-1), (x-1, y), and (x+1, y).

[0108] S1052, The correction device replaces the phase of the phase-abnormal channel with the corrected phase.

[0109] In other possible embodiments, the correction device can directly replace the phase of the phase abnormal channel with the average, median, maximum, or minimum value of the phase of the non-phase abnormal channel adjacent to the phase abnormal channel.

[0110] The following is a description of S106.

[0111] Some possible embodiments are as described above. Figure 8 As described in S1041, when the correction device detects a phase abnormality channel, it needs to transform the elements in the phase array matrix from the Cartesian coordinate system to the polar coordinate system. In this case, the correction device can transform the elements in the correction phase array matrix from the polar coordinate system back to the Cartesian coordinate system, and then multiply the correction amplitude array matrix and the correction phase array matrix to obtain the correction channel data.

[0112] Alternatively, the correction device can calculate the correction channel data according to the following formula (3): Formula (3) in, This indicates that the channel data has been corrected. This represents the modified amplitude array matrix. This represents the modified phase array matrix.

[0113] Based on the understanding of the above embodiments, Figure 10 This is a schematic diagram of the radar antenna abnormal channel correction process provided in an embodiment of this application. Figure 10 As shown, the correction process can include several parts: data preparation, amplitude detection correction, phase detection correction, and obtaining the corrected complete antenna channel data.

[0114] The data preparation section first acquires radar ADC data, then performs radar signal processing to obtain channel data for the target range and velocity units. The channel data is then split into amplitude and phase data. The separated amplitude information is fed into the amplitude detection and correction section, and the separated phase information is fed into the phase detection and correction section.

[0115] The amplitude detection and correction section can detect abnormal channels by using amplitude differences, count all channels with abnormal amplitudes, and correct the amplitude using normal channels around the abnormal channels to obtain the amplitude information of each channel after correction.

[0116] The phase detection and correction section can first perform phase unwrapping, then calculate the phase difference for each row and column of the array, use the phase difference detection channel to count the phase abnormal channels of all rows and columns, use the normal channels around the abnormal channels to correct the phase, and obtain the phase information of each channel after correction.

[0117] Finally, the corrected complete antenna channel data is obtained based on the corrected amplitude information and the corrected phase information of each channel.

[0118] The foregoing primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the aforementioned functions, it includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0119] In an exemplary embodiment, this application also provides a radar antenna abnormal channel correction device in the form of a virtual device. Figure 11 This is a schematic diagram illustrating the composition of a radar antenna abnormal channel correction device (virtual device) provided in an embodiment of this application. Figure 11 As shown, the device includes an acquisition module 1101 and a processing module 1102.

[0120] The acquisition module 1101 is used to acquire the amplitude array matrix and phase array matrix of the radar for the target being detected; the elements in the amplitude array matrix are used to represent the amplitude of the different antenna channels of the radar in the target range cell and the target velocity cell; the elements in the phase array matrix are used to represent the phase of the different antenna channels of the radar in the target range cell and the target velocity cell.

[0121] Processing module 1102 is used to determine the amplitude abnormal channel based on the clustering distribution of amplitude in the amplitude array matrix; correct the amplitude of the amplitude abnormal channel using the amplitude of the non-amplitude abnormal channel in the amplitude array matrix to obtain the corrected amplitude array matrix; determine the phase abnormal channel based on the clustering distribution of the phase difference between two adjacent channels in the phase array matrix; correct the phase of the phase abnormal channel using the phase of the non-phase abnormal channel in the phase array matrix to obtain the corrected phase array matrix; and obtain the corrected channel data based on the corrected amplitude array matrix and the corrected phase array matrix.

[0122] In some possible embodiments, the processing module 1102 is specifically used to use amplitude magnitude as a clustering feature to cluster the channels corresponding to each element in the amplitude array matrix to obtain amplitude feature clustering results; the amplitude feature clustering results include multiple amplitude feature clusters; each amplitude feature cluster includes one or more channels; channels in the amplitude feature clusters other than the target amplitude feature cluster are identified as amplitude abnormal channels; the target amplitude feature cluster is the amplitude feature cluster with the most channels among the multiple amplitude feature clusters.

[0123] In other possible embodiments, the processing module 1102 is specifically used to, for any amplitude abnormal channel, weight the amplitudes corresponding to multiple non-amplitude abnormal channels in the adjacent channels according to a first preset weight to obtain a corrected amplitude; the coordinates of the amplitude corresponding to the amplitude abnormal channel in the amplitude array matrix are (x, y), and the coordinates of the amplitudes corresponding to the channels adjacent to the amplitude abnormal channel in the amplitude array matrix include: (x, y+1), (x, y-1), (x-1, y), and (x+1, y), or (x-1, y+1), (x, y+1), (x+1, y+1), (x-1, y), (x+1, y), (x-1, y-1), (x, y-1), (x+1, y-1); and replace the amplitude of the amplitude abnormal channel with the corrected amplitude.

[0124] In some other possible embodiments, the processing module 1102 is specifically used to convert the elements in the phase array matrix into radian form to obtain a transformed array matrix; using the magnitude of the phase difference between adjacent channels in the azimuth direction and the magnitude of the phase difference between adjacent channels in the pitch direction as clustering features, clustering the channels corresponding to each element in the transformed array matrix to obtain a first phase clustering result and a second phase clustering result; both the first phase clustering result and the second phase clustering result include multiple phase feature clusters; each phase feature cluster includes one or more channels; among the multiple phase feature clusters of the first phase clustering result, except for the first target phase... Channels in phase feature clusters other than the position feature clusters are identified as first phase anomalous channels; the first target phase feature cluster is the amplitude feature cluster with the most channels among the multiple phase feature clusters of the first phase clustering result; channels in phase feature clusters other than the second target phase feature clusters among the multiple phase feature clusters of the second phase clustering result are identified as second phase anomalous channels; the second target phase feature cluster is the amplitude feature cluster with the most channels among the multiple phase feature clusters of the second phase clustering result; the union of the first phase anomalous channels and the second phase anomalous channels is taken as the phase anomalous channel.

[0125] In some other possible embodiments, the processing module 1102 is specifically used to, for any one phase-abnormal channel, weight the phases corresponding to each of the multiple non-phase-abnormal channels in the adjacent channels according to a second preset weight to obtain a corrected phase; the phase corresponding to the phase-abnormal channel has coordinates (x, y) in the phase array matrix, and the phases corresponding to the adjacent channels have coordinates (x, y+1), (x, y-1), (x-1, y), and (x+1, y); and the phase of the phase-abnormal channel is replaced by the corrected phase.

[0126] In some other possible embodiments, the processing module 1102 is further configured to perform phase unwinding on the transformed array matrix once in the azimuth direction and once in the pitch direction after converting the elements in the phase array matrix into radian form to obtain the transformed array matrix.

[0127] In some other possible embodiments, the acquisition module 1101 is specifically used to acquire the original digital signal; perform fast-time Fourier transform and slow-time Fourier transform on the original digital signal to obtain a three-dimensional original matrix of the detected target in different range units, different velocity units, and different channels; extract target channel data of the detected target in target range units, target velocity units, and different channels from the three-dimensional original matrix; convert the target channel data into a two-dimensional original matrix according to the antenna channel arrangement structure of the radar; and extract the amplitude array matrix and phase array matrix from the two-dimensional original matrix.

[0128] It should be noted that, Figure 11 The module division shown is illustrative and represents only one logical functional division; in actual implementation, other division methods are possible. For example, two or more functions can be integrated into a single processing module. These integrated modules can be implemented in hardware or as software functional units.

[0129] In an exemplary embodiment, this application also provides a radar antenna abnormal channel correction device in the form of a physical device. Figure 12 This is a schematic diagram illustrating the composition of the radar antenna abnormal channel correction device (physical device) provided in an embodiment of this application. Figure 12 As shown, the correction device includes a processor 10 and a memory 20.

[0130] Processor 10 is used to execute instructions stored in memory 20 to implement the radar antenna abnormal channel correction method provided in the above embodiments of this application. Processor 10 may be a CPU, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller (MCU), a programmable logic device (PLD), or any combination thereof. Processor 10 may also be any other device with processing functions, such as a circuit, device, or software module, which is not limited in this embodiment.

[0131] The memory 20 is used to store instructions. For example, the instructions may be computer programs. Optionally, the memory 20 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions; it may also be a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions; it may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, etc. The embodiments of this application do not limit this.

[0132] It should be noted that the memory 20 can exist independently of the processor 10 or it can be integrated with the processor 10. The memory 20 can be located inside or outside the electronic device, and this application embodiment does not impose any restrictions on this.

[0133] In an exemplary embodiment, this application also provides a readable storage medium including software instructions that, when run on a correction device, cause the correction device to perform any of the methods provided in the above embodiments.

[0134] In an exemplary embodiment, this application also provides a computer program product containing computer execution instructions, which, when run on a correction device, causes the correction device to perform any of the methods provided in the above embodiments.

[0135] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer-executable instructions. When these computer-executable instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer-executable instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer-executable instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device including one or more servers, data centers, etc., that can be integrated with the medium. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), a solid-state drive, etc.

[0136] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0137] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of this application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Thus, if such modifications and modifications of this application fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and modifications.

[0138] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for correcting abnormal channels in a radar antenna, characterized in that, The method includes: The amplitude array matrix and phase array matrix of the radar for the target are obtained; the elements in the amplitude array matrix are used to represent the amplitude of the target in the target range cell and the target velocity cell, respectively, for each of the different antenna channels of the radar; the elements in the phase array matrix are used to represent the phase of the target in the target range cell and the target velocity cell, respectively, for each of the different antenna channels of the radar. Based on the clustering distribution of amplitudes in the amplitude array matrix, determine the amplitude anomaly channels; Using the amplitudes of the non-amplitude abnormal channels in the amplitude array matrix, the amplitudes of the amplitude abnormal channels are corrected to obtain the corrected amplitude array matrix; Based on the clustering distribution of the phase difference between two adjacent channels in the phase array matrix, the phase anomalous channels are determined; Using the phase of the non-phase-abnormal channel in the phase array matrix, the phase of the phase-abnormal channel is corrected to obtain the corrected phase array matrix; The corrected channel data is obtained based on the corrected amplitude array matrix and the corrected phase array matrix.

2. The method according to claim 1, characterized in that, The step of determining the amplitude anomaly channel based on the clustering distribution of amplitudes in the amplitude array matrix includes: Using amplitude magnitude as a clustering feature, clustering is performed on the channels corresponding to each element in the amplitude array matrix to obtain amplitude feature clustering results; the amplitude feature clustering results include multiple amplitude feature clusters; each amplitude feature cluster includes one or more channels; Among the plurality of amplitude feature clusters, the channels in the amplitude feature clusters other than the target amplitude feature cluster are identified as the amplitude anomaly channels; the target amplitude feature cluster is the amplitude feature cluster with the most channels among the plurality of amplitude feature clusters.

3. The method according to claim 1 or 2, characterized in that, The step of correcting the amplitude of the abnormal amplitude channel using the amplitude of the non-abnormal amplitude channel in the amplitude array matrix includes: For any one of the amplitude anomaly channels, the amplitudes of multiple non-amplitude anomaly channels in the adjacent channels are weighted according to a first preset weight to obtain a corrected amplitude. The coordinates of the amplitude corresponding to the amplitude anomaly channel in the amplitude array matrix are (x, y). The coordinates of the amplitudes corresponding to the channels adjacent to the amplitude anomaly channel in the amplitude array matrix include: (x, y+1), (x, y-1), (x-1, y), and (x+1, y), or (x-1, y+1), (x, y+1), (x+1, y+1), (x-1, y), (x+1, y), (x-1, y-1), (x, y-1), (x+1, y-1). The amplitude of the abnormal amplitude channel is replaced with the corrected amplitude.

4. The method according to claim 1, characterized in that, The step of determining the phase-abnormal channel based on the clustering distribution of the phase difference between two adjacent channels in the phase array matrix includes: The elements in the phase array matrix are converted into radians to obtain the transformation array matrix; The magnitudes of the phase differences between adjacent channels in the azimuth direction and the phase differences between adjacent channels in the pitch direction are used as clustering features. Each channel corresponding to each element in the transformation array matrix is ​​clustered to obtain a first phase clustering result and a second phase clustering result. Both the first phase clustering result and the second phase clustering result include multiple phase feature clusters. Each phase feature cluster includes one or more channels. Among the multiple phase feature clusters of the first phase clustering result, the channels in the phase feature clusters other than the first target phase feature cluster are determined as the first phase abnormal channels; the first target phase feature cluster is the amplitude feature cluster with the most channels among the multiple phase feature clusters of the first phase clustering result. Among the multiple phase feature clusters of the second phase clustering result, the channels in the phase feature clusters other than the second target phase feature cluster are identified as second phase abnormal channels; the second target phase feature cluster is the amplitude feature cluster with the most channels among the multiple phase feature clusters of the second phase clustering result. The union of the first phase abnormal channel and the second phase abnormal channel is taken as the phase abnormal channel.

5. The method according to claim 1 or 4, characterized in that, The step of correcting the phase of the phase-abnormal channel using the phase of the non-phase-abnormal channel in the phase array matrix includes: For any one of the phase-abnormal channels, the phases corresponding to multiple non-phase-abnormal channels in the channels adjacent to the phase-abnormal channel are weighted according to a second preset weight to obtain a corrected phase; the phase corresponding to the phase-abnormal channel has coordinates (x, y) in the phase array matrix, and the coordinates of the phases corresponding to the channels adjacent to the phase-abnormal channel in the phase array matrix include: (x, y+1), (x, y-1), (x-1, y), and (x+1, y); The phase of the phase-abnormal channel is replaced by the corrected phase.

6. The method according to claim 4, characterized in that, After converting the elements in the phase array matrix into radian form to obtain the transformed array matrix, the method further includes: The transformation array matrix is ​​phase-unwound once in both the azimuth and pitch directions.

7. The method according to claim 1, characterized in that, The acquisition of the amplitude array matrix and phase array matrix of the detection target includes: Acquire the raw digital signal; The original digital signal is subjected to fast time Fourier transform and slow time Fourier transform to obtain the three-dimensional original matrix of the target in different distance units, different velocity units, and different channels; Extract the target range unit, target velocity unit, and target channel data in different channels from the original three-dimensional matrix; The target channel data is converted into a two-dimensional original matrix according to the antenna channel arrangement structure of the radar; The amplitude array matrix and the phase array matrix are extracted from the original two-dimensional matrix.

8. A radar antenna abnormal channel correction device, characterized in that, include: Acquisition module and processing module; The acquisition module is used to acquire the amplitude array matrix and phase array matrix of the radar for the target being detected; The elements in the amplitude array matrix are used to represent the amplitude of the radar's different antenna channels in the target range unit and the target velocity unit, respectively. The elements in the phase array matrix are used to represent the phase of the radar's different antenna channels for the detected target in the target range unit and the target velocity unit; The processing module is used to determine the abnormal amplitude channels based on the amplitude clustering distribution in the amplitude array matrix. Using the amplitudes of the non-amplitude abnormal channels in the amplitude array matrix, the amplitudes of the amplitude abnormal channels are corrected to obtain the corrected amplitude array matrix; Based on the clustering distribution of the phase difference between two adjacent channels in the phase array matrix, the phase anomalous channels are determined; Using the phase of the non-phase-abnormal channel in the phase array matrix, the phase of the phase-abnormal channel is corrected to obtain the corrected phase array matrix; The corrected channel data is obtained based on the corrected amplitude array matrix and the corrected phase array matrix.

9. A radar antenna abnormal channel correction device, characterized in that, include: Processor and memory; The memory stores instructions that the processor can execute; When the processor is configured to execute the instructions, the radar antenna abnormal channel correction device shall implement the method as described in any one of claims 1-7.

10. A readable storage medium, characterized in that, include: Software instructions; When the software instructions are executed in the correction device, the radar antenna abnormal channel correction device performs the method as described in any one of claims 1-7.

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