Phase compensation method, device and system, electronic equipment and chip

Abstract

The embodiment of the invention provides a phase compensation method, device and system, electronic equipment and a chip, and the method comprises the steps: controlling a motor to rotate at a first rotating speed, and driving a millimeter wave radar to complete the scanning of a first period; determining target prior information in a first period; determining a frequency domain database according to the target prior information; the motor is controlled to rotate at a second rotating speed, the millimeter-wave radar is driven to complete scanning of a second period, and the second rotating speed is larger than the first rotating speed; acquiring frequency domain data of the current frame corresponding to the second period; determining a matching target; performing phase compensation on the frequency domain data of the distance unit corresponding to the matched target; and after the phase compensation of the plurality of second periods is completed, controlling the millimeter wave radar to rotate and scan at the first rotating speed, and updating the frequency domain database. According to the scheme of the invention, the angle measurement precision of the millimeter wave radar in the rotation process is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of millimeter wave radar, in particular to a phase compensation method, device, system, electronic device and chip. BACKGROUND

[0002] Machine scanning millimeter wave radar refers to fixing the millimeter wave radar on a motor, rotating the motor at a certain speed to drive the radar to rotate and scan targets in a certain angle range. In order to improve the frame rate, the machine scanning millimeter wave radar rotates at a uniform speed while transmitting electromagnetic waves. In contrast, the machine scanning millimeter wave radar does not rotate while transmitting electromagnetic waves, and rotates while not transmitting electromagnetic waves, that is, it rotates in a continuous jog (JOG) mode. The uniform speed rotation improves the frame rate relative to the JOG mode rotation, but during the electromagnetic wave transmission process, the phase difference caused by the high-speed rotation of the motor introduces angle measurement error, resulting in low angle measurement accuracy of the machine scanning millimeter wave radar. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a phase compensation method, device, system, electronic device and chip, which can solve the problem of low angle measurement accuracy of the machine scanning millimeter wave radar caused by the phase difference introduced by the rotation of the motor during the electromagnetic wave transmission process of the uniform speed rotation machine scanning millimeter wave radar.

[0004] Therefore, the embodiments of the first aspect of the present application provide a phase compensation method.

[0005] The embodiments of the second aspect of the present application provide a phase compensation device.

[0006] The embodiments of the third aspect of the present application provide a phase compensation system.

[0007] The embodiments of the fourth aspect of the present application provide an electronic device.

[0008] The embodiments of the fifth aspect of the present application provide a chip.

[0009] In order to achieve the above-mentioned purpose, the embodiment of the first aspect of the present application provides a phase compensation method, which is used for a phase compensation system, the phase compensation system comprises at least one millimeter wave radar and a motor, the millimeter wave radar and the motor are drivingly connected, the millimeter wave radar is driven to rotate around the central axis of the motor by the rotation of the motor, and the phase compensation method comprises: controlling the motor to rotate at a first rotating speed to drive the millimeter wave radar to complete a first period of scanning; determining target prior information in the first period; determining a frequency domain database according to the target prior information; controlling the motor to switch to a second rotating speed to drive the millimeter wave radar to complete a second period of scanning, the second rotating speed being greater than the first rotating speed; obtaining frequency domain data of a current frame corresponding to the second period; determining a matching target; performing phase compensation on frequency domain data of a distance unit corresponding to the matching target; and after completing phase compensation of a plurality of second periods, controlling the millimeter wave radar to rotate and scan at the first rotating speed to update the frequency domain database.

[0010] In the phase compensation system, at least one millimeter wave radar is drivingly connected with the motor and is driven to rotate and scan around the central axis by the motor. First, the motor is controlled to rotate at a first rotating speed to drive the at least one millimeter wave radar to complete a first period of omnidirectional scanning. In the first period, the millimeter wave radar completes at least one circular motion around the central axis of the motor. In the working condition corresponding to the first rotating speed, the millimeter wave radar is in a low-speed running state without rotation error, and in the low-speed running state, accurate spatial information of all targets in the detection domain is obtained as target prior information, including angle information, speed information and distance information of the target. Based on this, a frequency domain database is constructed, and the frequency domain database stores original frequency domain data corresponding to each target, and the original frequency domain data is obtained from a single frame of received echo signal in a plurality of different virtual channels of the millimeter wave radar. The original frequency domain data includes echo signal data processed by range fast fourier transform (RFFT). During the rotation of the radar, a plurality of RFFT data are obtained. The motor is controlled to rotate at a second rotating speed to drive the at least one millimeter wave radar to complete a first period of omnidirectional scanning. In the second period, the millimeter wave radar completes at least one circular motion around the central axis of the motor.

[0011] In the second period, the millimeter wave radar rotates around the central axis of the motor while emitting electromagnetic waves under the driving of the motor, and the millimeter wave radar emits a frame of electromagnetic waves and collects a frame of echo signals. A frame of echo signals is composed of a plurality of chirps. Due to the rotation of the motor during emission, the millimeter wave radar emits electromagnetic waves and receives echo signals from the same antenna, and a wave path difference is generated between different chirps in a frame, resulting in a phase difference. The phase compensation method is to compensate the phase difference.

[0012] It can be understood that the millimeter wave radar obtains accurate target prior information of the target at a low rotation speed. On this basis, in the next scanning period at a high rotation speed, the target angle and distance prior information in the previous scanning period is used to match the RFFT data of the current scanning period, and the RFFT data in the distance unit is phase compensated, so as to reduce the position deviation of the long-distance target due to the angle measurement error, improve the accuracy of the angle measurement of the long-distance target in the current scanning period, and obtain high-precision target position information.

[0013] In some embodiments, the matching target is determined by: determining the current rotation angle of the motor; determining the azimuth field angle of the millimeter wave radar; determining the target angle range according to the rotation angle and the azimuth field angle; determining the long-distance range; determining the spatial range condition according to the long-distance range and the target angle range; and screening the multiple target prior information according to the spatial range condition to determine the matching target.

[0014] In this embodiment, according to the current rotation angle θ of the motor, the target prior information of all targets obtained by the millimeter wave radar at the first rotation speed is matched, and the matching target whose target angle is within the target angle range and whose target distance is within the long-distance range is screened out. The field angle range is determined according to the azimuth field angle of the millimeter wave radar, the field angle range includes [-σ, +σ], the target angle range is determined according to the azimuth field angle and the rotation angle, and the target angle range is [θ-σ, θ+σ]. The matching target and the distance information of the matching target are determined according to the target angle range and the long-distance range, and the purpose is to determine the data of the corresponding distance unit in the current RFFT data.

[0015] In some embodiments, the phase compensation of the frequency domain data of the distance unit corresponding to the matching target comprises: determining the distance unit corresponding to the matching target; determining at least one chirp signal and distance fast Fourier transform data of the current frame; determining the distance fast Fourier transform data corresponding to the distance unit according to the chirp signal and the distance fast Fourier transform data; determining the target prior information of the matching target; determining the virtual channel parameter; and phase compensating the distance fast Fourier transform data corresponding to the distance unit according to the target prior information and the virtual channel parameter.

[0016] In this embodiment, all chirps in the current frame and the RFFT data of all channels of the corresponding distance unit in the current RFFT data are determined according to the distance unit of the matching target. The RFFT data corresponding to the distance unit is phase compensated according to the matching target prior information obtained at the first rotation speed.

[0017] In some embodiments, the formula for phase compensating the distance fast Fourier transform data corresponding to the distance unit according to the target prior information and the virtual channel parameter is as follows: ; wherein, is distance fast Fourier transform data corresponding to a distance unit, is distance fast Fourier transform data of the mth distance unit, the nth linear frequency modulation signal and the ith virtual channel after phase compensation, i is a virtual channel serial number, n is a linear frequency modulation signal serial number in a frame, and m is a distance unit index, is an incidence angle of a matching target, is a rotation radius of the ith virtual channel, is a working wavelength of the millimeter wave radar, is a total rotation angle of a single frame scanning, N is a number of linear frequency modulation signals per frame, and e is a natural constant.

[0018] In the scheme, the angle measurement error and the speed error are compensated by a phase compensation algorithm to eliminate the rotation phase disturbance, the difference in the antenna rotation radius is taken into the phase disturbance model, the RFFT data of the corresponding distance unit in the current scanning period is compensated by matching the target prior information obtained in the last period or the target information after phase compensation in the last period, each channel, each chirp and each target angle of the RFFT data are compensated respectively, the angle measurement error and the transverse distance error of the long-distance target caused by high rotation speed are reduced, and the accuracy of obtaining target position information of the mechanical scanning millimeter wave radar in the inland environment is improved.

[0019] In some technical schemes, after the phase compensation of the frequency domain data of the distance unit corresponding to the matching target, the scheme further comprises: determining the target information after phase compensation; and determining the target prior information of the next second period according to the target information.

[0020] In the scheme, when the motor rotates at a second rotation speed to drive the millimeter wave radar to complete a high-speed rotation scanning process of multiple second periods, the target prior information of the current scanning period comes from the target information after phase compensation in the last scanning period. The target information after phase compensation includes the distance R, the speed v and the incidence angle β of the matching target. Through the transmission of the target information of multiple scanning periods in the high-speed rotation scanning process, the tracking of the matching target by the millimeter wave radar in the rotation process is realized.

[0021] In some technical schemes, the millimeter wave radar operates in a time division multiplexing mode, and the channel order corresponding to at least one frequency domain data is determined in the time division multiplexing mode.

[0022] In the scheme, in order to compensate the RFFT data, the channel order of the virtual channel and the angle prior information of the target need to be determined. By adopting the time division multiplexing mode, the channel order of multiple virtual channels is determined to meet the requirement of phase compensation of the RFFT data.

[0023] Embodiments of the second aspect of the application provide a phase compensation device for a phase compensation system, the phase compensation system comprising at least one millimeter wave radar and a motor, the millimeter wave radar and the motor being in driving connection, the millimeter wave radar being rotated around a central axis of the motor by rotation of the motor, the phase compensation device comprising: a low-speed scanning module configured to control the motor to rotate at a first rotating speed to drive the millimeter wave radar to complete a first period of scanning; an information acquisition module configured to determine target prior information in the first period; a frequency domain data module configured to determine a frequency domain database according to the target prior information; a high-speed scanning module configured to control the motor to switch to a second rotating speed to drive the millimeter wave radar to complete a second period of scanning, the second rotating speed being greater than the first rotating speed; a data acquisition module configured to acquire frequency domain data of a current frame corresponding to the second period; a target matching module configured to determine a matching target; a phase compensation module configured to perform phase compensation on frequency domain data of a distance unit corresponding to the matching target; and a data updating module configured to, after phase compensation of a plurality of second periods is completed, control the millimeter wave radar to rotate and scan at the first rotating speed to update the frequency domain database.

[0024] Embodiments of the third aspect of the application provide a phase compensation system, comprising: at least one millimeter wave radar and a motor, the millimeter wave radar and the motor being in driving connection, the millimeter wave radar being rotated around a central axis of the motor by rotation of the motor; the phase compensation system further comprising the phase compensation device in the second aspect.

[0025] Embodiments of the fourth aspect of the application provide an electronic device, comprising a processor, a memory, and a program or instructions stored in the memory and executable on the processor, the program or instructions being executed by the processor to implement the steps of the phase compensation method in the first aspect.

[0026] Embodiments of the fifth aspect of the application provide a chip, comprising a processor and a communication interface, the communication interface and the processor being coupled, the processor being configured to run a program or instructions to implement the steps of the phase compensation method in the first aspect.

[0027] Additional aspects and advantages of the technical solutions of the application will become apparent from the following description part or be appreciated through practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 A flowchart of a phase compensation method according to an embodiment of the application is shown; Figure 2 A flowchart of a phase compensation method according to an embodiment of the application is shown; Figure 3 A flowchart of a phase compensation method according to an embodiment of the application is shown; Figure 4 A flowchart of a phase compensation method according to one embodiment of the present application is shown; Figure 5 A structural diagram of a phase compensation device according to one embodiment of the present application is shown; Figure 6 A structural diagram of a phase compensation system according to one embodiment of the present application is shown; Figure 7 An antenna rotation geometry model according to one embodiment of the present application is shown; Figure 8 A flowchart of a phase compensation method according to one embodiment of the present application is shown; Figure 9 A flowchart of a phase compensation method according to one embodiment of the present application is shown; Figure 10 A simulation model diagram according to one embodiment of the present application is shown; Figure 11 A simulation model diagram according to one embodiment of the present application is shown; Figure 12 A simulation model diagram according to one embodiment of the present application is shown; Figure 13 A simulation model diagram according to one embodiment of the present application is shown; Figure 14 A simulation model diagram according to one embodiment of the present application is shown; Figure 15 A simulation model diagram according to one embodiment of the present application is shown; Figure 16 A structural diagram of an electronic device according to one embodiment of the present application is shown.

[0029] Wherein, Figure 5 , Figure 6 and Figure 16 The correspondence between the reference signs and the component names in the drawings is as follows: 900: phase compensation device; 902: low-speed scanning module; 904: information acquisition module; 906: frequency domain data module; 908: high-speed scanning module; 910: data acquisition module; 912: target matching module; 914: phase compensation module; 916: data updating module; 200: phase compensation system; 202: millimeter wave radar; 204: motor; 1000: electronic device; 1109: memory; 1110: processor. DETAILED DESCRIPTION

[0030] In order to enable the above-mentioned purposes, features and advantages of the embodiments of the present application to be more clearly understood, the embodiments of the present application are further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0031] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, embodiments of the present application can also be practiced in other ways different from those described herein, and therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0032] In the conventional radar, the same antenna and the same frame are coherent signals between different chirps, and the velocity and angle can be accurately measured. However, for the mechanical scanning radar, the radar emits electromagnetic waves while rotating, and the angle rotated by the radar in the fast time (within a chirp period) is small, and the influence on the phase is small, which can be ignored. However, in the slow time (between different chirps), as the number of transmitted chirps increases, the angle accumulated by the rotation is larger, which introduces a significant phase difference between the same antenna and different chirps, resulting in incoherent DFFT data and errors in velocity and angle measurement.

[0033] The present application constructs a geometric model by rotating one of the antennas, derives a phase difference formula, determines a phase compensation method, and improves the angle measurement accuracy of the millimeter wave radar in the rotating scanning process through the phase compensation method.

[0034] The phase compensation method, device, system, electronic equipment and chip provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings and specific embodiments and application scenarios. Figures 1 to 16 The phase compensation method, device, system, electronic equipment and chip provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings and specific embodiments and application scenarios.

[0035] The present embodiment provides a phase compensation method for a phase compensation system, the phase compensation system comprising at least one millimeter wave radar and a motor, the millimeter wave radar and the motor being in driving connection, the motor rotating to drive the millimeter wave radar to rotate around the central axis of the motor, as shown in Figure 1 The phase compensation method comprises: Step S100: controlling the motor to rotate at a first rotating speed to drive the millimeter wave radar to complete a first period of scanning; Step S102: determining target prior information in the first period; Step S104: determining a frequency domain database according to the target prior information; Step S106: controlling the motor to switch to a second rotating speed to drive the millimeter wave radar to complete a second period of scanning; Step S108: acquiring frequency domain data of a current frame corresponding to the second period; Step S110: determining a matching target; Step S112: phase compensation is performed on the frequency domain data of the matched target corresponding distance unit; Step S114: after completing the phase compensation of the multiple second periods, the millimeter wave radar is controlled to rotate and scan at the first rotation speed, and the frequency domain database is updated.

[0036] The second rotation speed is greater than the first rotation speed.

[0037] The phase compensation method provided by the application acts on the phase compensation system to solve the problem of decreased angle measurement accuracy caused by phase error due to mechanical rotation of the phase compensation system under high-speed scanning conditions.

[0038] In the phase compensation system, at least one millimeter wave radar is connected with a motor in transmission and is driven to rotate and scan around a central axis by the motor. First, the motor is controlled to rotate at a first rotation speed, and at least one millimeter wave radar is driven to complete a first period of omnidirectional scanning. Under the first period, the millimeter wave radar completes at least one circular motion around the central axis of the motor. Under the working condition corresponding to the first rotation speed, the millimeter wave radar is in a low-speed running state without rotation error, and accurate spatial information of all targets in the detection domain is obtained as target prior information under the low-speed running state, including target angle information, speed information and distance information. Based on this, a frequency domain database is constructed, and the frequency domain database stores original frequency domain data corresponding to each target, and the original frequency domain data comes from a single frame of received echo signal in a plurality of different virtual channels of the millimeter wave radar. The original frequency domain data includes echo signal data processed by Range Fast Fourier Transform (RFFT). During rotation, the radar will obtain multiple frames of RFFT data. The motor is controlled to rotate at a second rotation speed, and at least one millimeter wave radar is driven to complete a first period of omnidirectional scanning. Under the second period, the millimeter wave radar completes at least one circular motion around the central axis of the motor.

[0039] Under the second period, the millimeter wave radar rotates around the central axis of the motor while emitting electromagnetic waves, and the millimeter wave radar emits a frame of electromagnetic waves and collects a frame of echo signals. A frame of echo signals is composed of multiple chirps. Due to the rotation of the motor during emission, the millimeter wave radar emits electromagnetic waves and receives echo signals from the same antenna, and a wave path difference occurs between different chirps in a frame, resulting in a phase difference. The phase compensation method is to compensate the phase difference.

[0040] Further, the phase difference caused by rotation is related to the antenna rotation radius of the millimeter wave radar, the incident angle of the target, the millimeter wave radar machine scanning rotation angle and the chirp. Phase compensation needs to compensate each channel, each chirp and each target angle of the RFFT data.

[0041] According to the current rotation angle of the motor and the target prior information obtained by the millimeter wave radar in the first period, a target in a target angle and a target distance range is determined as a matching target. According to distance information of the matching target, a distance unit corresponding to the matching target is determined. Data corresponding to the target distance unit in the RFFT data is determined. The data is RFFT data of all chirps and all channels in the current frame in the frequency domain database. The RFFT data of the target distance unit in the second period is compensated according to the target prior information collected in the first period, and then the data is processed according to a traditional signal processing algorithm of a time division multiplexing (TDM) mode, to update distance information, angle information and speed information of the target.

[0042] After completing phase compensation of multiple second periods, the motor is switched from high-speed rotation to low-speed rotation to drive the millimeter wave radar to complete a first period of rotation scanning, to again obtain accurate target prior information and improve accuracy of the target prior information of a newly added target in an inland shipborne scene.

[0043] Further, the number of the multiple second periods is determined according to a target quantity in the inland shipborne scene. The more the target quantity is, the fewer the number of repeated second periods is, and the less the target quantity is, the more the number of repeated second periods is.

[0044] Exemplarily, the first rotation speed is less than or equal to 30° / s, and the second rotation speed is greater than or equal to 60° / s.

[0045] Understandably, the millimeter wave radar obtains accurate target prior information of a target at a low rotation speed. On this basis, in a case of high-speed rotation in a next scanning period, target angle and distance prior information in a previous scanning period is used to match RFFT data in the current scanning period, to perform phase compensation on RFFT data in a distance unit, thereby reducing position deviation of a long-distance target due to angle measurement error, improving accuracy of long-distance target angle measurement in the current scanning period, and obtaining high-precision target position information.

[0046] Further, the phase compensation system transmits multiple frames of electromagnetic waves for a scanning period in order to complete a target scan in a specific angle range. Each frame processing of each scanning period includes: the millimeter wave radar transmits a frame of electromagnetic waves, samples and obtains analog-to-digital (AD) data of electromagnetic wave echoes, performs RFFT on the AD data, and determines RFFT data. In the case where the motor drives the millimeter wave radar to rotate at a second rotating speed, phase compensation is performed according to the target prior information of the previous scanning period, and Doppler Fast Fourier Transform (DFFT) is performed after the phase compensation is completed. According to the DFFT data, traditional ranging and angle measurement processing is performed to retain the distance information, speed information and angle information of the target of this frame. After the scanning period is completed, the target prior information is refreshed.

[0047] Exemplarily, the phase compensation system includes a mechanical scanning millimeter wave radar.

[0048] In some embodiments, optionally, as shown in Figure 2 Step S110: determining a matching target, including: Step S1100: determining a rotating angle of the motor; Step S1102: determining an azimuth field of view angle of the millimeter wave radar; Step S1104: determining a target angle range according to the rotating angle and the azimuth field of view angle; Step S1106: determining a long distance range; Step S1108: determining a space range condition according to the long distance range and the target angle range; Step S1110: screening a plurality of target prior information according to the space range condition to determine a matching target.

[0049] In this embodiment, according to the current angle θ of the motor, the target prior information of all targets obtained by the millimeter wave radar at the first rotating speed is matched, and a matching target whose target angle is within the target angle range and whose target distance is within the long distance range is screened out. Wherein, the field of view angle range is determined according to the azimuth field of view angle of the millimeter wave radar, the field of view angle range includes [-σ, +σ], the target angle range is determined according to the azimuth field of view angle and the rotating angle, and the target angle range is [θ-σ, θ+σ]. The matching target and the distance information of the matching target are determined according to the target angle range and the long distance range, and the purpose is to determine the data of the corresponding target distance unit in the current RFFT data.

[0050] It can be understood that the target angle range is determined through the FOV of the millimeter wave radar and the current rotation angle, and the multiple targets are screened according to the target angle range and the long-distance range, so as to avoid false compensation for non-current beam targets. Focusing on long-distance targets, the compensation algorithm focuses on high-value areas, reduces short-range clutter in an inland environment, for example, ship spray false alarm triggering compensation, and improves the robustness and compensation efficiency of the phase compensation algorithm.

[0051] Further, the antenna direction of the millimeter wave radar is determined, and the current rotation angle θ of the motor is determined according to the antenna direction of the current frame and the antenna direction of the last frame.

[0052] Further, the phase compensation system is arranged on the ship. In an inland ship motion scene, the ship speed is slow, the radar scanning frame rate is high, and the target angle will not change too much in adjacent refresh periods. In addition, in an inland environment, the long-distance target coefficient, the narrow field of view (FOV) radar, that is, the millimeter wave radar has only one target in the same distance unit.

[0053] In some embodiments, as shown in Figure 3 Step S112: performing phase compensation on the frequency domain data of the matching target corresponding distance unit, including: Step S1120: determining the distance unit corresponding to the matching target; Step S1122: determining at least one linear frequency modulation signal and distance fast Fourier transform data of the current frame; Step S1124: determining the distance unit corresponding distance fast Fourier transform data according to the linear frequency modulation signal and the distance fast Fourier transform data; Step S1126: determining the target prior information of the matching target; Step S1128: determining the virtual channel parameter; Step S1130: performing phase compensation on the distance unit corresponding distance fast Fourier transform data according to the target prior information and the virtual channel parameter.

[0054] In this embodiment, all chirps in the current frame of the current RFFT data corresponding to the distance unit of the matching target are determined according to the distance unit of the matching target, and the RFFT data of all channels. The RFFT data corresponding to the distance unit is phase compensated according to the matching target prior information obtained at the first rotation speed.

[0055] Further, the current frame data is stored as a three-dimensional matrix, including data corresponding to the virtual channel parameters, the chirp signal parameters and the distance units. For example, the matching target corresponds to the mth distance unit, the nth chirp in the current frame, and the RFFT data in the ith virtual channel, and the RFFT data of the distance unit is S(m, n, i). The matrix includes the rotating phase disturbance.

[0056] Further, the incident angle of the matching target is determined according to the target prior information obtained at the first rotating speed. The rotating radius corresponding to the ith virtual channel is determined. .

[0057] Further, the rotating radius of each virtual channel corresponding to the millimeter wave radar is different.

[0058] Further, the distance unit of the matching target is located according to the peak value of the RFFT distance spectrum.

[0059] Further, the virtual channel parameters include the rotating radius, the virtual channel serial number and the antenna direction and other parameters corresponding to the virtual channel.

[0060] Further, the RFFT data of the matching target is phase compensated by the phase compensation algorithm.

[0061] It can be understood that by accurately positioning the distance unit, parameterizing the virtual channel modeling and parallel compensation calculation, the sub-degree angle measurement accuracy is realized in the high-speed scanning mode, the scanning accuracy of the shipborne millimeter wave radar in the rotating process in the complex environment of the inland river is improved, the angle measurement error is reduced, and reliable protection is provided for the intelligent navigation of the ship.

[0062] In some embodiments, optionally, the formula for phase compensation of the distance fast Fourier transform data corresponding to the distance unit according to the target prior information and the virtual channel parameters is as follows: ; wherein, is the distance fast Fourier transform data corresponding to the distance unit, is the distance fast Fourier transform data of the mth distance unit, the nth chirp signal and the ith virtual channel after phase compensation, i is the virtual channel serial number, n is the chirp signal serial number in the frame, m is the distance unit index, is the incident angle of the matching target, is the rotating radius of the ith virtual channel, is the working wavelength of the millimeter wave radar, is the total rotating angle of single frame scanning, N is the number of chirp signals per frame, and e is the natural constant.

[0063] In this embodiment, to match the direction cosine of the target relative to the initial position of the millimeter wave radar, to match the direction cosine of the target relative to the antenna position at the nth chirp moment, and the difference is the phase deviation caused by the path difference. The phase disturbance term is determined by the rotation radius of the virtual channel, and the phase offset introduced by the rotation is eliminated by compensation according to the complex exponential, and the RFFT data after phase compensation is determined .

[0064] It can be understood that the angle measurement error and the speed error are compensated by the phase compensation algorithm to eliminate the rotation phase disturbance, the difference of the antenna rotation radius is taken into the phase disturbance model, the RFFT data of the corresponding distance unit in the current scanning period is compensated by matching the target prior information obtained in the last period or the target information after phase compensation in the last period, and the RFFT data of each channel, each chirp and each target angle is compensated, the angle measurement error and the transverse distance error of the long-distance target caused by high rotation speed are reduced, and the accuracy of obtaining target position information of the mechanical scanning millimeter wave radar in the inland environment is improved.

[0065] Optionally, the RFFT data of the plurality of virtual channels in the millimeter wave radar is simultaneously phase-compensated.

[0066] Exemplarily, i=1, 2…20; n=0, 1…63.

[0067] In some embodiments, optionally, as Figure 4 shown in FIG. 11B, after the step S112 of phase compensating the frequency domain data of the corresponding distance unit of the matching target, the method further comprises: a step S1132 of determining the target information after phase compensation; a step S1134 of determining the target prior information of the next second period according to the target information.

[0068] In this embodiment, during the process of rotating the motor at the second rotation speed to drive the millimeter wave radar to complete the high-speed rotation scanning process of a plurality of second periods, the target prior information of the current scanning period comes from the target information after phase compensation of the last scanning period. The target information after phase compensation includes the distance R, the speed v and the incident angle β of the matching target. Through the transmission of the target information of a plurality of scanning periods in the high-speed rotation scanning process, the tracking of the matching target by the millimeter wave radar in the rotation process is realized.

[0069] It can be understood that, in the high-speed scanning period, by taking the target information of the last scanning period as the target prior information of the current scanning period, the millimeter wave radar can obtain accurate target prior information while completing multiple high-speed rotation scans without multiple motor speed switching, which not only improves the data refresh rate, but also improves the angle measurement accuracy of the millimeter wave radar.

[0070] Further, after the millimeter wave radar detects the plurality of new targets, the motor is automatically controlled to rotate at a first rotating speed to drive the millimeter wave radar to complete a first cycle of scanning and obtain target prior information of the new targets. In the first cycle of scanning, accurate target prior information can be obtained without phase compensation.

[0071] Further, one scanning cycle includes a plurality of continuous frames, and the continuous frames include a starting frame, a plurality of historical frames and a terminal frame. In the case where the current frame is the starting frame, the target prior information is refreshed.

[0072] In some embodiments, optionally, the millimeter wave radar operates in a time division multiplexing mode, and in the time division multiplexing mode, the channel order corresponding to the at least one frequency domain data is determined.

[0073] According to the normal millimeter wave radar signal processing procedure, the RFFT data belongs to the original data and has not obtained the angle information of the target, and thus the phase compensation cannot be performed.

[0074] In this embodiment, in order to perform the phase compensation on the RFFT data, the channel order of the virtual channel and the angle prior information of the target need to be determined. The channel order of the plurality of virtual channels is determined by adopting the time division multiplexing mode, so as to meet the requirement of the phase compensation of the RFFT data.

[0075] Further, the millimeter wave radar determines the time sequence corresponding to each virtual channel by the time sequence control mode, the electromagnetic wave is emitted by the plurality of antennas, the transmitting antenna and the virtual channel range corresponding to each chirp are determined according to the chirp interval and the chirp number, and thus the time sequence corresponding to each virtual channel is determined. The channel order corresponding to the at least one frequency domain data is determined according to the time sequence, so as to realize the virtual channel index in the phase compensation process.

[0076] Understandably, in the TDM mode, the transmitting signals of the plurality of antenna virtual channels are isolated from the physical layer by the time division transmission, the occurrence of the transmitting signal crosstalk is reduced, the rotating radius parameter is accurately transmitted, the signal-to-noise ratio required for the phase compensation is reduced, and thus the detection accuracy of the phase compensation system is improved.

[0077] Further, the rotating radius of each virtual channel corresponds to the time sequence data of the virtual channel.

[0078] Further, in the millimeter wave radar signal processing, the virtual channel is an equivalent signal path formed by the combination of the plurality of antennas. The millimeter wave radar includes an antenna array composed of a plurality of virtual channels, the time domain signals of each virtual channel are independently sampled, and the frequency domain data is formed after the RFFT.

[0079] In one specific embodiment, a model is constructed according to the working principle and installation mode of the radar, and a phase difference caused by a wave path difference in the rotating process is derived. As shown in Figure 6 , six radars are assembled together to complete 360° scanning as a model, and the model is constructed, and the radars rotate with the central axis.

[0080] Exemplarily, the side length of the hexagon is 125 mm.

[0081] In the case of a conventional radar without rotation, signals in different chirps of the same antenna and the same frame are coherent, and velocity and angle can be accurately measured; for a mechanically scanning radar, electromagnetic waves are emitted while rotating, and for a fast time (within a chirp period), the angle rotated by the radar is small, and the influence on the phase is small and can be ignored, but for a slow time (between different chirps), as the number of emitted chirps increases, the angle rotated accumulates, which introduces a significant phase difference between different chirps of the same antenna, resulting in incoherent DFFT data and errors in velocity and angle measurement. In the following, a geometric model is constructed for rotation of one of the antennas, and a formula for the introduced phase difference is derived.

[0082] The antenna rotation geometric model is shown in Figure 7 , in which the north direction is the y-axis of the rectangular coordinate system, O is the origin of the coordinate system, A is the antenna position, and it is assumed that the initial position of the antenna is 0 degrees with the y-axis (north), and the A antenna rotates to A' point after rotating an angle; the direction of the incoming wave received by the antenna A is , and the angle between the incoming wave and the north direction (y-axis) is defined as the incoming wave direction.

[0083] The antenna A rotates to the antenna A', and the introduced additional phase information is caused by the AP optical path difference and the radar rotation angle, and the latter can be obtained by the motor rotation angle and compensated, and the optical path difference introduces the phase information, which is relatively complex, and the formula of the phase difference is obtained according to the geometric relationship: ; wherein, is the phase difference, is the wavelength, and the formula is as follows:

[0084] ; ; wherein, is the motor rotation angle, is the distance between A point and A' point, is the distance between the origin and A point, i.e. the rotation radius of the virtual channel, is the wave path difference caused by the change of the antenna position, is the incidence angle of the target, is the phase difference, is the angle between the line segment AA' and the line segment AP.

[0085] According to the above derivation, the introduced signal of a chirp in a frame (N chirps) of the same antenna is: ; wherein, is the incident angle of the target, is the angle turned by N chirps in a frame, is the wave path difference caused by the change of the antenna position, j is the imaginary unit, is the working wavelength of the millimeter wave radar, is the rotation radius of the virtual channel, N is the number of chirps in each frame, e is the natural constant, and n is an integer, n = 0, 1, 2, …, M-1.

[0086] It can be seen that the introduced phase is related to the rotation radius of the antenna, the incident angle of the target, the rotation speed of the radar, and the chirp.

[0087] The influence of rotation on speed measurement and angle measurement is analyzed below. Assuming a stationary target (without Doppler information), after RFFT, the obtained signal is the introduced signal of the chirp, and DFFT is performed on it to analyze and judge the influence on the speed.

[0088] According to the actual engineering parameters, the simulation parameters are set as follows: a 4T5R azimuth antenna array, frame period 21.504 milliseconds; The rotation radii of the antennas are shown in Table 1: Table 1 Antenna T1 T2 T3 T4 R1 R2 R3 R4 R5 Rotational radius | OA | (mm) 120 117.6 116.1 125 125 119.6 116.3 116.6 119.7 wherein, the wavelength is 3.7mm, and the incident angle range of the target is -20°~20°.

[0089] The phase information caused by the spatial distribution of the antennas is added, and the echo signal formula of the 20 virtual channels is as follows: ; wherein, i represents the i-th virtual channel, n represents the n-th chirp, represents the position of the i-th virtual channel antenna, which is a known quantity, is the incident angle of the target, is the angle turned by N chirps in a frame, is the wave path difference caused by the change of the antenna position, j is the imaginary unit, is the working wavelength of the millimeter wave radar, Rotational radius of the ith virtual channel, N is the number of linear frequency modulation signals within each frame, e is a natural constant.

[0090] Exemplarily, k = 1, 2 4; j = 1, 2 5.

[0091] In the case of the rotational speed of 90° / s, the influence on the velocity measurement is analyzed. When the rotational speed is 90° / s, , the above simulation parameters are brought in, the data of a channel are subjected to the Fast Fourier Transform (FFT) (FFT is performed on the signal n), the target under different incident angles is analyzed, the influence of the rotational speed of 90° / s on the velocity measurement, and the simulation result is as shown in Figure 10 , in which the horizontal coordinate is a Doppler unit, and the vertical coordinate is the Doppler frequency domain amplitude of the echo signal. The extreme point in the figure is X = 33 and Y = 63.77.

[0092] The Doppler unit of the theoretical 0-speed (static) target is 33, and it can be seen that under certain incident angles, there is a Doppler shift of 1 unit, which corresponds to a velocity measurement error of one unit.

[0093] Influence of rotation on angle measurement: after DFFT is performed on the data of all virtual channels, a 64x20 two-dimensional complex matrix is obtained, non-coherent accumulation is performed on the two-dimensional data to obtain Range Doppler Matrix (RDM) data, the position of the peak point is determined, the complex data of the peak point is deducted from all channels, and digital beam forming (DBF) is performed to measure the angle. The angle measurement error is counted, as shown in Figure 11 , in which the horizontal coordinate represents the incident angle, and the vertical coordinate represents the angle measurement error. It can be seen that under certain incident angles, the angle measurement error reaches 0.5°.

[0094] In the case of the rotational speed of 60° / s, the influence on the velocity measurement is analyzed. When the rotational speed is 60° / s, , the above simulation parameters are brought in, the data of a channel are subjected to DFFT (DFFT is performed on n), the target under different incident angles is analyzed, the influence of the rotational speed of 90° / s on the velocity measurement, and the simulation result is as shown in Figure 12 , in which the horizontal coordinate is a Doppler unit, and the vertical coordinate is the Doppler frequency domain amplitude of the echo signal. The extreme point in the figure is X = 33 and Y = 63.9289.

[0095] The Doppler unit of the theoretical 0-speed (static) target is 33, and it can be seen that under certain incident angles, there is a Doppler shift of 1 unit, which corresponds to a velocity measurement error of one unit.

[0096] The effect of rotation on angle measurement: After performing DFFT on the data from all virtual channels, a 64×20 two-dimensional complex matrix is ​​obtained. Incoherent accumulation of the two-dimensional data yields RDM data, determining the location of peak points. Complex data from the peak points are extracted from all channels, and DBF angle measurement is then performed. The angle measurement error is statistically analyzed, such as... Figure 13 As shown, the horizontal axis represents the angle of incidence, and the vertical axis represents the angle measurement error. It can be seen that the angle measurement error is 0.4° at certain angles of incidence.

[0097] The impact of a rotational speed of 30° / s on speed measurement is analyzed. At a rotational speed of 30° / s, Substituting the above simulation parameters, perform DFFT (DFFT over n) on the data of a certain channel to analyze the effect of the target's rotational speed of 30° / s on the velocity measurement under different incident angles. The simulation results are as follows: Figure 14 As shown in the figure, the horizontal axis represents the Doppler cell, and the vertical axis represents the Doppler frequency domain amplitude of the echo signal. The extreme points in the figure have horizontal and vertical coordinates of X=33 and Y=63.7489, respectively.

[0098] As can be seen, there is no Doppler shift, and the velocity measurement is accurate.

[0099] The effect of rotation on angle measurement: After performing DFFT on the data from all virtual channels, a 64×20 two-dimensional complex matrix is ​​obtained. Incoherent accumulation of the two-dimensional data yields RDM data, determining the location of peak points. Complex data from the peak points are extracted from all channels, and DBF angle measurement is then performed. The angle measurement error is statistically analyzed, such as... Figure 15 As shown, the horizontal axis represents the angle of incidence, and the vertical axis represents the angle measurement error. There is no deviation in the angle measurement.

[0100] Based on the above simulation analysis results, it can be concluded that the angle measurement and speed measurement errors are related to the rotational speed. The faster the rotational speed, the greater the speed measurement and angle measurement errors. When the rotational speed is below a certain speed, there is no deviation in angle measurement and speed measurement.

[0101] In mechanically scanned radar, to improve the frame rate and obtain real-time continuous target information, it needs to rotate while transmitting. The higher the rotation speed, the greater the angle measurement error, and the greater the lateral distance error for distant targets. To solve the angle and velocity measurement errors caused by high-speed rotation, phase compensation is required.

[0102] As discussed in Section 1, the phase difference introduced by rotation is related to the antenna rotation radius, the target's incident angle, the radar's mechanical scanning rotation speed, and the chirp. Compensating for the phase information requires compensating for each channel, each chirp, and each target (angle) of the RFFT data.

[0103] According to the normal millimeter wave radar signal processing flow, the RFFT data belongs to the original data, and the angle information of the target has not been obtained, which will not be able to carry out phase compensation. In order to solve this problem, two conditions need to be met: 1) The RFFT data can clearly determine the channel order; 2) The angle prior information of the target is obtained.

[0104] Based on the above conditions, the core phase compensation algorithm is proposed. First, the RFFT data can clearly determine the channel order, so the radar must adopt the TDM working mode, therefore the compensation algorithm proposed in the application is based on the TDM mode mechanical scanning radar. Secondly, the inland ship moving target has the following two characteristics: 1) The ship speed is very slow (2m / s~7.8m / s), the mechanical scanning radar frame rate is high (within 500ms), and it can be considered that the angle of the target will not change greatly within the adjacent refresh period; 2) The target is sparse at a long distance (1Km~4Km), and the narrow FOV radar has only one target in the same distance unit.

[0105] Therefore, the angle and distance prior information of the target in the previous scanning period can be used to match the RFFT data in the current scanning period, and the phase compensation is carried out, so as to improve the accuracy of the long distance target angle measurement in the current scanning period, thereby reducing the large position deviation of the long distance target caused by the angle measurement error. The specific algorithm steps are as follows: 1) The mechanical scanning radar first rotates at a low speed (the rotation speed without speed measurement angle error), scans a period, and obtains all the accurate angle, speed and distance information of the target - that is, obtains the target prior information; 2) In the next scanning period, the radar rotates at a high speed (to improve the frame rate), and after obtaining a frame of RFFT data, the phase compensation is carried out according to the target prior information obtained in the first step. The specific steps are as follows: According to the current motor rotation angle , match all the target angle prior information obtained in the first step, and select the target whose angle is in (where is the azimuth FOV of the radar) and the distance is in the range of [1Km, 4Km], which is called the matching target; According to the distance information of the matching target, the data of the corresponding target distance unit in the current RFFT data is selected, which is all chirp, all channel RFFT data in the current frame; According to the angle prior information of the matching target, the phase compensation is carried out. For example, the distance prior information of the target is the mth distance unit, and the RFFT data of the distance unit is , and the compensation formula is as follows: ; wherein, is the distance fast Fourier transform data corresponding to the distance unit, is the distance fast Fourier transform data of the mth distance unit, the nth linear frequency modulation signal, and the ith virtual channel after phase compensation, i is the virtual channel number, n is the linear frequency modulation signal number in the frame, and m is the distance unit index, is the incidence angle of the matching target, is the rotation radius of the ith virtual channel, is the working wavelength of the millimeter wave radar, is the total rotation angle of a single frame scan, N is the number of linear frequency modulation signals per frame, and e is the natural constant, .

[0106] 3. According to the method of step 2, the RFFT data of all matching targets are phase compensated, and then the data is processed according to the traditional TDM mode signal processing algorithm, and the distance, angle, and speed information of the target is updated.

[0107] 4. The radar rotates at high speed in the next period, and the target prior information in this period comes from the target information in the last scanning period, and the compensation method is the same as that in step 2, until the Kth high-speed scanning period is completed.

[0108] 5. In the K+1 scanning period, the low-speed rotation mode is adopted, which is the same as step 1, and accurate target prior information can be obtained without phase compensation. This step is used to ensure the accuracy of the prior information of the new target in the scene.

[0109] 6. Repeat steps 2-4.

[0110] As Figure 8 shown, the phase compensation method includes: Step S400: obtaining target prior information; Step S402: the radar rotates to θ angle to determine RFFT data; Step S404: the target is matched with θ angle to obtain a matching target; Step S406: the matching target is matched with the RFFT corresponding distance; Step S408: RFFT phase compensation; Step S410: updating target information.

[0111] After step S410: updating target information, continue with step S400: obtaining target prior information.

[0112] In order to complete a target scan in a specific angle range, the machine scanning radar transmits several frames of electromagnetic waves, which is called a scanning period. The processing flow chart of each frame in each scanning period is as shown in Figure 9 . Step S500: the radar transmits electromagnetic waves; Step S502: analog-to-digital conversion; Step S504: distance fast Fourier transform on the analog-to-digital converted data; Step S506: determining whether the radar is slow rotating; If yes, the next step is to perform step S510: Doppler fast Fourier transform; If no, step S508: phase compensation according to the target prior information of the last scanning period is performed; Step S512: traditional ranging and angle measurement processing; Step S514: retaining the distance, speed and angle information of the target of this frame; Step S516: determining whether the scanning period of this frame is completed; If yes, step S518: refreshing the target prior information is performed; If no, no processing is performed and the next frame processing is continued, i.e., step S500 is performed.

[0113] Through the phase compensation method, in the shipborne millimeter wave radar, the long-distance target can obtain high-precision target position information because the angle measurement error of tens of meters in position is caused by the angle measurement error.

[0114] As shown in Figure 5 The embodiment of the application also provides a phase compensation device 900 for a phase compensation system, the phase compensation system comprising at least one millimeter wave radar and a motor, the millimeter wave radar and the motor being in driving connection, the millimeter wave radar being rotated around the central axis of the motor by the motor, the phase compensation device comprising: a low-speed scanning module 902, configured to control the millimeter wave radar to rotate and scan at a first rotating speed, and complete a first period of scanning; an information acquisition module 904, configured to determine target prior information in the first period; a frequency domain data module 906, configured to determine a frequency domain database according to the target prior information; a high-speed scanning module 908, configured to switch the millimeter wave radar to a second rotating speed, complete a second period of scanning, and the second rotating speed is greater than the first rotating speed; a data acquisition module 910, configured to acquire frequency domain data of a current frame corresponding to the second period; a target matching module 912, configured to determine a matching target; a phase compensation module 914, configured to perform phase compensation on frequency domain data of a distance unit corresponding to the matching target; and a data updating module 916, configured to control the millimeter wave radar to rotate and scan at the first rotating speed after phase compensation of a plurality of second periods is completed, and update the frequency domain database.

[0115] The phase compensation device 900 provided by the application controls the motor to rotate to drive the millimeter wave radar to rotate and scan at different rotating speeds, accurate target prior information of the target in a low rotating speed is acquired, and on this basis, in the case of high speed rotation in the next scanning period, the target angle and distance prior information in the previous scanning period is used to match the RFFT data in the current scanning period, and the RFFT data in the distance unit is phase compensated, so that the position deviation of the long distance target caused by the angle measurement error is reduced, the accuracy of the angle measurement of the long distance target in the current scanning period is improved, and high-precision target position information is obtained.

[0116] As shown in Figure 6 The application also provides a phase compensation system 200, at least one millimeter wave radar 202 and a motor 204, the millimeter wave radar 202 and the motor 204 are drivingly connected, the millimeter wave radar 202 is driven to rotate around the central axis of the motor 204 by the rotation of the motor 204, and the phase compensation system 200 further comprises a phase compensation device.

[0117] In the embodiment, the millimeter wave radar 202 is fixed on the motor 204, the motor 204 rotates at a certain rotating speed to drive the millimeter wave radar 202 to rotate and scan the target in a certain angle range (generally much larger than the FOV of the millimeter wave radar 202). The point cloud information of the target in the scanning range is acquired, including distance, speed and angle information. The mechanical scanning millimeter wave radar is used on an inland ship to observe the target in a long distance (4Km) range in a certain angle range.

[0118] According to the phase compensation method, a signal model needs to be constructed according to the mechanical scanning installation structure and the radar working principle, and the formula of the introduced phase difference is theoretically analyzed to compensate the phase difference.

[0119] As shown in Figure 16 The application also provides an electronic device 1000, which comprises a processor 1110, a memory 1109, a program or instruction stored on the memory 1109 and capable of running on the processor 1110, the program or instruction is executed by the processor 1110 to realize each process of the embodiment of the above-mentioned phase compensation method, and the same technical effect can be achieved, to avoid repetition, which will not be repeated here.

[0120] Optionally, the processor 1110 is configured to control the millimeter wave radar to rotate at a first rotating speed to complete a first period of scanning. Optionally, the processor 1110 is further configured to determine target prior information in the first period. Optionally, the processor 1110 is further configured to determine a frequency domain database according to the target prior information. Optionally, the processor 1110 is further configured to switch the millimeter wave radar to rotate at a second rotating speed to complete a second period of scanning. Optionally, the processor 1110 is further configured to acquire frequency domain data of a current frame corresponding to the second period. Optionally, the processor 1110 is further configured to determine a matching target. Optionally, the processor 1110 is further configured to perform phase compensation on the frequency domain data of the distance unit corresponding to the matching target. Optionally, the processor 1110 is further configured to control the millimeter wave radar to rotate and scan at the first rotating speed after completing the phase compensation of the multiple second periods, and update the frequency domain database.

[0121] The memory 1109 can be configured to store software programs and various data. The memory 1109 can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. In addition, the memory 1109 can include a volatile memory or a non-volatile memory, or the memory 1109 can include both volatile and non-volatile memories. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory 1109 in the embodiments of the present application includes but is not limited to these and any other suitable types of memories.

[0122] The chip provided by the embodiment of the present application comprises a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running programs or instructions, and each process of the phase compensation method is realized, and the same technical effects can be achieved. To avoid repetition, details are not described here. In addition, the data processing speed of the method in the present application is improved through the chip.

[0123] It should be understood that the chip mentioned in the embodiment of the present application can also be referred to as a system chip, a system chip, a chip system or a system on chip, etc.

[0124] In the present application, the terms "first", "second", "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; the term "multiple" refers to two or more, unless otherwise explicitly limited. The terms "mounting", "connection", "connection", "fixing" and the like should be broadly understood, for example, "connection" can be fixed connection, or detachable connection, or integrally connected; "connected" can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0125] In the description of the present application, it should be understood that the terms "up", "down", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, and are only used for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or units referred to must have a particular direction, be constructed and operated in a particular orientation, therefore, cannot be understood as a limitation on the present application.

[0126] In the description of the present application, the terms "one embodiment", "some embodiments", "a specific embodiment" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0127] The above is only the preferred embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A phase compensation method, characterized in that, A phase compensation system is used, the phase compensation system including at least one millimeter-wave radar and a motor, the millimeter-wave radar and the motor being drivenly connected, the millimeter-wave radar being rotated around the central axis of the motor by the rotation of the motor, the phase compensation method including: The control motor rotates at the first speed, driving the millimeter-wave radar to complete the first cycle of scanning; Determine the target prior information within the first period; Determine the frequency domain database based on the target prior information; The motor is controlled to switch to a second rotation speed to drive the millimeter-wave radar to complete a second cycle of scanning. The second rotation speed is greater than the first rotation speed. Obtain the frequency domain data of the current frame corresponding to the second period; Identify the matching target; Phase compensation is performed on the frequency domain data of the distance unit corresponding to the matching target; After completing phase compensation for multiple second cycles, the millimeter-wave radar is controlled to rotate and scan at a first rotation speed to update the frequency domain database.

2. The phase compensation method according to claim 1, characterized in that, The determination of the matching target includes: Determine the rotation angle of the motor; Determine the azimuth field of view of the millimeter-wave radar; The target angle range is determined based on the rotation angle and the azimuth field of view. Determine the long-distance range; The spatial range conditions are determined based on the long-distance range and the target angle range; Based on the spatial range conditions, multiple prior information about the targets are filtered to determine the matching target.

3. The phase compensation method according to claim 1, characterized in that, The step of performing phase compensation on the frequency domain data corresponding to the distance unit of the matching target includes: Determine the distance unit corresponding to the matching target; Determine at least one linear frequency modulated signal and distance fast Fourier transform data for the current frame; The distance fast Fourier transform data corresponding to the distance unit is determined based on the linear frequency modulated signal and the distance fast Fourier transform data; Determine the target prior information of the matching target; Determine the virtual channel parameters; Phase compensation is performed on the distance fast Fourier transform data corresponding to the distance unit based on the target prior information and the virtual channel parameters.

4. The phase compensation method according to claim 3, characterized in that, The formula for phase compensation of the distance fast Fourier transform data corresponding to the distance cell based on the target prior information and the virtual channel parameters is as follows: ； in, This is the distance fast Fourier transform data corresponding to the distance cell. This represents the range Fast Fourier Transform (FFT) data for the m-th range cell, the n-th linear frequency modulated (LFM) signal, and the i-th virtual channel after phase compensation, where i is the virtual channel index, n is the intra-frame LFM signal index, and m is the range cell index. To match the target's angle of incidence, Let be the rotation radius of the i-th virtual channel. The operating wavelength of millimeter-wave radar, Let be the total rotation angle for a single frame scan, N be the number of linear frequency modulated signals per frame, and e be the natural constant.

5. The phase compensation method according to claim 1, characterized in that, After performing phase compensation on the frequency domain data corresponding to the distance unit of the matching target, the method further includes: Determine the target information after phase compensation; The target prior information for the next second cycle is determined based on the target information.

6. The phase compensation method according to any one of claims 1 to 5, characterized in that, The millimeter-wave radar operates in a time-division multiplexing mode, in which the channel sequence corresponding to at least one of the frequency domain data is determined.

7. A phase compensation device, characterized in that, A phase compensation system is used, the phase compensation system including at least one millimeter-wave radar and a motor, the millimeter-wave radar and the motor being drivenly connected, the millimeter-wave radar being rotated around the central axis of the motor by the rotation of the motor, the phase compensation device including: The low-speed scanning module is used to control the motor to rotate at a first speed, driving the millimeter-wave radar to complete the first cycle of scanning; The information acquisition module is used to determine the target prior information within the first period; The frequency domain data module is used to determine the frequency domain database based on the target prior information; A high-speed scanning module is used to control the motor to switch to a second rotation speed to drive the millimeter-wave radar to complete a second cycle of scanning, wherein the second rotation speed is greater than the first rotation speed; The data acquisition module is used to acquire the frequency domain data of the current frame corresponding to the second period; The target matching module is used to determine the matching target; A phase compensation module is used to perform phase compensation on the frequency domain data of the distance unit corresponding to the matching target; The data update module is used to control the millimeter-wave radar to rotate and scan at a first rotation speed after completing phase compensation for multiple second cycles, thereby updating the frequency domain database.

8. A phase compensation system, characterized in that, include: At least one millimeter-wave radar and a motor, wherein the millimeter-wave radar and the motor are connected by a drive, and the millimeter-wave radar is driven to rotate around the central axis of the motor by the rotation of the motor; The phase compensation system further includes the phase compensation device as described in claim 7.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the phase compensation method as described in any one of claims 1 to 6.

10. A chip, characterized in that, The chip includes a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the steps of the phase compensation method as described in any one of claims 1 to 6.

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