Phase compensation methods, devices, systems, electronic equipment and chips

Abstract

Embodiments of the present invention provide a phase compensation method, apparatus, system, electronic device, and chip. The phase compensation method includes: controlling a motor to rotate at a first rotational speed to drive a millimeter-wave radar to complete a first cycle of scanning; determining target prior information within the first cycle; determining a frequency domain database based on the target prior information; controlling the motor to switch to a second rotational speed to drive the millimeter-wave radar to complete a second cycle of scanning, the second rotational speed being greater than the first rotational speed; acquiring frequency domain data of the current frame corresponding to the second cycle; determining a matching target; performing phase compensation on the frequency domain data of the range cell corresponding to the matching target; and after completing phase compensation for multiple second cycles, controlling the millimeter-wave radar to rotate and scan at the first rotational speed to update the frequency domain database. The solution of the present invention improves the angle measurement accuracy of the millimeter-wave radar during rotation.

Description

Technical Field

[0001] This invention relates to the field of millimeter-wave radar technology, and more specifically, to a phase compensation method, apparatus, system, electronic device, and chip. Background Technology

[0002] Mechanically scanned millimeter-wave radar refers to a millimeter-wave radar mounted on a motor. The motor rotates at a certain speed, driving the radar to rotate and scan targets within a certain angular range. To improve the frame rate, mechanically scanned millimeter-wave radar rotates while emitting electromagnetic waves, i.e., it rotates at a constant speed. Conversely, some mechanically scanned millimeter-wave radars do not rotate while emitting electromagnetic waves, and rotate when not emitting electromagnetic waves, i.e., they rotate in a continuous jogging motion (JOG) mode. While the constant-speed rotation improves the frame rate compared to the JOG mode, the phase difference caused by the high-speed rotation of the motor during electromagnetic wave transmission introduces angular measurement errors, resulting in lower angular measurement accuracy for mechanically scanned millimeter-wave radars. Summary of the Invention

[0003] The purpose of this invention is to provide a phase compensation method, device, system, electronic device, and chip that can solve the problem of low angle measurement accuracy caused by phase difference due to motor rotation during electromagnetic wave transmission in uniformly rotating mechanically scanned millimeter-wave radar.

[0004] In view of this, an embodiment of the first aspect of the present invention provides a phase compensation method.

[0005] A second aspect of the present invention provides a phase compensation device.

[0006] An embodiment of the third aspect of the present invention provides a phase compensation system.

[0007] An embodiment of the fourth aspect of the present invention provides an electronic device.

[0008] An embodiment of the fifth aspect of the present invention provides a chip.

[0009] To achieve the above objectives, an embodiment of the first aspect of the present invention provides a phase compensation method for a phase compensation system. The phase compensation system includes at least one millimeter-wave radar and a motor, which are connected by a drive mechanism. The millimeter-wave radar rotates around the central axis of the motor by rotating the motor. The phase compensation method includes: controlling the motor to rotate at a first rotational speed to drive the millimeter-wave radar to complete a first cycle of scanning; determining target prior information within the first cycle; determining a frequency domain database based on the target prior information; controlling the motor to switch to a second rotational speed to drive the millimeter-wave radar to complete a second cycle of scanning, where the second rotational speed is greater than the first rotational speed; acquiring the frequency domain data of the current frame corresponding to the second cycle; determining a matching target; performing phase compensation on the frequency domain data of the range cell corresponding to the matching target; and after completing phase compensation for multiple second cycles, controlling the millimeter-wave radar to rotate and scan at the first rotational speed to update the frequency domain database.

[0010] In the phase compensation system, at least one millimeter-wave radar is connected to a motor drive, which rotates around a central axis to scan. First, the motor is controlled to rotate at a first speed, driving the at least one millimeter-wave radar to complete an omnidirectional scan in the first cycle. In the first cycle, the millimeter-wave radar completes at least one circular motion around the motor's central axis. Under the operating conditions corresponding to the first speed, the millimeter-wave radar operates at a low speed without rotational error. In this low-speed operating state, it acquires precise spatial information of all targets within the detection domain as prior information, including the target's angle, velocity, and range. Based on this, a frequency domain database is constructed, storing the original frequency domain data corresponding to each target. The original frequency domain data comes from single-frame echo signals received from multiple different virtual channels corresponding to the millimeter-wave radar. The original frequency domain data includes echo signal data processed by Range Fast Fourier Transform (RFFT). During the radar rotation, multiple frames of RFFT data are acquired. The motor is then controlled to rotate at a second speed, driving the at least one millimeter-wave radar to complete an omnidirectional scan in the first cycle. In the second cycle, the millimeter-wave radar completes at least one circular motion around the motor's central axis.

[0011] In the second cycle, the millimeter-wave radar, driven by a motor, rotates around the motor's central axis while emitting electromagnetic waves. The radar transmits one frame of electromagnetic waves and acquires one frame of echo signal. Each echo signal frame consists of multiple linear frequency modulated (chirp) signals. Due to the motor's rotation during transmission, and the fact that the millimeter-wave radar transmits electromagnetic waves and receives echo signals from the same antenna, a path difference arises between different chirps within a single frame, resulting in a phase difference. Phase compensation methods are used to compensate for this phase difference.

[0012] Understandably, millimeter-wave radar acquires accurate prior information about the target at low rotation speed. Based on this, in the next scanning cycle when rotating at high speed, it uses the prior information about the target angle and range from the previous scanning cycle to match the RFFT data of the current scanning cycle. It then performs phase compensation on the RFFT data within the range cell, thereby reducing the position deviation of distant targets caused by angle measurement errors, improving the accuracy of angle measurement of distant targets in the current scanning cycle, and obtaining high-precision target position information.

[0013] In some technical solutions, optionally, determining the matching target includes: determining the current rotation angle of the motor; determining the azimuth field of view of the millimeter-wave radar; determining the target angle range based on the rotation angle and the azimuth field of view; determining the long-range range; determining the spatial range conditions based on the long-range range and the target angle range; and filtering multiple target prior information based on the spatial range conditions to determine the matching target.

[0014] In this scheme, based on the current motor rotation angle θ, the prior target information of all targets acquired by the millimeter-wave radar at the first rotation speed is matched to filter out matching targets whose angles are within the target angle range and whose distances are within the long-range range. Specifically, the field of view range is determined based on the azimuth angle of the millimeter-wave radar, including [-σ, +σ]. The target angle range is determined based on the azimuth angle and rotation angle, and is [θ-σ, θ+σ]. Matching targets and their distance information are determined based on the target angle range and the long-range range, with the aim of determining the corresponding target range cell data in the current RFFT data.

[0015] In some technical solutions, optionally, phase compensation is performed on the frequency domain data of the range cell corresponding to the matching target, including: determining the range cell corresponding to the matching target; determining at least one linear frequency modulated signal and range fast Fourier transform data of the current frame; determining the range fast Fourier transform data corresponding to the range cell based on the linear frequency modulated signal and the range fast Fourier transform data; determining the target prior information of the matching target; determining virtual channel parameters; and performing phase compensation on the range fast Fourier transform data corresponding to the range cell based on the target prior information and the virtual channel parameters.

[0016] In this scheme, all chirps within the current frame corresponding to the range cell of the matching target are determined based on the current RFFT data, as well as the RFFT data of all channels. Phase compensation is then performed on the RFFT data corresponding to the range cell based on the prior information of the matching target obtained at the first rotational speed.

[0017] In some technical solutions, optionally, the formula for phase compensation of the range fast Fourier transform data corresponding to the range cell based on the target prior information and virtual channel parameters is as follows:

[0018] ;

[0019] 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.

[0020] In this scheme, the angle measurement error and velocity error are compensated by the phase compensation algorithm to eliminate the rotation phase disturbance. The difference in antenna rotation radius is incorporated into the phase disturbance model. By matching the target prior information acquired in the previous cycle or the target information after phase compensation in the previous cycle, the RFFT data of the corresponding range cell in the current scanning cycle is compensated. Compensation is performed on each channel, each chirp, and each target angle of the RFFT data, reducing the angle measurement error caused by high rotation speed and the lateral range error of long-distance targets, and improving the accuracy of mechanically scanned millimeter-wave radar in acquiring target position information in inland waterway environments.

[0021] In some technical solutions, optionally, after performing phase compensation on the frequency domain data of the range cell corresponding to the matching target, the solution further includes: determining the phase-compensated target information; and determining the target prior information for the next second cycle based on the target information.

[0022] In this scheme, as the motor rotates at a second speed, driving the millimeter-wave radar to complete multiple high-speed rotational scans in the second cycle, the target prior information for the current scan cycle comes from the phase-compensated target information of the previous scan cycle. The phase-compensated target information includes the target's range R, velocity v, and incident angle β. By transmitting target information across multiple scan cycles during the high-speed rotational scan, the millimeter-wave radar achieves target tracking during rotation.

[0023] In some technical solutions, millimeter-wave radar can optionally operate in a time-division multiplexing mode, in which the channel order corresponding to at least one frequency domain data is determined.

[0024] In this scheme, to perform phase compensation on RFFT data, it is necessary to define the channel order of the virtual channels and the prior angle information of the target. By adopting a time-division multiplexing working mode, the channel order of multiple virtual channels is determined to meet the requirements of phase compensation for RFFT data.

[0025] A second aspect of the present invention provides a phase compensation device for a phase compensation system. The phase compensation system includes at least one millimeter-wave radar and a motor, which are connected by a drive mechanism. The millimeter-wave radar rotates around the central axis of the motor by rotating the motor. The phase compensation device includes: a low-speed scanning module for controlling the motor to rotate at a first speed to drive the millimeter-wave radar to complete a first cycle of scanning; an information acquisition module for determining prior target information within the first cycle; a frequency domain data module for determining a frequency domain database based on the prior target information; a high-speed scanning module for controlling the motor to switch to a second speed to drive the millimeter-wave radar to complete a second cycle of scanning, where the second speed is greater than the first speed; a data acquisition module for acquiring the frequency domain data of the current frame corresponding to the second cycle; a target matching module for determining a matching target; a phase compensation module for performing phase compensation on the frequency domain data of the range cell corresponding to the matching target; and a data update module for controlling the millimeter-wave radar to rotate and scan at the first speed after completing phase compensation for multiple second cycles, thereby updating the frequency domain database.

[0026] An embodiment of the third aspect of this application provides a phase compensation system, including: at least one millimeter-wave radar and a motor, the millimeter-wave radar and the motor being drively connected, the millimeter-wave radar being rotated around the central axis of the motor by the rotation of the motor; the phase compensation system also includes the phase compensation device of the second aspect.

[0027] An embodiment of the fourth aspect of this application provides an electronic device including 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 the first aspect.

[0028] An embodiment of the fifth aspect of this application provides a chip including a processor and a communication interface, the communication interface and the processor being coupled together, the processor being used to run a program or instructions to implement the steps of the phase compensation method as described in the first aspect.

[0029] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0030] Figure 1 A schematic flowchart of a phase compensation method according to an embodiment of this application is shown;

[0031] Figure 2 A schematic flowchart of a phase compensation method according to an embodiment of this application is shown;

[0032] Figure 3 A schematic flowchart of a phase compensation method according to an embodiment of this application is shown;

[0033] Figure 4 A schematic flowchart of a phase compensation method according to an embodiment of this application is shown;

[0034] Figure 5 A schematic diagram of the structure of a phase compensation device according to an embodiment of this application is shown;

[0035] Figure 6 A schematic diagram of the structure of a phase compensation system according to an embodiment of this application is shown;

[0036] Figure 7 An antenna rotation geometry model according to an embodiment of this application is shown;

[0037] Figure 8 A schematic flowchart of a phase compensation method according to an embodiment of this application is shown;

[0038] Figure 9 A schematic flowchart of a phase compensation method according to an embodiment of this application is shown;

[0039] Figure 10 A schematic diagram of a simulation model according to an embodiment of this application is shown;

[0040] Figure 11 A schematic diagram of a simulation model according to an embodiment of this application is shown;

[0041] Figure 12 A schematic diagram of a simulation model according to an embodiment of this application is shown;

[0042] Figure 13 A schematic diagram of a simulation model according to an embodiment of this application is shown;

[0043] Figure 14 A schematic diagram of a simulation model according to an embodiment of this application is shown;

[0044] Figure 15 A schematic diagram of a simulation model according to an embodiment of this application is shown;

[0045] Figure 16 A schematic diagram of the structure of an electronic device according to an embodiment of this application is shown.

[0046] in, Figure 5 , Figure 6 and Figure 16 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0047] 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 update module; 200: Phase compensation system; 202: Millimeter-wave radar; 204: Motor; 1000: Electronic equipment; 1109: Memory; 1110: Processor. Detailed Implementation

[0048] To better understand the above-described objectives, features, and advantages of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0049] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, embodiments of the invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0050] In traditional radar systems that do not rotate, the signals between different chirs within the same frame from the same antenna are coherent, enabling accurate velocity and angle measurements. However, mechanically scanned radars rotate while emitting electromagnetic waves. In the short term (within one chirp cycle), the angle the radar rotates is very small, having a negligible impact on the phase. But in the long term (between different chirs), as the number of chirs emitted increases, the accumulated angle of rotation becomes larger, leading to a significant phase difference between different chirs from the same antenna. This results in incoherent DFFT data, causing errors in velocity and angle measurements.

[0051] This application constructs a geometric model by rotating one of the antennas, derives the phase difference formula, determines the phase compensation method, and improves the angle measurement accuracy of millimeter-wave radar during the rotation scanning process through the phase compensation method.

[0052] The following is in conjunction with the appendix Figures 1 to 16 The phase compensation method, apparatus, system, electronic device and chip provided in this application will be described in detail through specific embodiments and application scenarios.

[0053] This embodiment provides a phase compensation method for a phase compensation system. The phase compensation system includes at least one millimeter-wave radar and a motor, which are connected by a drive mechanism. The rotation of the motor drives the millimeter-wave radar to rotate around the central axis of the motor. Figure 1As shown, the phase compensation method includes:

[0054] Step S100: Control the motor to rotate at the first speed to drive the millimeter-wave radar to complete the first cycle of scanning;

[0055] Step S102: Determine the target prior information within the first cycle;

[0056] Step S104: Determine the frequency domain database based on the target prior information;

[0057] Step S106: Control the motor to switch to the second rotation speed to drive the millimeter-wave radar to complete the second cycle of scanning;

[0058] Step S108: Obtain the frequency domain data of the current frame corresponding to the second cycle;

[0059] Step S110: Determine the matching target;

[0060] Step S112: Perform phase compensation on the frequency domain data of the range cell corresponding to the matching target;

[0061] Step S114: After completing multiple second-cycle phase compensations, control the millimeter-wave radar to rotate and scan at the first rotation speed to update the frequency domain database.

[0062] The second rotational speed is greater than the first rotational speed.

[0063] The phase compensation method provided by this invention is applied to a phase compensation system to solve the problem of decreased angle measurement accuracy caused by phase error due to mechanical rotation under high-speed scanning conditions.

[0064] In the phase compensation system, at least one millimeter-wave radar is connected to a motor drive, which rotates around a central axis to scan. First, the motor is controlled to rotate at a first speed, driving the at least one millimeter-wave radar to complete an omnidirectional scan in the first cycle. In the first cycle, the millimeter-wave radar completes at least one circular motion around the motor's central axis. Under the operating conditions corresponding to the first speed, the millimeter-wave radar operates at a low speed without rotational error. In this low-speed operating state, it acquires precise spatial information of all targets within the detection domain as prior information, including the target's angle, velocity, and range. Based on this, a frequency domain database is constructed, storing the original frequency domain data corresponding to each target. The original frequency domain data comes from single-frame echo signals received from multiple different virtual channels corresponding to the millimeter-wave radar. The original frequency domain data includes echo signal data processed by Range Fast Fourier Transform (RFFT). During the radar rotation, multiple frames of RFFT data are acquired. The motor is then controlled to rotate at a second speed, driving the at least one millimeter-wave radar to complete an omnidirectional scan in the first cycle. In the second cycle, the millimeter-wave radar completes at least one circular motion around the motor's central axis.

[0065] In the second cycle, the millimeter-wave radar, driven by a motor, rotates around the motor's central axis while emitting electromagnetic waves. The radar transmits one frame of electromagnetic waves and acquires one frame of echo signal. Each echo signal frame consists of multiple linear frequency modulated (chirp) signals. Due to the motor's rotation during transmission, and the fact that the millimeter-wave radar transmits electromagnetic waves and receives echo signals from the same antenna, a path difference arises between different chirps within a single frame, resulting in a phase difference. Phase compensation methods are used to compensate for this phase difference.

[0066] Furthermore, the phase difference caused by rotation is related to the antenna rotation radius of the millimeter-wave radar, the target's incident angle, the millimeter-wave radar's mechanical scanning rotation angle, and the chirp. Phase compensation requires compensation for each channel, each chirp, and each target angle of the RFFT data.

[0067] Based on the current rotation angle of the motor and the target prior information acquired by the millimeter-wave radar in the first cycle, targets within the target angle and target distance range are identified as matching targets. Based on the distance information of the matching targets, the corresponding range cells are determined. The data for the corresponding target range cell in the RFFT data is then determined. This data consists of the RFFT data of all chirs and all channels within the current frame in the frequency domain database. The RFFT data of the target range cells in the second cycle is compensated based on the target prior information acquired in the first cycle. Then, the data is processed according to the traditional time-division multiplexing (TDM) signal processing algorithm to update the target's range, angle, and velocity information.

[0068] After completing multiple second-cycle phase compensations, the control motor switches from high-speed rotation to low-speed rotation, driving the millimeter-wave radar to complete a first-cycle rotation scan, thereby acquiring accurate prior information about the target again and improving the accuracy of prior information about newly added targets in inland waterway shipborne scenarios.

[0069] Furthermore, the number of times the second cycle is repeated depends on the number of targets in the inland waterway vessel scenario. The more targets there are, the fewer times the second cycle is repeated, and the fewer targets there are, the more times the second cycle is repeated.

[0070] For example, the first rotational speed is less than or equal to 30° / s, and the second rotational speed is greater than or equal to 60° / s.

[0071] Understandably, millimeter-wave radar acquires accurate prior information about the target at low rotation speed. Based on this, in the next scanning cycle when rotating at high speed, it uses the prior information about the target angle and range from the previous scanning cycle to match the RFFT data of the current scanning cycle. It then performs phase compensation on the RFFT data within the range cell, thereby reducing the position deviation of distant targets caused by angle measurement errors, improving the accuracy of angle measurement of distant targets in the current scanning cycle, and obtaining high-precision target position information.

[0072] Furthermore, to complete a target scan within a specific angular range, the phase compensation system transmits multiple frames of electromagnetic waves in one scan cycle. Each frame of each scan cycle involves the following processing: the millimeter-wave radar transmits one frame of electromagnetic waves; the analog-to-digital (A / D) conversion data of the electromagnetic wave echo is sampled and acquired; the A / D data undergoes an RFFT to determine the RFFT data; with the motor rotating the millimeter-wave radar at a second rotational speed, phase compensation is performed based on the target prior information from the previous scan cycle; after phase compensation, a Doppler Fast Fourier Transform (DFFT) is performed; conventional ranging and angle measurement processing is performed based on the DFFT data, retaining the target's range, velocity, and angle information for this frame. Finally, after the scan cycle is completed, the target prior information is refreshed.

[0073] For example, the phase compensation system includes a mechanically scanned millimeter-wave radar.

[0074] In some embodiments, optionally, such as Figure 2 As shown, step S110: Determine the matching target, including:

[0075] Step S1100: Determine the rotation angle of the motor;

[0076] Step S1102: Determine the azimuth field of view of the millimeter-wave radar;

[0077] Step S1104: Determine the target angle range based on the rotation angle and azimuth field of view;

[0078] Step S1106: Determine the long-distance range;

[0079] Step S1108: Determine the spatial range conditions based on the long-distance range and the target angle range;

[0080] Step S1110: Filter the prior information of multiple targets based on the spatial range conditions to determine the matching target.

[0081] In this embodiment, based on the current motor rotation angle θ, the target prior information of all targets acquired by the millimeter-wave radar at the first rotation speed is matched to filter out matching targets whose angles are within the target angle range and whose distances are within the long-range range. Specifically, the field of view range is determined based on the azimuth angle of the millimeter-wave radar, including [-σ, +σ]. The target angle range is determined based on the azimuth angle and rotation angle, and is [θ-σ, θ+σ]. The matching targets and their distance information are determined based on the target angle range and the long-range range to determine the corresponding target range cell data in the current RFFT data.

[0082] Understandably, the target angle range is determined by the FOV and current rotation angle of the millimeter-wave radar. Multiple targets are then filtered based on this target angle range and the long-range range to avoid erroneous compensation for targets outside the current beam. Focusing on long-range targets, the compensation algorithm concentrates on high-value areas, reducing short-range clutter in inland waterway environments, such as compensation triggered by false alarms from ship spray, thus improving the robustness and efficiency of the phase compensation algorithm.

[0083] Furthermore, the antenna direction of the millimeter-wave radar is determined, and the current rotation angle θ of the motor is determined based on the antenna direction of the current frame and the antenna direction of the previous frame.

[0084] Furthermore, the phase compensation system is installed on the vessel. In inland waterway scenarios, the vessel speed is slow, the radar scanning frame rate is high, and the target angle does not change significantly between adjacent refresh cycles. Moreover, in the inland waterway environment, the long-range target coefficient is high, and the narrow field of view (FOV) radar, i.e., millimeter-wave radar, has only one target within the same range cell.

[0085] In some embodiments, optionally, such as Figure 3 As shown, step S112: performing phase compensation on the frequency domain data of the range cell corresponding to the matching target, including:

[0086] Step S1120: Determine the distance cell corresponding to the matching target;

[0087] Step S1122: Determine at least one linear frequency modulated signal and distance fast Fourier transform data of the current frame;

[0088] Step S1124: Determine the range fast Fourier transform data corresponding to the range unit based on the linear frequency modulated signal and the range fast Fourier transform data;

[0089] Step S1126: Determine the target prior information for the matching target;

[0090] Step S1128: Determine the virtual channel parameters;

[0091] Step S1130: Perform phase compensation on the range fast Fourier transform data corresponding to the range cell based on the target prior information and virtual channel parameters.

[0092] In this embodiment, all chirps within the current frame corresponding to the distance cell of the matching target are determined based on the distance cell of the current RFFT data, as well as the RFFT data of all channels. Phase compensation is performed on the RFFT data corresponding to the distance cell based on the prior information of the matching target obtained at the first rotational speed.

[0093] Furthermore, the current frame data is stored as a three-dimensional matrix, including virtual channel parameters, linear frequency modulated signal parameters, and data corresponding to the distance cells. For example, if the matching target corresponds to the m-th distance cell, the n-th chirp in the current frame, and the RFFT data is in the i-th virtual channel, then the RFFT data of this distance cell is S(m, n, i). The matrix includes rotational phase perturbations.

[0094] Furthermore, the incident angle of the matching target is determined based on the prior information of the target obtained at the first rotational speed. The rotation radius corresponding to the i-th virtual channel is also determined. .

[0095] Furthermore, the rotation radius of each virtual channel corresponding to the millimeter-wave radar is different.

[0096] Furthermore, the range cells of the target are located based on the peak values ​​of the RFFT range spectrum.

[0097] Furthermore, the virtual channel parameters include parameters such as the rotation radius, virtual channel number, and antenna direction corresponding to the virtual channel.

[0098] Furthermore, phase compensation is performed on the RFFT data of the matching target using a phase compensation algorithm.

[0099] Understandably, by using precise positioning of the range unit, parametric modeling of the virtual channel, and parallel compensation calculation, sub-degree-level angle measurement accuracy can be achieved in high-speed scanning mode. This improves the scanning accuracy of shipborne mechanically scanned millimeter-wave radar in complex inland waterway environments during rotation, reduces angle measurement errors, and provides reliable assurance for intelligent navigation of ships.

[0100] In some embodiments, optionally, the formula for phase compensation of the range fast Fourier transform data corresponding to the range cell based on the target prior information and virtual channel parameters is as follows:

[0101] ;

[0102] 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.

[0103] 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 time, the difference between the two is the phase deviation caused by the path difference. The phase perturbation term is determined by the rotation radius of the virtual channel, and compensation is performed using a complex exponential function to eliminate the phase shift introduced by the rotational motion, thus determining the phase-compensated RFFT data. .

[0104] Understandably, the phase compensation algorithm compensates for angle measurement errors and velocity errors to eliminate rotational phase disturbances. The antenna rotation radius difference is incorporated into the phase disturbance model. By matching the target prior information acquired in the previous cycle or the target information after phase compensation in the previous cycle, the RFFT data of the corresponding range cell in the current scanning cycle is compensated. Compensation is performed on each channel, each chirp, and each target angle of the RFFT data, reducing the angle measurement error caused by high rotation speed and the lateral range error of long-range targets, thereby improving the accuracy of mechanically scanned millimeter-wave radar in acquiring target position information in inland waterway environments.

[0105] Optionally, phase compensation is performed on the RFFT data of multiple virtual channels in the millimeter-wave radar.

[0106] For example, i = 1, 2, ... 20; n = 0, 1, ... 63.

[0107] In some embodiments, optionally, such as Figure 4 As shown, after performing phase compensation on the frequency domain data of the range cell corresponding to the matching target in step S112, the method further includes:

[0108] Step S1132: Determine the target information after phase compensation;

[0109] Step S1134: Determine the prior information of the target for the next second cycle based on the target information.

[0110] In this embodiment, during the process of the motor rotating at a second speed, driving the millimeter-wave radar to complete multiple high-speed rotational scans in the second cycle, the target prior information for the current scan cycle comes from the phase-compensated target information of the previous scan cycle. The phase-compensated target information includes the target's distance R, velocity v, and incident angle β. By transmitting target information from multiple scan cycles during the high-speed rotational scan, the millimeter-wave radar can track the target during rotation.

[0111] Understandably, by using the target information from the previous scanning cycle as the target prior information for the current scanning cycle within a high-speed scanning cycle, multiple motor speed switching is unnecessary. This allows the millimeter-wave radar to acquire accurate target prior information while completing multiple high-speed rotational scans, which not only improves the data refresh rate but also enhances the angle measurement accuracy of the millimeter-wave radar.

[0112] Furthermore, after the millimeter-wave radar detects multiple new targets, it automatically controls the motor to rotate at a first speed, driving the millimeter-wave radar to complete the first cycle of scanning and acquire the prior information of the new targets. During the first cycle of scanning, accurate prior information about the targets can be obtained without phase compensation.

[0113] Furthermore, a scanning cycle comprises multiple consecutive frames, including a start frame, multiple historical frames, and a stop frame. When the current frame is the start frame, the target prior information is refreshed.

[0114] In some embodiments, the millimeter-wave radar may optionally operate in a time-division multiplexing mode, in which the channel order corresponding to at least one frequency domain data is determined.

[0115] According to the normal millimeter-wave radar signal processing procedure, RFFT data is raw data and does not contain the target's angle information, so phase compensation cannot be performed.

[0116] In this embodiment, to perform phase compensation on RFFT data, it is necessary to define the channel order of the virtual channels and the prior angle information of the target. By adopting a time-division multiplexing working mode, the channel order of multiple virtual channels is determined to meet the requirements for phase compensation of RFFT data.

[0117] Furthermore, the millimeter-wave radar transmits electromagnetic waves through multiple antennas using a timing control method. Based on the chirp interval and chirp number, it determines the transmitting antenna and virtual channel range corresponding to each chirp, thereby determining the time series corresponding to each virtual channel. Based on the time series, it determines the channel order corresponding to at least one frequency domain data point, enabling virtual channel indexing during phase compensation.

[0118] Understandably, in TDM operating mode, by using time-division multiplexing, the transmit and receive signals of multiple antenna virtual channels are physically isolated, reducing crosstalk in the transmitted signals, enabling the rotation radius parameter to be accurately transmitted, reducing the signal-to-noise ratio required for phase compensation, and thus improving the detection accuracy of the phase compensation system.

[0119] Furthermore, the rotation radius of each virtual channel corresponds to the timing data of the virtual channel.

[0120] Furthermore, in millimeter-wave radar signal processing, a virtual channel is an equivalent signal path formed by combining multiple antenna transceivers. Millimeter-wave radar consists of an antenna array composed of multiple virtual channels. The time-domain signal of each virtual channel is sampled independently and then converted into frequency-domain data through RFFT.

[0121] In one specific embodiment, the phase difference can be obtained by constructing a model based on the radar's working principle and installation method, and deriving the path difference introduced during rotation. For example... Figure 6 As shown, a model is constructed using six radars assembled together to complete a 360° scan, with the radars rotating along the central axis.

[0122] For example, the side length of the hexagon is 125mm.

[0123] In traditional radar systems without rotation, signals from different chirs within the same frame from the same antenna are coherent, enabling accurate velocity and angle measurements. However, mechanically scanned radars rotate while emitting electromagnetic waves. Within a short timeframe (one chirp cycle), the angle the radar rotates is small and has minimal impact on the phase, which can be ignored. But over longer timeframes (between different chirs), as the number of chirs transmitted increases, the accumulated angle becomes larger, introducing a significant phase difference between different chirs from the same antenna. This results in incoherent DFFT data, leading to errors in velocity and angle measurements. The following section describes a geometric model based on the rotation of one of the antennas to derive the formula for the introduced phase difference.

[0124] Antenna rotation geometry model as follows Figure 7 As shown, with true north as the y-axis of a rectangular coordinate system, O as the origin, and A as the antenna position, assuming the initial position of the antenna makes a 0-degree angle with the y-axis (true north), antenna A rotates around O to reach point A'; the direction of the incoming wave received by antenna A is... Here, the angle between the incoming wave and the due north direction (y-axis) is defined as the direction of the incoming wave.

[0125] When antenna A rotates to antenna A', the additional phase information introduced is caused by the optical path difference of the AP and the radar rotation angle. The latter can be obtained and compensated for by the motor rotation angle. The phase information introduced by the optical path difference is more complex, and the formula for the phase difference is obtained based on geometric relationships:

[0126] ;

[0127] in, For phase difference, For wavelength, The formula is as follows:

[0128] ;

[0129] ;

[0130] in, The rotation angle of the motor. Let A be the distance between points A and A'. This is the distance between the origin and point A, which is the rotation radius of the virtual channel. The path difference is caused by the change in antenna position. The angle of incidence of the target. For phase difference, Let be the angle between line segment AA' and line segment AP.

[0131] Based on the above derivation, the signal introduced by a certain chirp within one frame (N chirps) of the same antenna is:

[0132] ;

[0133] in, The angle of incidence of the target. For each of the N chirps in a frame, the angles they rotate through are... The path difference is caused by the change in antenna position, where j is the imaginary unit. The operating wavelength of millimeter-wave radar, denoted as the rotation radius of the virtual channel, N as the number of linear frequency modulated signals per frame, e as a natural constant, and n as an integer, n = 0, 1, 2…M-1.

[0134] Therefore, it can be seen that the introduced phase is related to the antenna's rotation radius, the target's incident angle, the radar's rotation speed, and chirp.

[0135] The following analysis examines the impact of rotation on velocity and angle measurement. Assuming a stationary target (without Doppler information), the signal obtained after performing RFFT (Radio Frequency Rendering) is the signal introduced by chirp. DFFT is then performed on this signal to analyze its impact on velocity.

[0136] The simulation parameters are set according to the actual engineering parameters as follows:

[0137] A 4T5R azimuth antenna array with a frame period of 21.504 milliseconds;

[0138] The rotation radii of each antenna are shown in Table 1:

[0139] Table 1

[0140] antenna T1 T2 T3 T4 R1 R2 R3 R4 R5 Rotation radius |OA| (mm) 120 117.6 116.1 125 125 119.6 116.3 116.6 119.7

[0141] The wavelength is 3.7 mm, and the target incident angle range is -20° to 20°.

[0142] Incorporating phase information from the antenna spatial distribution, the formulas for the echo signals of the 20 virtual channels are as follows:

[0143] ;

[0144] in, , i represents the i-th virtual channel. , where n represents the nth chirp, The position of the i-th virtual channel antenna is a known quantity. The angle of incidence of the target. For each of the N chirps in a frame, the angles they rotate through are... The path difference is caused by the change in antenna position, where j is the imaginary unit. The operating wavelength of millimeter-wave radar, Let be the rotation radius of the i-th virtual channel, N be the number of linear frequency modulated signals in each frame, and e be the natural constant.

[0145] For example, k=1,2 4; j=1,2 5.

[0146] The impact of a rotational speed of 90° / s on speed measurement is analyzed. At a rotational speed of 90° / s, Substituting the above simulation parameters, a Fast Fourier Transform (FFT) was performed on the data of a certain channel (FFT was performed on the n-th of the signal) to analyze the effect of the target's rotational speed of 90° / s on the velocity measurement under different incident angles. The simulation results are as follows: Figure 10 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=63.77, respectively.

[0147] Theoretically, the Doppler cell size for a zero-velocity (stationary) target is 33. It can be seen that at certain incident angles, there is a Doppler shift of 1 cell, which corresponds to a velocity measurement error of 1 velocity cell.

[0148] 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 the Range-Doppler Matrix (RDM) data, which determines the location of the peak points. Complex data from the peak points are extracted from all channels, and digital beamforming (DBF) is used for angle measurement. The angle measurement error is statistically analyzed, such as... Figure 11 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 reaches 0.5° at certain angles of incidence.

[0149] The impact of a rotational speed of 60° / s on speed measurement is analyzed. At a rotational speed of 60° / 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 90° / s on the velocity measurement under different incident angles. The simulation results are as follows: Figure 12 As shown in the figure, the horizontal axis represents the Doppler unit, 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=63.9289, respectively.

[0150] Theoretically, the Doppler cell size for a zero-velocity (stationary) target is 33. It can be seen that at certain incident angles, there is a Doppler shift of 1 cell, which corresponds to a velocity measurement error of 1 velocity cell.

[0151] 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.

[0152] 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.

[0153] As can be seen, there is no Doppler shift, and the velocity measurement is accurate.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] According to the normal millimeter-wave radar signal processing procedure, RFFT data is raw data and does not yet contain target angle information, making phase compensation impossible. To solve this problem, two conditions need to be met:

[0159] 1) RFFT data can clearly define the channel order;

[0160] 2) Obtain prior information about the target's angle.

[0161] Based on this condition, a core phase compensation algorithm is proposed. First, since RFFT data clearly defines the channel order, the radar must operate in TDM mode. Therefore, the compensation algorithm proposed in this invention is based on TDM mode mechanically scanned radar. Second, moving targets on inland waterways possess the following two characteristics:

[0162] 1) The ship's speed is very slow (2m / s~7.8m / s), and the mechanical scanning radar has a high frame rate (within 500ms). It can be assumed that the angle of the target will not change much within adjacent refresh cycles.

[0163] 2) Long-range (1Km~4Km) targets are sparse, and there is only one target per range cell in a narrow FOV radar.

[0164] Therefore, prior information about the target angle and distance from the previous scan cycle can be used to match the RFFT data of the current scan cycle for phase compensation. This improves the accuracy of angle measurement for distant targets in the current scan cycle, thereby reducing the large positional deviation caused by angle measurement errors. The specific algorithm steps are as follows:

[0165] 1. The mechanically scanned radar first rotates at a low speed (rotation speed without velocity and angle measurement errors) to scan one cycle and obtain accurate angle, velocity, and distance information of all targets—that is, to obtain prior information about the targets;

[0166] 2. In the next scan cycle, high-speed rotation is used (to increase the frame rate). After the radar acquires a frame of RFFT data, phase compensation is performed based on the prior information about the target from the first step. Specific steps:

[0167] Based on the current angle of the motor rotation Match all prior information about the target angle obtained in the first step, and filter out the target angles within... (in Targets within the radar's azimuth field of view (FOV) and at a distance of [1 km, 4 km] are called matched targets;

[0168] Based on the distance information of the matching target, the data corresponding to the target distance unit in the current RFFT data is filtered out. This data is the RFFT data of all chirps and all channels in the current frame.

[0169] Phase compensation is performed based on the prior angle information of the target. For example, the prior distance information of the target is the m-th distance cell, and the RFFT data of this distance cell is... The compensation formula is as follows:

[0170] ;

[0171] 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 N 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. .

[0172] 3. Following the method in step 2, perform phase compensation on the RFFT data of all matched targets, and then process the data according to the traditional TDM mode signal processing algorithm to update the target's distance, angle, and velocity information.

[0173] 4. The radar rotates at high speed to scan the next cycle. The target prior information in this cycle comes from the target information in the previous scanning cycle. The compensation method is the same as in step 2, until the Kth high-speed scanning cycle is completed.

[0174] 5. In the (K+1)th scan cycle, a low-speed rotation mode is used. Similar to step 1, accurate prior information of the target can be obtained without phase compensation. This step is used to ensure the accuracy of prior information of newly added targets in the scene.

[0175] 6. Repeat steps 2-4.

[0176] like Figure 8 As shown, the phase compensation method includes:

[0177] Step S400: Obtain prior information about the target;

[0178] Step S402: The radar rotates to angle θ to determine the RFFT data;

[0179] Step S404: Match the target with the θ angle to obtain the matching target;

[0180] Step S406: Match the target with the corresponding distance in the RFFT;

[0181] Step S408: RFFT phase compensation;

[0182] Step S410: Update target information.

[0183] After updating the target information in step S410, proceed to step S400: obtain the target prior information.

[0184] To complete a target scan within a specific angular range, a mechanically scanned radar transmits several frames of electromagnetic waves, known as a scan cycle. The processing flowchart for each frame within each scan cycle is shown below. Figure 9 As shown:

[0185] Step S500: The radar emits electromagnetic waves;

[0186] Step S502: Analog-to-digital conversion;

[0187] Step S504: Perform a distance fast Fourier transform on the analog-to-digital conversion data;

[0188] Step S506: Determine whether the radar is rotating slowly;

[0189] If so, proceed to step S510: Doppler Fast Fourier Transform;

[0190] If not, proceed to step S508: perform phase compensation based on the target prior information from the previous scan cycle;

[0191] Step S512: Traditional distance and angle measurement processing;

[0192] Step S514: Retain the distance, velocity, and angle information of the target in this frame;

[0193] Step S516: Determine whether the scanning cycle for this frame is complete;

[0194] If so, proceed to step S518: refresh the target prior information;

[0195] If not, no processing is performed and the process continues to the next frame, i.e., step S500.

[0196] By using the phase compensation method of this invention, high-precision target position information can be obtained in inland waterway shipborne air-scanned millimeter-wave radar, where the angle measurement error of a distant target causes an angle measurement error of tens of meters.

[0197] like Figure 5 As shown in the embodiment of this application, a phase compensation device 900 is also provided for a phase compensation system. The phase compensation system includes at least one millimeter-wave radar and a motor, which are connected by a drive mechanism. The millimeter-wave radar rotates around the central axis of the motor by rotating the motor. The phase compensation device includes: a low-speed scanning module 902, used to control the millimeter-wave radar to rotate and scan at a first rotation speed to complete a first cycle scan; an information acquisition module 904, used to determine the target prior information within the first cycle; a frequency domain data module 906, used to determine a frequency domain database based on the target prior information; a high-speed scanning module 908, used to switch the millimeter-wave radar to rotate at a second rotation speed to complete a second cycle scan, where the second rotation speed is greater than the first rotation speed; a data acquisition module 910, used to acquire the frequency domain data of the current frame corresponding to the second cycle; a target matching module 912, used to determine the matching target; a phase compensation module 914, used to perform phase compensation on the frequency domain data of the range cell corresponding to the matching target; and a data update module 916, used to control the millimeter-wave radar to rotate and scan at the first rotation speed after completing phase compensation for multiple second cycles, and update the frequency domain database.

[0198] The phase compensation device 900 provided by this invention controls the rotation of the motor to drive the millimeter-wave radar to rotate and scan at different speeds. At low speeds, accurate prior information about the target is obtained. Based on this, in the next scanning cycle when the radar rotates at high speed, the prior information about the target angle and range in the previous scanning cycle is used to match the RFFT data of the current scanning cycle. Phase compensation is performed on the RFFT data in the range cell, thereby reducing the position deviation of the distant target caused by the angle measurement error, improving the accuracy of the angle measurement of the distant target in the current scanning cycle, and obtaining high-precision target position information.

[0199] like Figure 6 As shown, this application embodiment also provides a phase compensation system 200, including at least one millimeter-wave radar 202 and a motor 204. The millimeter-wave radar 202 and the motor 204 are connected by a transmission, and the millimeter-wave radar 202 is driven to rotate around the central axis of the motor 204 by the rotation of the motor 204. The phase compensation system 200 also includes a phase compensation device.

[0200] In this embodiment, the millimeter-wave radar 202 is fixed to the motor 204. The motor 204 rotates at a certain speed, driving the millimeter-wave radar 202 to rotate and scan targets within a certain angular range (generally much larger than the field of view of the millimeter-wave radar 202). Point cloud information of targets within the scanned range is acquired, including distance, speed, and angle information. This mechanically scanned millimeter-wave radar is used on inland waterway vessels to observe targets at a long distance (4 km) within a certain angular range.

[0201] The phase compensation method requires constructing a signal model based on the mechanical scanning installation structure and radar working principle, and theoretically analyzing the formula for the introduced phase difference to compensate for the phase difference.

[0202] like Figure 16 As shown, this application embodiment also provides an electronic device 1000, including a processor 1110, a memory 1109, and a program or instructions stored in the memory 1109 and executable on the processor 1110. When the program or instructions are executed by the processor 1110, they implement the various processes of the above-described phase compensation method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0203] Optionally, the processor 1110 is used to control the millimeter-wave radar to rotate at a first rotational speed to complete the first cycle of scanning;

[0204] Optionally, the processor 1110 is also used to determine the target prior information within the first cycle;

[0205] Optionally, the processor 1110 is also configured to determine the frequency domain database based on the target prior information;

[0206] Optionally, the processor 1110 is also used to switch the millimeter-wave radar to a second rotation speed to complete the second cycle of scanning;

[0207] Optionally, the processor 1110 is also used to acquire frequency domain data of the current frame corresponding to the second cycle;

[0208] Optionally, the processor 1110 is also used to determine the matching target;

[0209] Optionally, the processor 1110 is also used to perform phase compensation on the frequency domain data of the distance cell corresponding to the matching target;

[0210] Optionally, the processor 1110 is also configured to control the millimeter-wave radar to rotate and scan at a first rotational speed after completing phase compensation for multiple second cycles, thereby updating the frequency domain database.

[0211] The memory 1109 can be used to store software programs and various data. The memory 1109 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 1109 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1109 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0212] This application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the phase compensation method embodiments described above, and can achieve the same technical effect. To avoid repetition, it will not be described again here. In addition, the chip improves the data processing speed corresponding to the method in this application.

[0213] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0214] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0215] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0216] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0217] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

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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