Measurement data calibration method and device, electronic equipment and program product

Abstract

The invention discloses a measurement data calibration method and device, electronic equipment and a program product, and relates to the technical field of communication and radar, and the calibration method comprises the steps: employing a radar to measure a target object to obtain initial data, employing a preset device to measure the radar to obtain attitude angle data, the initial data at least comprises the azimuth angle and the pitch angle of the target object and the reflection echo duration of the radar; obtaining the deployment height of the radar, and calculating the initial height of the target object based on the light velocity, the reflection echo duration, the pitch angle and the deployment height; and constructing a target rotation matrix based on the attitude angle data, calibrating the initial data based on the target rotation matrix to obtain target data, and calibrating the initial height based on the target data to obtain the target height. According to the invention, the technical problem of low precision of radar detection data in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication and radar, in particular to a calibration method of measurement data, a device thereof, an electronic device and a program product. BACKGROUND

[0002] In the field of airspace management and low-altitude weather monitoring, the demand for low-altitude target radars and multifunctional radars considering low-altitude microclimate is increasing, and communication towers, as widely distributed public infrastructure, have the advantage of "point and wide" coverage, providing sites and power support for the deployment of radar equipment. However, due to the installation of radars on communication towers, the tower deformation of communication towers and the horizontal displacement of communication towers under wind load, it is easy to cause deviation of radar detection data.

[0003] At present, there is no effective solution to the above problems. SUMMARY

[0004] The embodiments of the present application provide a calibration method of measurement data, a device thereof, an electronic device and a program product, to at least solve the technical problem of low precision of radar detection data in related technologies.

[0005] According to an aspect of an embodiment of the present application, a calibration method of measurement data is provided, comprising: measuring a target object by using a radar to obtain initial data, and measuring the radar by using a preset device to obtain attitude angle data, wherein the radar and the preset device measure at the same time point, and the initial data at least includes: azimuth angle, elevation angle of the target object and reflection echo duration of the radar; obtaining the deployment height of the radar, and calculating the initial height of the target object based on the speed of light, the reflection echo duration, the elevation angle and the deployment height; constructing a target rotation matrix based on the attitude angle data, and calibrating the initial data based on the target rotation matrix to obtain target data, and calibrating the initial height based on the target data to obtain a target height.

[0006] Further, the step of calculating the initial height of the target object based on the speed of light, the reflection echo duration, the elevation angle and the deployment height comprises: calculating the initial distance between the radar and the target object based on the reflection echo duration and the speed of light; calculating the initial height based on the initial distance, the elevation angle and the deployment height.

[0007] Further, the attitude angle data at least includes: azimuth offset angle and elevation offset angle, and the step of constructing a target rotation matrix based on the attitude angle data comprises: constructing a first preset rotation matrix based on the azimuth offset angle; constructing a second preset rotation matrix based on the elevation offset angle; and multiplying the first preset rotation matrix and the second preset rotation matrix to obtain the target rotation matrix.

[0008] Further, the step of calibrating the initial data based on the target rotation matrix to obtain the target data comprises: converting the initial data to obtain converted data; multiplying the target rotation matrix with the converted data to obtain calibrated data; and determining the target data based on the calibrated data.

[0009] Further, before the step of measuring the target object by using the radar to obtain the initial data, the method further comprises: constructing a radar support platform at a preset position of the communication tower, and deploying the radar on the radar support platform, wherein the radar is internally installed with a preset device; and connecting the radar and the cable of the preset device with the ground cabinet according to the hollow tower body of the communication tower.

[0010] Further, the step of deploying the radar on the radar support platform comprises: deploying the radar and the preset device in the same base on the radar support platform.

[0011] Further, before the step of constructing the radar support platform at the preset position of the communication tower, the method further comprises: constructing a preset function, wherein the preset function at least comprises: a distance parameter and an angle parameter, the distance parameter is used to represent the length of the radar support platform, and the angle parameter is used to represent the angle of the radar being blocked by the communication tower, and the angle is determined based on the azimuth relationship between the radar and the communication tower; and determining the target length of the radar support platform based on the preset function.

[0012] According to another aspect of the embodiments of the present application, a calibration device for measuring data is also provided, comprising: a measuring unit, configured to measure a target object by using a radar to obtain initial data, and measure the radar by using a preset device to obtain attitude angle data, wherein the radar and the preset device measure at the same time point, and the initial data at least comprises: an azimuth angle, a pitch angle of the target object, and a reflection echo time length of the radar; a calculating unit, configured to obtain a deployment height of the radar, and calculate an initial height of the target object based on the speed of light, the reflection echo time length, the pitch angle, and the deployment height; and a calibration unit, configured to construct a target rotation matrix based on the attitude angle data, calibrate the initial data based on the target rotation matrix to obtain target data, and calibrate the initial height based on the target data to obtain a target height.

[0013] Further, the calculating unit comprises: a first calculating module, configured to calculate an initial distance between the radar and the target object based on the reflection echo time length and the speed of light; and a second calculating module, configured to calculate the initial height based on the initial distance, the pitch angle, and the deployment height.

[0014] Furthermore, the attitude angle data includes at least: azimuth offset angle and pitch offset angle, and the calibration unit includes: a first construction module for constructing a first preset rotation matrix based on the azimuth offset angle; a second construction module for constructing a second preset rotation matrix based on the pitch offset angle; and a third calculation module for multiplying the first preset rotation matrix and the second preset rotation matrix to obtain the target rotation matrix.

[0015] Furthermore, the calibration unit includes: a first conversion module for converting the initial data to obtain the converted data; a fourth calculation module for multiplying the target rotation matrix with the converted data to obtain the calibrated data; and a first determination module for determining the target data based on the calibrated data.

[0016] Furthermore, the calibration device for measurement data also includes: a third construction module, used to construct a radar support platform at a preset location on the communication tower before using radar to measure the target object and obtain initial data, and to deploy a radar on the radar support platform, wherein preset equipment is installed inside the radar; and a first connection module, used to connect the radar and the cables of the preset equipment to the ground cabinet according to the hollow tower body of the communication tower.

[0017] Furthermore, the third building module includes: a first deployment submodule, used to deploy the radar and pre-set equipment on the same base of the radar support platform.

[0018] Furthermore, the calibration device for measurement data also includes: a fourth construction module, used to construct a preset function before constructing the radar support platform at a preset location on the communication tower, wherein the preset function includes at least: a distance parameter and an angle parameter, the distance parameter being used to characterize the length of the radar support platform, and the angle parameter being used to characterize the angle at which the radar is blocked by the communication tower, the angle being determined based on the azimuth relationship between the radar and the communication tower; and a second determination module, used to determine the target length of the radar support platform based on the preset function.

[0019] According to another aspect of the embodiments of this application, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program, which, when executed by a processor, implements the calibration method for any of the above-mentioned measurement data.

[0020] According to another aspect of the embodiments of this application, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the calibration method for any of the above-described measurement data.

[0021] In this invention, radar is used to measure the target object to obtain initial data, and a preset device is used to measure the radar to obtain attitude angle data and obtain the radar deployment height. Based on the speed of light, the duration of reflected echo, the pitch angle, and the deployment height, the initial height of the target object is calculated. Based on the attitude angle data, a target rotation matrix is ​​constructed, and based on the target rotation matrix, the initial data is calibrated to obtain target data. Based on the target data, the initial height is calibrated to obtain the target height. This solves the technical problem of low accuracy of radar detection data in related technologies.

[0022] In this invention, radar and integrated high-precision preset equipment are used for time-synchronized measurement, enabling the radar and preset equipment to collect data at the same time point. This yields the real-time azimuth, elevation, and radar echo duration (i.e., initial data) of the target object, as well as the radar's attitude angle data. Simultaneously, by obtaining the radar's specific deployment height on the communication tower and combining the speed of light and the echo duration, the initial height of the target object is calculated. To reduce measurement errors introduced by communication tower swaying or deformation, a target rotation matrix can be constructed based on the attitude angle data. Then, this matrix is ​​used to calibrate the radar's original measurement data (i.e., initial data), effectively compensating for azimuth and elevation measurement errors caused by dynamic changes in the tower, resulting in more accurate target data. Subsequently, based on the target data, the initial height of the target object is calibrated to obtain the calibrated target height, thus improving the radar's detection accuracy in complex environments. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0024] Figure 1 A hardware block diagram of a computer terminal (or mobile device) for implementing a calibration method for measurement data is shown.

[0025] Figure 2 This is a flowchart of a calibration method for measurement data according to Embodiment 1 of this application;

[0026] Figure 3 This is a flowchart of an optional data acquisition and calibration method according to an embodiment of this application;

[0027] Figure 4 This is a schematic diagram of an optional relationship between the tower body and the support arm according to an embodiment of this application;

[0028] Figure 5 This is a schematic diagram of an optional radar bridge platform according to an embodiment of this application;

[0029] Figure 6 This is a schematic diagram of an optional measurement data calibration device according to an embodiment of this application;

[0030] Figure 7 This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] It should be noted that all related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, and displayed data) collected and involved in this invention are information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of this data comply with the relevant laws, regulations, and standards of the relevant regions, necessary confidentiality measures have been taken, and it does not violate public order and good morals. Corresponding operation entry points are provided for users to choose to authorize or refuse. For example, this system has an interface with relevant users or organizations. Before obtaining relevant information, a request to obtain the information needs to be sent to the aforementioned user or organization through the interface, and the relevant information is obtained only after receiving consent from the aforementioned user or organization.

[0034] In this invention, existing communication tower resources are utilized. By installing a radar bridge platform (i.e., support arm) in the middle section of the tower, the redundant construction of dedicated radar towers is avoided. At the same time, through shielding angle analysis, the balance point of the support arm spacing (i.e., the length of the radar bridge platform) is determined. While ensuring sufficient radar detection range, structural stability and construction cost are taken into account, achieving the optimal configuration of radar detection performance and resources, and reducing the construction cost of radar sites.

[0035] The present invention will now be described in detail with reference to various embodiments.

[0036] Example 1

[0037] According to an embodiment of this application, an embodiment of a calibration method for measurement data is also provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0038] The method embodiment provided in Embodiment 1 of this application can be executed on a mobile terminal, computer terminal, or similar computing device. Figure 1 A hardware block diagram of a computer terminal (or mobile device) for implementing a calibration method for measurement data is shown. Figure 1 As shown, computer terminal 10 (or mobile device) may include one or more ( Figure 1 The processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device 106 for communication functions may also be included. In addition, it may include: a display, a keyboard, a cursor control device, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera, wherein the network interface can be connected to wired and / or wireless networks. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0039] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10 (or mobile device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0040] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the calibration method for measurement data in this embodiment. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned calibration method for measurement data. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0041] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0042] The display may be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10 (or mobile device).

[0043] Under the aforementioned operating environment, this application provides the following: Figure 2 The calibration method for the measurement data shown. Figure 2 This is a flowchart of the calibration method for measurement data according to Embodiment 1 of this application, as follows: Figure 2 As shown, the method includes the following steps:

[0044] Step S201: The target object is measured by radar to obtain initial data, and the radar is measured by preset equipment to obtain attitude angle data. The radar and the preset equipment are measured at the same time. The initial data includes at least the azimuth angle, elevation angle and radar reflection echo duration of the target object.

[0045] In this embodiment of the invention, the initial data is obtained by the radar measuring the target object, including the azimuth angle, elevation angle and reflection echo duration of the target object. The preset device can be an inertial navigation module, which is used to monitor the attitude angle changes of the radar in real time, including data such as azimuth offset angle and elevation offset angle.

[0046] Optionally, the radar control computing server can provide unified time synchronization to the radar and inertial navigation module, enabling the radar and preset equipment to perform measurements at the same time point, thereby achieving data synchronization in the time dimension.

[0047] Step S202: Obtain the radar's deployment altitude and calculate the initial altitude of the target object based on the speed of light, the duration of the reflected echo, the elevation angle, and the deployment altitude.

[0048] In this embodiment of the invention, the deployment height is the vertical height of the radar above the ground, which can be denoted as h, and the reflection echo duration is the time from when the radar transmits electromagnetic waves to when it receives the reflected signal, which can be denoted as h. Based on the speed of light c, the duration of the reflected echo, and the pitch angle And the deployment height, calculate the initial height of the target object.

[0049] Step S203: Based on the attitude angle data, construct the target rotation matrix, and based on the target rotation matrix, calibrate the initial data to obtain the target data. Based on the target data, calibrate the initial height to obtain the target height.

[0050] Optionally, when a communication tower deforms or sways due to environmental factors such as wind loads and temperature changes, the radar reference coordinate system mounted on it will exhibit attitude deviations relative to the ideal geographic horizontal coordinate system. These deviations are primarily manifested as azimuth and elevation offsets. Although a roll offset also theoretically exists, its impact is negligible because radars are typically mounted on a cable tray platform in the middle of the communication tower, which has high structural rigidity in the roll direction. In this case, the azimuth and elevation angles measured by the radar are values ​​relative to the deflected radar body coordinate system, not the true angles in the ideal reference coordinate system. Therefore, coordinate transformation can be used to compensate the measured values ​​back to the correct reference.

[0051] In this embodiment of the invention, the target rotation matrix is ​​a matrix constructed from azimuth and elevation offset angles, used to describe the rotation of the radar coordinate system relative to an ideal reference coordinate system. Based on the target rotation matrix, initial data can be calibrated to obtain target data (i.e., calibrated radar measurement data), and based on the target data, the initial altitude can be calibrated to obtain the target altitude (i.e.,...). , It is the pitch angle obtained after calibration. It is the initial distance between the radar and the target object, which can be calculated based on the duration of the reflected echo and the speed of light.

[0052] Figure 3 This is a flowchart of an optional data acquisition and calibration process according to an embodiment of this application, such as... Figure 3 As shown, the radar control and computing server provides unified time synchronization (i.e., assigns a unified timestamp) to the radar body and inertial navigation module through a switch, ensuring that the data is synchronized in the time dimension. The radar detection data (including but not limited to the distance, speed, angle, etc. of the detected target) and the radar tilt angle information are transmitted to the switch through optical fiber and shielded network cable, respectively, and then distributed to the radar control and computing server through the switch. The self-calibration of the detection data is achieved through a compensation algorithm, thereby improving the measurement accuracy of motion parameters such as target speed, distance, and height.

[0053] In summary, by acquiring initial target data and radar attitude angle data at the same time point, calculating the initial height of the target based on the initial data and the radar's deployment height, and constructing a target rotation matrix based on the attitude angle data, the radar measurement data is calibrated to eliminate errors caused by factors such as communication tower swaying and deformation, resulting in more accurate target data. Furthermore, the initial height is corrected based on the target data to obtain the final target height. This achieves high-precision radar measurement on the communication tower, thereby solving the technical problem of low accuracy in radar detection data in related technologies.

[0054] In order to accurately obtain the initial altitude, in the calibration method of measurement data provided in Embodiment 1 of this application, the initial distance between the radar and the target object is calculated based on the duration of the reflected echo and the speed of light; the initial altitude is calculated based on the initial distance, the elevation angle and the deployment altitude.

[0055] In this embodiment of the invention, the initial distance between the radar and the target object is calculated based on the duration of the reflected echo and the speed of light (i.e., Then, based on the initial distance, pitch angle, and deployment altitude, calculate the initial altitude (i.e., ).

[0056] The attitude angle data includes at least the azimuth offset angle and the pitch offset angle. In order to accurately obtain the target rotation matrix, in the calibration method of measurement data provided in Embodiment 1 of this application, a first preset rotation matrix is ​​constructed based on the azimuth offset angle; a second preset rotation matrix is ​​constructed based on the pitch offset angle; and the first preset rotation matrix and the second preset rotation matrix are multiplied to obtain the target rotation matrix.

[0057] In this embodiment of the invention, attitude angle data can be measured in real time by the inertial navigation module, including at least the azimuth offset angle. and pitch offset angle Based on the azimuth offset angle, a first preset rotation matrix (i.e., the azimuth rotation matrix around the Z-axis) can be constructed. Based on the pitch offset angle, a second preset rotation matrix (i.e., the pitch rotation matrix around the Y-axis) can be constructed. Then, by multiplying the first preset rotation matrix and the second preset rotation matrix, the target rotation matrix can be obtained (i.e., ).

[0058] In order to accurately determine the target data, in the calibration method for measurement data provided in Embodiment 1 of this application, the initial data is transformed to obtain the transformed data; the target rotation matrix is ​​multiplied with the transformed data to obtain the calibrated data; and the target data is determined based on the calibrated data.

[0059] In this embodiment of the invention, trigonometric functions can be used to convert the azimuth, elevation, and initial range measured and calculated by radar into rectangular coordinate components (i.e., the converted data): , , Cartesian coordinate components can be written in the form of position vectors: The calibrated data can be obtained by multiplying the target rotation matrix by the transformed data. :

[0060] ;

[0061] therefore, The three rectangular coordinate components x, y, and z are as follows: , , It can be obtained from the calibrated data. Inverse kinematics can be used to obtain the target data (e.g., azimuth) of the target object in an ideal reference coordinate system. With pitch angle , , This improves the radar's detection accuracy in dynamic environments.

[0062] In order to achieve accurate radar deployment, in the calibration method for measurement data provided in Embodiment 1 of this application, a radar support platform is constructed at a preset location of the communication tower, and a radar is deployed on the radar support platform. The radar is equipped with preset equipment. Based on the hollow tower body of the communication tower, the cables of the radar and the preset equipment are connected to the ground cabinet.

[0063] In this embodiment of the invention, the communication tower can serve as a radar deployment carrier. A radar support platform can be built at a preset location on the communication tower (such as the middle section of the communication tower, the specific height of which can be determined according to the radar type and the structure of the communication tower), and the radar can be deployed on the radar support platform. The radar and the cables of the preset equipment can be connected to the ground cabinet through the hollow space inside the communication tower (i.e., the hollow tower body). This not only facilitates construction and maintenance but also reduces the impact of the external environment on the equipment.

[0064] Optionally, the pre-installed device (i.e., the inertial navigation module) can be installed inside the radar and encapsulated together with the radar components in a housing. Since the inertial navigation module is directly embedded in the radar body, the two work together more closely, which helps to improve the data processing efficiency and reliability of the entire radar system.

[0065] In order to improve the maintenance efficiency of the radar system, in the calibration method of measurement data provided in Embodiment 1 of this application, the radar and the preset equipment are deployed on the same base of the radar support platform.

[0066] Optionally, depending on the size and weight of the radar and the specifications of the pre-installed equipment, the pre-installed equipment can be installed in the same base as the radar, providing greater independence. If the radar needs to be replaced or upgraded, only the radar equipment needs to be replaced without replacing the inertial navigation module at the same time, improving system maintenance efficiency. When performance problems occur, it is easier to determine whether the problem lies with the radar itself or the inertial navigation module, which helps to quickly locate the fault point and reduce fault recovery time.

[0067] In order to accurately determine the target length of the radar support platform, in the calibration method of measurement data provided in Embodiment 1 of this application, a preset function is constructed. The preset function includes at least a distance parameter and an angle parameter. The distance parameter is used to characterize the length of the radar support platform, and the angle parameter is used to characterize the angle at which the radar is blocked by the communication tower. The angle is determined based on the azimuth relationship between the radar and the communication tower. Based on the preset function, the target length of the radar support platform is determined.

[0068] In this embodiment of the invention, since the radar is installed on the radar support platform of the communication tower, the communication tower itself will create a certain degree of obstruction in the radar's field of view. To improve the radar's coverage and detection efficiency, and to avoid the influence of the communication tower on the radar's detection range, it is necessary to determine the length of the radar support platform, thereby deploying the radar at the outer end of the radar support platform (i.e., the end furthest from the communication tower).Figure 4 As shown, Figure 4 This is a schematic diagram of an optional tower and arm spacing relationship according to an embodiment of this application, showing the angle at which the radar is blocked. Distance between tower support arm and tower body There is an influence relationship between (i.e., the length of the radar support platform), where 600 is the diameter of the communication tower (i.e., 600mm) and 300 is the radius (i.e., 300mm).

[0069] In this embodiment of the invention, a preset function (i.e.) can be constructed. ) Analyze the shading angle (i.e., the shading angle) ) and the length of the radar support platform (i.e., the distance between the outriggers) The relationship between the two parameters is such that the preset function includes at least a distance parameter and an angle parameter. The distance parameter represents the length of the radar support platform, and the angle parameter represents the angle at which the radar is blocked by the communication tower. Based on the preset function, the arm spacing can be determined. When the shading angle is in the range of 1000mm to 2000mm, The descent rate tends to level off, indicating that increasing the spacing (i.e., increasing the length of the radar support platform) within this range has limited effect on improving the detection range. Therefore, the intermediate value of 1500mm can be selected as the spacing value (i.e., the target length, which can be selected by the user). Figure 5 This is a schematic diagram of an optional radar bridge platform according to an embodiment of this application, as shown below. Figure 5 As shown, a 1.5-meter radar bridge platform (i.e., radar support platform) can be installed in the middle of the communication tower. The radar body and inertial navigation module are integrated and installed on the platform, and all cables are led to the ground cabinet through the hollow part of the communication tower.

[0070] Through mathematical modeling, it is possible to accurately predict and evaluate the obstruction of the radar by the tower at different distances, so that the radar has the widest possible detection field of view, while maintaining the stability and economic rationality of the structure. This not only maximizes the radar's detection performance and avoids the reduction of the effective detection range due to tower obstruction, but also reduces construction and maintenance costs by optimizing the length of the radar support platform.

[0071] The calibration method for measurement data provided in this application can acquire radar detection data and radar attitude angle data through a time-synchronized data acquisition method. A compensation algorithm is used to effectively correct measurement errors introduced by the swaying of the communication tower using the target rotation matrix, ensuring the accuracy of target azimuth, elevation, and altitude information, and improving the accuracy of radar detection data. Furthermore, cable transmission can be achieved through the hollow tower body of the communication tower, realizing an effective connection between the radar and the ground control unit. Simultaneously, by constructing a preset function to accurately calculate the obstruction angle between the radar and the tower body, the optimal length of the radar support platform and the radar installation position are determined, reducing the obstruction of the radar detection range by the communication tower and improving radar detection performance.

[0072] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0073] Example 2

[0074] This application also provides a calibration device for measurement data. It should be noted that the calibration device for measurement data in this application can be used to execute the calibration method for measurement data provided in this application. The calibration device for measurement data provided in this application is described below.

[0075] According to an embodiment of this application, an apparatus for implementing the calibration method for the above-described measurement data is also provided. Figure 6 This is a schematic diagram of an optional measurement data calibration device according to an embodiment of this application, such as... Figure 6 As shown, the calibration device for the measurement data may include: a measurement unit 60, a calculation unit 61, and a calibration unit 62.

[0076] The measurement unit 60 is used to measure the target object with radar to obtain initial data, and to measure the radar with preset equipment to obtain attitude angle data. The radar and the preset equipment are measured at the same time. The initial data includes at least the azimuth angle, elevation angle and radar reflection echo duration of the target object.

[0077] The calculation unit 61 is used to obtain the deployment altitude of the radar and calculate the initial altitude of the target object based on the speed of light, the duration of the reflected echo, the elevation angle, and the deployment altitude.

[0078] The calibration unit 62 is used to construct a target rotation matrix based on attitude angle data, calibrate the initial data based on the target rotation matrix to obtain target data, and calibrate the initial height based on the target data to obtain the target height.

[0079] The calibration device for measurement data provided in this application embodiment can use the measurement unit 60 to measure the target object with radar to obtain initial data, and use a preset device to measure the radar to obtain attitude angle data. The calculation unit 61 can obtain the deployment height of the radar, and calculate the initial height of the target object based on the speed of light, the duration of the reflected echo, the pitch angle, and the deployment height. The calibration unit 62 can construct a target rotation matrix based on the attitude angle data, and calibrate the initial data based on the target rotation matrix to obtain target data. Based on the target data, the initial height can be calibrated to obtain the target height.

[0080] Optionally, the calculation unit 61 includes: a first calculation module for calculating the initial distance between the radar and the target object based on the duration of the reflected echo and the speed of light; and a second calculation module for calculating the initial altitude based on the initial distance, the elevation angle, and the deployment altitude.

[0081] Optionally, the attitude angle data includes at least: azimuth offset angle and pitch offset angle. The calibration unit 62 includes: a first construction module for constructing a first preset rotation matrix based on the azimuth offset angle; a second construction module for constructing a second preset rotation matrix based on the pitch offset angle; and a third calculation module for multiplying the first preset rotation matrix and the second preset rotation matrix to obtain the target rotation matrix.

[0082] Optionally, the calibration unit 62 includes: a first conversion module for converting the initial data to obtain the converted data; a fourth calculation module for multiplying the target rotation matrix with the converted data to obtain the calibrated data; and a first determination module for determining the target data based on the calibrated data.

[0083] Optionally, the calibration device for measurement data further includes: a third construction module, used to construct a radar support platform at a preset location on the communication tower and deploy a radar on the radar support platform before using radar to measure the target object and obtain initial data, wherein preset equipment is installed inside the radar; and a first connection module, used to connect the radar and the cables of the preset equipment to the ground cabinet according to the hollow tower body of the communication tower.

[0084] Optionally, the third building module includes: a first deployment submodule for deploying the radar and pre-set equipment on the same base of the radar support platform.

[0085] Optionally, the calibration device for measurement data further includes: a fourth construction module, used to construct a preset function before constructing the radar support platform at a preset location on the communication tower, wherein the preset function includes at least: a distance parameter and an angle parameter, the distance parameter being used to characterize the length of the radar support platform, the angle parameter being used to characterize the angle at which the radar is blocked by the communication tower, and the angle being determined based on the azimuth relationship between the radar and the communication tower; and a second determination module, used to determine the target length of the radar support platform based on the preset function.

[0086] The calibration device for the aforementioned measurement data may also include a processor and a memory. The aforementioned measurement unit 60, calculation unit 61, calibration unit 62, etc., are all stored in the memory as program units, and the processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0087] The aforementioned processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured. By adjusting kernel parameters, a target rotation matrix is ​​constructed based on attitude angle data. Based on the target rotation matrix, the initial data is calibrated to obtain target data. Based on the target data, the initial height is calibrated to obtain the target height.

[0088] The aforementioned memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0089] It should be noted that the measurement unit 60, calculation unit 61, and calibration unit 62 mentioned above correspond to steps S201 to S203 in Embodiment 1. The instances and application scenarios implemented by the above units and the corresponding steps are the same, but are not limited to the content disclosed in Embodiment 1. It should be noted that the above units can be hardware or software components stored in memory (e.g., memory 104) and processed by one or more processors (e.g., processors 102a, 102b, ..., 102n). The above units can also be part of a device and run in the computer terminal 10 provided in Embodiment 1.

[0090] Example 3

[0091] Embodiments of this application may provide a computer terminal, which may be any computer terminal device in a group of computer terminals. Optionally, in this embodiment, the aforementioned computer terminal may also be replaced with a mobile terminal or an electronic device, etc.

[0092] Optionally, in this embodiment, the computer terminal may be located in at least one of a plurality of network devices in a computer network.

[0093] In this embodiment, the computer terminal described above can execute the program code for the following steps in the calibration method for measurement data: measuring the target object with radar to obtain initial data, and measuring the radar with a preset device to obtain attitude angle data, wherein the radar and the preset device are measured at the same time point, and the initial data includes at least: the azimuth angle, elevation angle, and radar reflection echo duration of the target object; obtaining the deployment height of the radar, and calculating the initial height of the target object based on the speed of light, reflection echo duration, elevation angle, and deployment height; constructing a target rotation matrix based on the attitude angle data, calibrating the initial data based on the target rotation matrix to obtain target data, and calibrating the initial height based on the target data to obtain the target height.

[0094] Optionally, the aforementioned computer terminal can execute program code for the following steps in the calibration method for measurement data: calculating the initial distance between the radar and the target object based on the duration of the reflected echo and the speed of light; and calculating the initial altitude based on the initial distance, elevation angle, and deployment altitude.

[0095] Optionally, the computer terminal described above can execute the program code for the following steps in the calibration method for measurement data: constructing a first preset rotation matrix based on the azimuth offset angle; constructing a second preset rotation matrix based on the pitch offset angle; and multiplying the first preset rotation matrix and the second preset rotation matrix to obtain the target rotation matrix.

[0096] Optionally, the computer terminal described above can execute program code for the following steps in the calibration method for measurement data: converting the initial data to obtain the converted data; multiplying the target rotation matrix with the converted data to obtain the calibrated data; and determining the target data based on the calibrated data.

[0097] Optionally, the aforementioned computer terminal can execute program code for the following steps in the calibration method for measurement data: constructing a radar support platform at a preset location on the communication tower, and deploying a radar on the radar support platform, wherein preset equipment is installed inside the radar; and connecting the radar and the cables of the preset equipment to the ground cabinet according to the hollow tower body of the communication tower.

[0098] Optionally, the aforementioned computer terminal can execute program code for the following steps in the calibration method for measurement data: deploying the radar and the preset equipment on the same base of the radar support platform.

[0099] Optionally, the aforementioned computer terminal can execute program code for the following steps in the calibration method for measurement data: constructing a preset function, wherein the preset function includes at least: a distance parameter and an angle parameter, the distance parameter being used to characterize the length of the radar support platform, the angle parameter being used to characterize the angle at which the radar is blocked by the communication tower, the angle being determined based on the azimuth relationship between the radar and the communication tower; and determining the target length of the radar support platform based on the preset function.

[0100] Optionally, Figure 7 This is a structural block diagram of an electronic device according to an embodiment of this application. Figure 7 As shown, the electronic device may include: one or more ( Figure 7 (Only one is shown) processor 702, memory 704, memory controller, and peripheral interface, wherein the peripheral interface is connected to the radio frequency module, audio module and display.

[0101] The memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the calibration method and apparatus for measurement data in this embodiment. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby realizing the aforementioned calibration method for measurement data. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0102] The processor can access the information and application program stored in the memory via the transmission device to execute the steps described above in the calibration method for the aforementioned measurement data.

[0103] The embodiments of this application provide a calibration scheme for measurement data. By deploying a radar on a communication tower and integrating a high-precision inertial navigation module, the radar attitude change on the communication tower can be monitored in real time, and a rotation matrix can be constructed to achieve dynamic error compensation for the original radar detection data. Even under adverse weather conditions, such as strong winds and temperature fluctuations, the radar can still maintain the high accuracy and reliability of its detection data, improving the radar's positioning capability and data quality in dynamic environments, thereby solving the technical problem of low accuracy of radar detection data in related technologies.

[0104] Those skilled in the art will understand that Figure 7The structure shown is for illustrative purposes only. Electronic devices can also be terminal devices such as smartphones, tablets, PDAs, and mobile internet devices (MIDs). Figure 7 This does not limit the structure of the aforementioned electronic device. For example, electronic devices may also include components that are more... Figure 7 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 7 The different configurations shown.

[0105] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0106] Example 4

[0107] Embodiments of this application also provide a storage medium. Optionally, in this embodiment, the storage medium can be used to store the program code executed by the calibration method for the measurement data provided in Embodiment 1.

[0108] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0109] This application also provides a computer program product, which, when executed on a data processing device, is adapted to perform calibration method steps for measuring data.

[0110] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0111] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0112] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0113] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0114] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0115] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0116] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for calibrating measurement data, characterized in that, include: The target object is measured by radar to obtain initial data, and the radar is measured by a preset device to obtain attitude angle data. The radar and the preset device are measured at the same time. The initial data includes at least the azimuth angle, elevation angle and radar reflection echo duration of the target object. The deployment altitude of the radar is obtained, and the initial altitude of the target object is calculated based on the speed of light, the duration of the reflected echo, the pitch angle, and the deployment altitude. Based on the attitude angle data, a target rotation matrix is ​​constructed, and based on the target rotation matrix, the initial data is calibrated to obtain target data. Based on the target data, the initial height is calibrated to obtain the target height.

2. The calibration method for measurement data according to claim 1, characterized in that, The step of calculating the initial height of the target object based on the speed of light, the duration of the reflected echo, the pitch angle, and the deployment height includes: Based on the duration of the reflected echo and the speed of light, the initial distance between the radar and the target object is calculated; The initial altitude is calculated based on the initial distance, the pitch angle, and the deployment altitude.

3. The calibration method for measurement data according to claim 1, characterized in that, The attitude angle data includes at least: azimuth offset angle and pitch offset angle. The step of constructing a target rotation matrix based on the attitude angle data includes: Based on the azimuth offset angle, a first preset rotation matrix is ​​constructed; Based on the pitch offset angle, a second preset rotation matrix is ​​constructed; The target rotation matrix is ​​obtained by multiplying the first preset rotation matrix and the second preset rotation matrix.

4. The calibration method for measurement data according to claim 1, characterized in that, The step of calibrating the initial data based on the target rotation matrix to obtain the target data includes: The initial data is transformed to obtain the transformed data; The target rotation matrix is ​​multiplied by the transformed data to obtain the calibrated data; Based on the calibrated data, the target data is determined.

5. The calibration method for measurement data according to claim 1, characterized in that, Before using radar to measure the target object and obtain initial data, the process also includes: A radar support platform is constructed at a predetermined location on the communication tower, and the radar is deployed on the radar support platform, wherein the predetermined equipment is installed inside the radar; Based on the hollow tower body of the communication tower, the cables of the radar and the preset equipment are connected to the ground cabinet.

6. The calibration method for measurement data according to claim 5, characterized in that, The steps of deploying the radar on the radar support platform include: The radar and the preset equipment are deployed on the same base of the radar support platform.

7. The calibration method for measurement data according to claim 5, characterized in that, Before constructing the radar support platform at the pre-designated location of the communication tower, the following steps are also included: Construct a preset function, wherein the preset function includes at least: a distance parameter and an angle parameter, wherein the distance parameter is used to characterize the length of the radar support platform, and the angle parameter is used to characterize the angle at which the radar is blocked by the communication tower, and the angle is determined based on the azimuth relationship between the radar and the communication tower; Based on the preset function, the target length of the radar support platform is determined.

8. A calibration device for measurement data, characterized in that, include: The measurement unit is used to measure the target object with radar to obtain initial data, and to measure the radar with a preset device to obtain attitude angle data. The radar and the preset device are measured at the same time point. The initial data includes at least the azimuth angle, elevation angle and radar reflection echo duration of the target object. A calculation unit is used to obtain the deployment altitude of the radar and calculate the initial altitude of the target object based on the speed of light, the duration of the reflected echo, the pitch angle, and the deployment altitude. The calibration unit is used to construct a target rotation matrix based on the attitude angle data, calibrate the initial data based on the target rotation matrix to obtain target data, and calibrate the initial height based on the target data to obtain the target height.

9. A computer program product, characterized in that, The method includes a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the calibration method for measurement data as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, It includes one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the calibration method for measurement data according to any one of claims 1 to 7.

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